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Study on Intelligence of Welding Robot with Visual Sensing System

Research Project

Project/Area Number 07650852
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Material processing/treatments
Research InstitutionKeio University

Principal Investigator

SUGA Yasuo  Keio University, Faculty of Science and Technology, Professor, 理工学部・機械工学科, 教授 (60051900)

Project Period (FY) 1995 – 1996
Project Status Completed (Fiscal Year 1996)
Budget Amount *help
¥2,500,000 (Direct Cost: ¥2,500,000)
Fiscal Year 1996: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 1995: ¥1,600,000 (Direct Cost: ¥1,600,000)
KeywordsWelding robot / Visual sensing / Welding line / Automatic seam tracking / Molten pool / Control of penetration / Image processing / 溶融池 / 視覚センサ / 知能化 / 溶接制御 / シームトラッキング / ニューラルネットワーク
Research Abstract

In last year, a basic system for recognizing welding line by visual sensing was constructed. In this year, a robust control system for recognizing and tracking the welding line in butt welding of thin steel plates was constructed. In this system, the recognition of the welding line was performed by applying the image data acquired by CCD camera to artificial neural network (N.N.) and position and shape of the welding line was detected. Furthermore, in order to obtain sound weld regardless change of welding conditions, such as groove shape, gap of groove and so on, system to diagnose the welding phenomena during welding and to control welding conditions were constructed.
Main results obtained are summarized as follows.
(1) Preprocessing of image : Before inputting image data into N.N., smoothing was applied to the image using 2-D space filter to eliminate noise. Then the LOG filter was applied to it in order to enhance the edge of the welding line image and the binarisation was applied. T … More he image data obtained were used as the input data to N.N..
(2) Tracking experiments by the developed system : Experiments for recognizing welding lines of base metals which have several surface conditions, type of material, groove shape, type of groove, lighting conditions and arc conditions were performed, and the effectiveness of the recognizing system constructed was confirmed. Furthermore, butt welding experiments of mild steel plates were performed and effectiveness of the system to automatic welding was confirmed.
(3) Monitoring of mlten pool : In order to realize real-time control of welding condition and obtain a sound weld, a monitoring system of molten pool in arc welding was constructed. As the relationship between the molten pool shape and penetration of weld has intimate relationship, if the shape of the molten pool can control, the sound weld with optimum penetration may be obtained. In this study a monitoring system and arc current control system were combined and a basic welding control system was constructed. Less

Report

(3 results)
  • 1996 Annual Research Report   Final Research Report Summary
  • 1995 Annual Research Report
  • Research Products

    (32 results)

All Other

All Publications (32 results)

  • [Publications] Y.Suga: "Effect of Some Image Processing on the Seam Tracking by a Welding Robot with Visual Senser" Proccedings of the 5th International Offshore and Polar Engineering Conference. 4. 121-126 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga,et al.: "A Robust Visual Sensing System using Light Section Method for Detecting Weld Line Position in Robot Welding" Proceedings of Commission XII of the 4th International Inscitute of Welding ′95. 99-106 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga,et al.: "Application of Machine Vision to Arc Welding" Proc.2nd Japan-Korea Joint Workshop on Computer Vision. 57-62 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 菅泰雄,他: "視覚センサ搭載の自律移動ロボットによるT字パイプ継手の溶接線認識と自動追従" 日本機械学会論文集. 62-595-C. 1191-1196 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 菅泰雄,他: "溶融池の視覚認識による薄板溶接の溶込み制御" 日本機械学会第73期通常総会講演論文集. II. 574-575 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 菅泰雄,他: "薄鋼板のTIG溶接における溶融池形状計測による溶込み制御" 溶接学会平成8年度春季全国大会講演概要集. 58. 62-63 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 菅泰雄,他: "薄鋼板のTIG溶接における溶融池形状の認識" 日本機械学会第4回機械材料、材料加工技術講演会論文集. 96-39. 109-110 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 菅泰雄,他: "溶融池の形状認識による溶接部の実時間溶込み制御" 日本機械学会第74期通常総会講演論文集. II. (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga,et al.: "Estimation and Adaptive Control of Penctration in GTAN Monitoring Dimension of Molten Pool" Proceedings of 16th International Conference of Offshore Mechanics and Arctic Engineering ′97. (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga: "Effect of Some Image Proceeding on the Seam Tracking by a Welding Robot with Visual Sensor" Proceedings of the 5th International Offshore and Polar Engineering Conference. Vol.4. 121-126 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga, K.Saito, T.Sano, K.Ogawa: "A Robust Visual Sensing System using Light Section Method for Detecting Weld Line Position in Robot Weding" Proceeding of Commission XII of the 4th International Institute of Welding' 95. 99-106 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga, M.Mukai, T.Kitaoka: "Application of Machine Vision to Arc Welding" Proceeding of the 2nd Japan-Korea Joint Workshop on Computer Vision. 57-62 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga, K.Saito, H.Ishii: "Recognition and Automatic Tracking of Weld Line in Welding of PIpes by an Autonomous Mobile Robot with Vision Sensro" Transaction of the Japan Society of Mechanical Engineers. 62-595-C. 1191-1196 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga, M.Mukai, S.Usui, K.Ogawa: "Estimation and Adaptive Control of Penetration in GTAW by Monitoring Dimension of Molten Pool" Proceeding of 16th International Conference of Offshore Mechanics and Artic Engineering '97. (submitted). (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga and T.Tokiwa: "Detection of Welding Line Position by Analysis of Image of Weld Pool" Preprints of the national meeting of JWS. 57. 380-381 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] M.Mukai, T.Kitaoka, S.Usui, Y.Suga: "Recognition of Molten Pool Shape in TIG arc Welding" Preprints of the 3rd Materials and Processing Conference (M&P '95). No.95-38. 35-36 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] T.Shimamura, M.Mukai, S.Usui, Y.Suga: "Control of penetration in Thin Plate Welding by Recognizing Molten Pool Using Visual Sensor" Preprints of the 73rd JSME Spring Annual Meeting. II. 574-575 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga, M.Mukai, S.Usui, T.Shimamura: "Penetration Control of Weld by Detecting Molten Pool Dimension in TIG Arc Welding of Thin Mild Steel" Preprints of the national meeting of JWS. 58. 62-63 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] S.Usui, T.Shimamura, Y.Suga: "Recognition of Molten Pool Shape in TIG Welding of Thin Steel" Preprints of the 4rd Materials and Processing Conference (M&P '96). No.96-39. 109-110 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] S.Usui, T.Shimamura, T.Fujio, Y.Suga: "Real Time Control of Penetration on Weld by Observing the Shape of Molten Pool during Welding" Preprints of the 74rd JSME Spring Annual Meeting. (in Press) II. (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Suga et al.: "Application of Machine Vision to Arc Welding" Proc.2nd Japan-Korea Joint Workshop on Computer Vision. 57-62 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 菅 泰雄,他: "視覚センサ搭載の自律移動ロボットによる丁字パイプ継手の溶接線認識と自動追従" 日本機械学会論文集. 62-595-c. 1191-1196 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 菅 泰雄,他: "溶融池の視覚認識による薄板溶接の溶込み制御" 日本機械学会第73期通常総会講演論文集. II. 574-575 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 菅 泰雄,他: "薄鋼板のTIG溶接における溶融池形状計測による溶込み制御" 溶接学会平成8年度春季全国大会講演概要集. 58. 62-63 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 菅 泰雄,他: "薄鋼板のTIG溶接における溶融池形状の認識" 日本機械学会第4回機械材料・材料加工技術講演論文集. 96-39. 109-110 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 菅 泰雄,他: "溶融池の形状認識による溶接部の実時間溶込制御" 日本機械学会第74回通常総会講演論文集. (発表予定). (1997)

    • Related Report
      1996 Annual Research Report
  • [Publications] Y.Suga,et al.: "Estimation and Adaptive Control of Penetration in GTAW by Monitoring Dimension of Molten Pool" Proc.16th Int.Conf.offshore Mechanics and Arctic Engineering '97. (発表予定). (1997)

    • Related Report
      1996 Annual Research Report
  • [Publications] 菅 泰雄,他: "溶融池近傍画像の解析による溶接線位置の検出" 溶接学会平成7年度秋季全国大会講演概要集. 57. 380-381 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 菅 泰雄,他: "TIGアーク溶接法における溶融池形状の認識" 日本機械学会第3回機械材料・材料加工技術講演会論文集. 95-38. 35-36 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] Y. Suga et. al.: "Effect of Some Image Processing on the Seam Tradking by a lielding Robot with Visual Sensor" Proceedings of the 5th International Offshore and Polar Engineering Conf.4. 121-126 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] Y. Suga et. al.: "A Robast Visual Sensing System using Light Section Method for Detecting weld Line Position in Robot Welding" Proc. of Commission XII of the 48th Intn. Instit. Weld. '95. 1. 99-106 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] Y. Suga et. al.: "Application of Machine Vesion to Arc Welding" Proc. of the 2nd Japan-Korea Joint Workshop on Computer Vision. 1. 57-62 (1995)

    • Related Report
      1995 Annual Research Report

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Published: 1995-04-01   Modified: 2016-04-21  

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