Development of Integrated Arc-Welding System with Visual Faculty Based on Intelligent Utility of Production Information

基于生产信息智能利用的视觉系统集成弧焊系统开发

• 批准号: 63850157
• 负责人: NAKATA Shuji
• 金额: $ 9.6万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research (B).
• 财政年份: 1988
• 资助国家: 日本
• 起止时间: 1988 至 1990
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-63850157/
• 关键词: production information; fuzzy expression of welding knowledge; knowledge processing; off-line programming; path-searching; vision system; shape matching and recognition; arc welding system; キャリブレ-ション; デ-タ構造; Hough変換; 姿勢・経路決定; 照合・認識; 溶接条件データベー

The system developed in this research is consisted with the database of the welding condition and three sub-systems ; vision system, welding robot system and assembly robot system. The results are summarized as followings.1. The knowledge on the welding process is expressed efficiently by the fuzzy rule expressed by "if-then" type sentence. This fuzzy rule is defined individually in the fuzzy space where the experimental welding data is divided by putting into the form of a diagram.2. The shape and co-relation between assembly parts of the works constructed by plate works are able to express by the plolog predicate. It was clarified that this expression is fit for the knowledge processing such as generation of assembly sequence.3. New type path-searching method for decision of the torch position was proposed. In this method, the path is searched on x-rheta plane expressed by the welding position x and posture angle rheta of the robot arm. It was clarified that the sequence of the welding procedure under the condition of the appointed welding posture is generated easily.4. It was clarified that the posture and path of the assembly robot is decided easily by using the map of the hand posture standardized by the distance between the robot origine and the end-effector.5. The vision system using a new developed slit laser scanning moire image and a gray scale image at the same time was constructed. This vision system has wider obtaining range of the shape data and higher reliability of the obtained information.6. Outline of the object shape can be expressed by each surface shape, and the surface shape is scarecelly changed according to the visual direction. In this research, high-speed shape matching was realized by utilizing the data structure based on the surface shape.

本研究所开发的系统由焊接条件数据库和视觉系统、焊接机器人系统和装配机器人系统三个子系统组成。研究结果如下：1.采用“if-then”型语句表达模糊规则，有效地表达了焊接工艺知识。该模糊规则是在模糊空间中单独定义的，在模糊空间中将焊接试验数据划分成一个模糊集。由板材构成的作品的形状和装配部件之间的相互关系可以用plolog谓词来表达。说明该表达式适合于装配序列生成等知识处理。3.提出了一种新型的火炬位置搜索方法。该方法在由焊接位置x和机器人手臂姿态角reta表示的x-reta平面上搜索路径，从而很容易生成指定焊接姿态条件下的焊接顺序.阐明了利用由机器人原点与末端执行器之间的距离标准化的手部姿态图，可以容易地确定装配机器人的姿态和路径。利用新研制的狭缝激光扫描云纹图像和灰度图像同时成像的视觉系统。该视觉系统具有更宽的形状数据获取范围和更高的信息可靠性.对象形状的轮廓可以由每个表面形状表示，并且表面形状根据视觉方向粗略地改变。本研究利用基于曲面形状的数据结构实现了高速形状匹配。

项目成果

前川 仁,吉田 欣吾,仲田 周次: "ア-ク溶接におけるファジィ知識表現法 ーその溶接条件修正支援への適用の試みー" 溶接学会論文集. 8. 84-90 (1990)

Hitoshi Maekawa、Kingo Yoshida、Shuji Nakata：“弧焊中的模糊知识表示方法 - 尝试将其应用于支持修改焊接条件 -”日本焊接学会会议记录 8. 84-90 (1990)。

藤本 公三,木本 正人,仲田 周次: "視線ベクトル領域図による3次元物体の代表投影形状抽出" 電子情報通信学会論文誌.

Kozo Fujimoto、Masato Kimoto、Shuji Nakata：“使用视线矢量区域图提取三维物体的代表性投影形状”电子、信息和通信工程师学会杂志。

前川仁,山本和司,仲田周次: 溶接学会論文集. 7. (1989)

Hitoshi Maekawa、Kazushi Yamamoto、Shuji Nakata：焊接学会论文集 7。（1989 年）。

Kozo FUJIMOTO, Eiichi KUROKI, Tomoya MATSUNAGA, Hisashi NAKAOKA, Shuji NAKATA,: "Slit Laser Scanning Moire Method and Simple Distinction Method Between Depression and Elevation" Journal of the Robotics Society of Japan. Vol. 7. 154-165 (1989)

Kozo FUJIMOTO、Eiichi KUROKI、Tomoya MATSUNAGA、Hisashi NAKAOKA、Shuji NAKATA，：“狭缝激光扫描云纹法以及凹陷和仰角的简单区分方法”日本机器人学会杂志。

Hitoshi MAEKAWA, Shuji NAKATA and Atsushi TOIZUMI,: "Collision Free Robot Motion Generation on a Weld Line under Orientation Constraints of Weld Torch" Proceedings of 28th. SICE Annual Conference. 1061-1064 (1989)

Hitoshi MAEKAWA、Shuji NAKATA 和 Atsushi TOIZUMI，：“焊炬方向约束下焊接线上的无碰撞机器人运动生成”第 28 期会议记录。