CN101745765B - Man-machine collaboration shared control remote welding method - Google Patents
Man-machine collaboration shared control remote welding method Download PDFInfo
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- CN101745765B CN101745765B CN2009100734216A CN200910073421A CN101745765B CN 101745765 B CN101745765 B CN 101745765B CN 2009100734216 A CN2009100734216 A CN 2009100734216A CN 200910073421 A CN200910073421 A CN 200910073421A CN 101745765 B CN101745765 B CN 101745765B
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Abstract
A man-machine collaboration shared control remote welding method relates to a remote welding method. The invention aims to solve the problems in the prior remote welding that the direct control operation can not be continuously carried out and particularly can not work under the situation of time delay, and an autonomous tracking weld seam can not be welded under the situations of complicated welding environment and irregular groove outline dimension of a weld seam. The remote welding method comprises the following steps: firstly, a macroscopic zooming camera acquires a two-dimensional video image, and the visual field of an operator is adjusted in a central monitoring man-machine interface; secondly, a robot guides a welding gun to reach the upper part of the weld seam; thirdly, the operator tracks the weld seam; fourthly, a workpiece is fixed on a working platform to form the welding environment at the remote end; fifthly, the robot moves towards an initial point of the weld seam; sixthly, the welding gun ensures that arc-length distance parameters of the workpiece are set by the central monitoring man-machine interface; and seventhly, the operator sets a shared control algorithm through the central monitoring man-machine interface.
Description
Technical field
The present invention relates to a kind of method of Remote Welding.
Background technology
In the underwater construction of nuclear power plant equipment maintenance, ocean engineering, and in the construction of following space station, welding applications is essential.The restriction of these extreme environments makes the operator be difficult to body to face the scene, direct control welding gun or equipment, and traditional welding manner can't be used, and must carry out Remote Welding.Remote Welding refer to the people in away from the security context at scene based on from the various heat transfer agents at scene to welding equipment and welding process telemonitoring and control, thereby accomplish welding operation.Because robot has the adaptability to environment, therefore in research and practical application, be used as executing agency.When carrying out Remote Welding, the common teleoperated vehicle of operator, the guiding welding gun is accomplished Remote Welding.
Two kinds of control modes are adopted in the Remote Welding operation usually: directly control and Autonomous Control.Directly control is the welding robot controller of passing to operator's manual command sequence far-end, controls the motion of welding robot in real time.Directly control the adaptive capacity that the perception, decision-making and the judgement that make full use of the people are come enhanced system, control procedure is directly perceived, simple, effective, has failover capability preferably.But when Remote Welding, because insufficient to effective heat transfer agent of far-end uncertain environment, the bottom executive capability is not enough, there being under the time delay situation operation to carry out continuously, can only adopt the method for " motion-wait ", and system can not work in the time of seriously.Autonomous Control is that robot system feels that by certain sensor-based system such as power sensor-based system, visual sensing system wait position and the attitude of controlling the welding gun motion, the complete autonomous welding of accomplishing.For the regular continuous weld in the commercial production, can realize stable weld joint tracking process through Autonomous Control, and Remote Welding is repaired task through being usually used in weld seam; Weld seam is discontinuous; The welding bead sectional dimension is irregular, has obstacle around the weld seam simultaneously, independently follows the tracks of weld seam and can not carry out continuously.Therefore all there is limitation in the control technology of existing Remote Welding, all can not well accomplish the Remote Welding task.
Summary of the invention
The objective of the invention is in order to solve in the present Remote Welding under the free delay situation; Direct control operation can not be carried out continuously; Even can not work, and complicated at welding surroundings, when the weld groove overall size is irregular; The autonomous irrealizable problem of tracking welding seam welding has proposed the method that a kind of man-machine collaboration shared control remote welds.
The present invention solves the problems of the technologies described above the technical scheme of taking to be: said method is realized by following steps: step 1: macroscopical Zoom camera is gathered two-dimensional video image; And through video line two-dimensional video image is passed to macroscopical visual displays, the operator in the CSRC man-machine interface of local side through the focus controlling and the second controlled The Cloud Terrace adjustment visual field;
Step 2: operator operating space mouse sends control instruction; The robot controller of passing to far-end through EPA goes to control REMOTE MACHINE people's motion; Robot guiding welding gun moves and reaches near the 30-40mm of weld seam top; Robot controller is passed to the pose matrix of welding gun the CSRC man-machine interface of local side in real time simultaneously, the pose of the robot of virtual environment in the adjustment interface;
Step 3: binocular camera is transferred to the welding surroundings image that obtains the stereoscopic vision display of local side; The operator wears liquid crystal shutter glasses and observes the depth information that obtains distal environment; And in the CSRC man-machine interface, regulate the first controlled The Cloud Terrace and observe from various visual angles, the operator follows the tracks of weld seam;
Step 4: workpiece is fixed on the welding surroundings that constitutes far-end on the workbench; The 6th joint and the welding gun of robot with six-freedom degree is affixed; The laser vision sensor working head is installed on the welding gun; The most advanced and sophisticated lateral separation 20--30mm of laser beam centre-to-centre spacing welding gun, welding gun is in the optional position in welding surroundings space;
Step 5: the operator operates the CSRC man-machine interface and starts laser vision controller and laser vision sensor working head and start the source of welding current; After the characteristic point of laser vision controller processing welding lines realized the guiding of welding gun, robot was to the starting point motion of weld seam;
Step 6: the robot motion begins soldering joint automatic tracking to the original position of weld seam, and the welding gun maintenance is 2-3mm with the arc length distance of workpiece in this process, and distance parameter is through the setting of CSRC man-machine interface;
Step 7: the operator is according to the form of weld seam and the characteristics of welding surroundings; CSRC man-machine interface through local side is set the position and the attitude of human-machine cooperation sharing control algorithm controls welding gun, and wherein the human-machine cooperation sharing control algorithm is made up of free degree weighting fusion algorithm and free degree partitioning algorithm:
When weld seam was the plane weld seam of groove profile rule, the operator adopted free degree partitioning algorithm through the CSRC man-machine interface of local side, is controlled the height Z and the lateral deviation Δ x of welding torch position by laser vision controller and laser vision sensor working head; The operator controls all the other attitudes of welding gun; Speed Y sets in the CSRC man-machine interface, and laser vision sensor working head guiding welding gun moves to the weld seam original position of surface of the work, when the laser vision sensor working head can be followed the tracks of weld seam; Robot controller begins to control welding gun and advances along the weld seam trend; The attitude of manual command control welding gun (Rx, Ry, Rz); Wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, finishes until operation;
When weld seam is to have the discontinuous weld seam of obstacle or laser vision is followed the tracks of when invalid; The CSRC man-machine interface of operator through local side adopts free degree weighting fusion algorithm, and laser vision controller and laser vision sensor working head trace into weld seam discontinuities or laser vision and follow the tracks of when invalid, the characteristic point disappearance that the laser vision sensor working head is followed the tracks of; The guiding of laser-vision sensing controller was lost efficacy; The operator is down auxiliary liquid crystal shutter glasses, stereoscopic vision display, the second controlled The Cloud Terrace and macroscopical Zoom camera, manually control the space mouse and follow the tracks of weld seam, and the guiding welding gun surmounts obstacles; When the laser vision controller recomputate obtain weld bead feature points after; Begin to guide the motion of welding gun, and with the CSRC man-machine interface of the feedback information that guides to local side, the operator stops direct control.
The present invention has following beneficial effect: 1. the present invention is merged the control command of the control command of autonomous system with manually control through sharing control algolithm in welding teleoperated vehicle controller; Autonomous Control and the six-freedom degree of manually controlling shared welding gun; Adjust the position and the attitude of welding gun; Realize weld joint tracking, and finally accomplish the Remote Welding task.The present invention improved Remote Welding capacity of will, avoided time delay to have " motion-wait " situation under the situation, strengthened the adaptive capacity to environment of remote-control welding system simultaneously, have failover capability preferably; And solved the barrier problem of keeping away of welding straighforward operation.
Description of drawings
Fig. 1 is the sketch map of system of the present invention; The controlled The Cloud Terrace of the controlled The Cloud Terrace of wherein macroscopical visual displays 1, CSRC man-machine interface 2, operator 3, space mouse 4, liquid crystal shutter glasses 5, stereoscopic vision display 6, EPA 7, robot controller 8, laser vision controller 9, robot 10, workbench 11, first 12, binocular camera 13, workpiece 14, second 15, macroscopical Zoom camera 16, welding gun 17, laser vision sensor working head 18, the source of welding current 19; Fig. 2 is the algorithm controls block diagram that the present invention adopts free degree partitioning algorithm; Fig. 3 is that the present invention adopts free degree weighting fusion algorithm controls block diagram; The weld joint tracking aberration curve figure that Fig. 4 obtains when being welding straight bead and the long 200mm of butt joint groove weld; Fig. 5 is that welded seam is the plane curve weld seam of double V-groove; The about 10mm weld seam of medium position is interrupted, the weld joint tracking aberration curve figure that obtains.
The specific embodiment
The specific embodiment one: present embodiment is described in conjunction with Fig. 1-Fig. 3; The method of present embodiment is realized by following steps: step 1: macroscopical Zoom camera 16 is gathered two-dimensional video image; And by video line two-dimensional video image is passed to macroscopical visual displays 1, operator 3 in the CSRC man-machine interface 2 of local side by the focus controlling and the second controlled The Cloud Terrace, the 15 adjustment visuals field;
Step 2: operator's 3 operating space mouses 4 send control instruction; The robot controller 8 of passing to far-end through EPA 7 goes to control REMOTE MACHINE people 10 motion; Robot 10 guiding welding guns 17 move and reach near the 30-40mm of weld seam top; Robot controller 8 is passed to the pose matrix of welding gun 17 the CSRC man-machine interface 2 of local side in real time simultaneously, the pose of the robot 10 of virtual environment in the adjustment interface;
Step 3: binocular camera 13 is transferred to the welding surroundings image that obtains the stereoscopic vision display 6 of local side; Operator 3 wears liquid crystal shutter glasses 5 and observes the depth information that obtains distal environment; And in CSRC man-machine interface 2, regulate the first controlled The Cloud Terrace 12 and observe from various visual angles, operator 3 follows the tracks of weld seam;
Step 4: workpiece 14 is fixed on the welding surroundings that constitutes far-end on the workbench 11; The 6th joint and the welding gun 17 of robot 10 with six-freedom degree is affixed; Laser vision sensor working head 18 is installed on the welding gun 17; Laser beam centre-to-centre spacing welding gun 17 most advanced and sophisticated lateral separation 20--30mm, welding gun 17 is in the optional position in welding surroundings space;
Step 5: operator's 3 operation CSRC man-machine interfaces 2 start laser vision controller 9 and laser vision sensor working head 18 and start the source of welding current 19; After the characteristic point of laser vision controller 9 processing welding lines realized the guiding of welding gun 17, robot 10 was to the starting point motion of weld seam;
Step 6: robot 10 moves to the original position of weld seam, the beginning soldering joint automatic tracking, and welding gun 17 maintenances are 2-3mm with the arc length distance of workpiece 14 in this process, distance parameter is set through CSRC man-machine interface 2;
Step 7: operator 3 is according to the form of weld seam and the characteristics of welding surroundings; CSRC man-machine interface 2 through local side is set the position and the attitude of human-machine cooperation sharing control algorithm controls welding guns 17, and wherein the human-machine cooperation sharing control algorithm is made up of free degree weighting fusion algorithm and free degree partitioning algorithm:
When weld seam was the plane weld seam of groove profile rule, operator 3 adopted free degree partitioning algorithms through the CSRC man-machine interface 2 of local side, by height Z and the lateral deviation Δ x of laser vision controller 9 with laser vision sensor working head 18 control welding guns 17 positions; All the other attitudes of operator's 3 control welding guns 17; Speed Y sets in CSRC man-machine interface 2, and the weld seam original position of laser vision sensor working head 18 guiding welding guns 17 to workpiece 14 surfaces moves, when laser vision sensor working head 18 can be followed the tracks of weld seam; Robot controller 8 begins to control welding gun 17 and advances along the weld seam trend; The attitude of manual command control welding gun 12 (Rx, Ry, Rz); Wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, finishes until operation;
When weld seam is to have the discontinuous weld seam of obstacle or laser vision is followed the tracks of when invalid; Operator 3 adopts free degree weighting fusion algorithm through the CSRC man-machine interface 2 of local side; Laser vision controller 9 and laser vision sensor working head 18 trace into weld seam discontinuities or laser vision and follow the tracks of when invalid; The characteristic point that laser vision sensor working head 18 is followed the tracks of disappears, and 9 guiding of laser vision controller were lost efficacy, and operator 3 is down auxiliary liquid crystal shutter glasses 5, stereoscopic vision display 6, the second controlled The Cloud Terrace 15 and macroscopical Zoom camera 16; Manually control space mouse 4 is followed the tracks of weld seam; And the guiding welding gun 17 surmount obstacles, when laser vision controller 9 recomputate obtain weld bead feature points after, begin to guide the motion of welding gun 17; And with the CSRC man-machine interface 2 of the feedback information that guides to local side, operator 3 stops direct control.
The specific embodiment two: combine Fig. 3 that this embodiment is described; The free degree weighting fusion algorithm of this embodiment is in robot controller 8, to carry out superposition according to predetermined weighted value by operator's 3 direct control commands and visual sensing control command; The control command of the two influences all frees degree of robot 10; The common pose that changes welding gun 17, establish: the driving matrix of manual control command of the operator 3 is Δ T
1 6, weighted value is K
1(0＜K
1＜1), the laser stripe of laser vision controller 9 is got to the surface of workpiece 14, reflexes on the laser vision sensor working head 18, handles the groove information of extracting weld seam through image; Obtain weld bead feature points positional information (X, Y, Z), wherein X for laterally, Y is that speed, Z are height; In conjunction with this moment robot 10 attitude (Rx, Ry, Rz); Wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, obtains the driving matrix of laser-vision sensing control command, and establishing this driving matrix is Δ T
2 6, weighted value is K
2(0＜K
2＜1), then: the driving matrix T that obtains welding gun 17 according to free degree weighting fusion algorithm:
Solve each joint angle value that robot 10 will reach in next servo period motion through inverse kinematics, thereby realize manually control command and the common control of visual sensing order in robot 10 motion processes robot 10; Discontinuous weld seam when there is obstacle in the weld metal zone can surmount obstacles through the manual control machine device people 10 who shares control, has improved in the non-structure environment work capacity.Other composition and step are identical with the specific embodiment one.
The specific embodiment three: combine Fig. 2 that this embodiment is described, the free degree partitioning algorithm of this embodiment is to cut apart the six-freedom degree of robot, and directly control command is controlled the different frees degree respectively with the visual sensing control command; The laser stripe of laser vision controller 9 is got to the surface of workpiece 14, reflexes on the laser vision sensor working head 18, handles the groove information of extracting weld seam through image; Obtain weld bead feature points positional information (X, Y, Z); Wherein X is that speed, Z are height for horizontal, Y, in conjunction with attitude (Rx, the Ry of robot 10 at this moment; Rz); Wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, obtains the driving matrix of laser-vision sensing control command, and establishing this driving matrix is Δ T
2 n, weighted value is K
2(0＜K
2＜1), then: the driving matrix T that obtains welding gun according to free degree partitioning algorithm:
Solve each joint angle value that robot 10 will reach in next servo period motion through inverse kinematics, thereby realize manually control command and the common control of visual sensing order in robot 10 motion processes robot 10; Operator 3 operation burden alleviates, and the precision of tracking improves, and satisfies the requirement of Remote Welding.Other composition and step are identical with the specific embodiment one.
The specific embodiment four: combine Fig. 1 that this embodiment is described; The shared control of this embodiment is with the control command of autonomous system and control command fusion in welding teleoperation robot controller 8 of manually control; The position and the attitude of welding gun 17 are controlled, adjusted to Autonomous Control with directly controlling the six-freedom degree of sharing robot 10, accomplishes the Remote Welding task.Other composition and step are identical with the specific embodiment one.
The specific embodiment five: combine Fig. 1 and Fig. 5 that this embodiment is described; This embodiment is the sine curve medium position disconnection 10mm weld seam of double V-groove for the plane curve weld seam for following the tracks of weld seam; Step 1～step 6 is identical with the specific embodiment one; Step 7: operator 3 adopts free degree weighting fusion algorithm through the CSRC man-machine interface 2 of local side, and when laser vision controller 9 traced into the weld seam discontinuities of 10mm with laser vision sensor working head 18, the characteristic point that laser vision sensor working head 18 is followed the tracks of disappeared; 9 guiding of laser vision controller were lost efficacy; Operator 3 is down auxiliary liquid crystal shutter glasses 5, stereoscopic vision display 6, the second controlled The Cloud Terrace 15 and macroscopical Zoom camera 16, manually control space mouse 4 and follow the tracks of weld seam, and guiding welding gun 17 surmounts obstacles; When laser vision controller 9 recomputate obtain weld bead feature points after; Begin to guide the motion of welding gun 17, and with the CSRC man-machine interface 2 of the feedback information that guides to local side, operator 3 stops direct control;
The trace plot that obtains is as shown in Figure 5, and visible discontinuous weld seam when there is obstacle in the weld metal zone can surmount obstacles through the manual control machine device people 10 who shares control, has improved in the non-structure environment work capacity.
The specific embodiment six: combine Fig. 1 and Fig. 4 that this embodiment is described, this embodiment is a straight bead, the long 200mm of butt joint groove weld; Step 1～step 6 is identical with the specific embodiment one, step 7: operator 3 adopts free degree partitioning algorithm through the CSRC man-machine interface 2 of local side, by height Z and the lateral deviation Δ x of laser vision controller 9 with laser vision sensor working head 18 control welding guns 17 positions; All the other attitudes of operator's 3 control welding guns 17; Speed Y sets in CSRC man-machine interface 2, and the weld seam original position of laser vision sensor working head 18 guiding welding guns 17 to workpiece 14 surfaces moves, when laser vision sensor working head 18 can be followed the tracks of weld seam; Robot controller 8 begins to control welding gun 17 and advances along the weld seam trend; The attitude of manual command control welding gun 12 (Rx, Ry, Rz); Wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, finishes until operation;
Tracing deviation curve map such as Fig. 4 of obtaining, because operator 3 only controls the one degree of freedom of welding gun 17, the operation burden alleviates, and the precision of tracking improves, and its average deviation is 1.1mm.Satisfy the requirement of Remote Welding.
Operation principle: the robot control command that robot control command that operator 3 sends through space mouse 4 among the present invention and laser vision controller 9 send is merged in robot controller 8 according to the human-machine cooperation sharing control algorithm, i.e. the directly fusion of control and Autonomous Control, the six-freedom degree (X of control welding gun; Y; Z, Rx, Ry; Rz); Wherein X for laterally, Y is that speed, Z are that angle of travel, Ry are that operating angle, Rz are spin angle for height, Rx, the position and the attitude of adjustment welding gun 17 are to reach compensating time delay, keep away barrier and to realize the purpose of continued operation welding.
Claims (3)
1. the method for man-machine collaboration shared control remote welding is characterized in that said method is realized by following steps:
Step 1: macroscopical Zoom camera (16) is gathered two-dimensional video image; And through video line two-dimensional video image is passed to macroscopical visual displays (1), operator (3) in the CSRC man-machine interface (2) of local side through the focus controlling and the second controlled The Cloud Terrace (15) the adjustment visual field;
Step 2: operator (3) operating space mouse (4) sends control instruction; The robot controller (8) of passing to far-end through EPA (7) goes to control the motion of REMOTE MACHINE people (10); Robot (10) guiding welding gun (17) moves and reaches near the 30-40mm of weld seam top; Robot controller (8) is passed to the pose matrix of welding gun (17) the CSRC man-machine interface (2) of local side in real time simultaneously, the pose of the robot (10) of virtual environment in the adjustment interface;
Step 3: binocular camera (13) is transferred to the welding surroundings image that obtains the stereoscopic vision display (6) of local side; Operator (3) wears liquid crystal shutter glasses (5) and observes the depth information that obtains distal environment; And in CSRC man-machine interface (2), regulate the first controlled The Cloud Terrace (12) and observe from various visual angles, operator (3) follows the tracks of weld seam;
Step 4: workpiece (14) is fixed on workbench (11) and goes up the welding surroundings that constitutes far-end; The 6th joint and the welding gun (17) of robot (10) with six-freedom degree is affixed; Laser vision sensor working head (18) is installed on the welding gun (17); The most advanced and sophisticated lateral separation 20--30mm of laser beam centre-to-centre spacing welding gun (17), welding gun (17) is in the optional position in welding surroundings space;
Step 5: operator (3) operation CSRC man-machine interface (2) starts laser vision controller (9) and laser vision sensor working head (18) and starts the source of welding current (19); After the characteristic point of laser vision controller (9) processing welding lines realized the guiding of welding gun (17), robot (10) was to the starting point motion of weld seam;
Step 6: robot (10) moves to the original position of weld seam, and beginning soldering joint automatic tracking, welding gun in this process (17) keep and the arc length distance of workpiece (14) is 2-3mm, and distance parameter is set through CSRC man-machine interface (2);
Step 7: operator (3) is according to the form of weld seam and the characteristics of welding surroundings; CSRC man-machine interface (2) through local side is set the position and the attitude of human-machine cooperation sharing control algorithm controls welding gun (17), and wherein the human-machine cooperation sharing control algorithm is made up of free degree weighting fusion algorithm and free degree partitioning algorithm:
When weld seam was the plane weld seam of groove profile rule, operator (3) adopted free degree partitioning algorithm through the CSRC man-machine interface (2) of local side, is controlled the height Z and the lateral deviation Δ X of welding gun (17) position by laser vision controller (9) and laser vision sensor working head (18); All the other attitudes of operator (3) control welding gun (17); Speed Y sets in CSRC man-machine interface (2), and laser vision sensor working head (18) guiding welding gun (17) moves to the weld seam original position on workpiece (14) surface, when laser vision sensor working head (18) can be followed the tracks of weld seam; Robot controller (8) begins to control welding gun (17) and advances along the weld seam trend; The attitude Rx of manual command control welding gun (17), Ry, Rz; Wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, finishes until operation;
When weld seam is to have the discontinuous weld seam of obstacle or laser vision is followed the tracks of when invalid; Operator (3) adopts free degree weighting fusion algorithm through the CSRC man-machine interface (2) of local side; Laser vision controller (9) and laser vision sensor working head (18) trace into weld seam discontinuities or laser vision and follow the tracks of when invalid; The characteristic point that laser vision sensor working head (18) is followed the tracks of disappears, and laser vision controller (9) guiding was lost efficacy, and operator (3) is down auxiliary liquid crystal shutter glasses (5), stereoscopic vision display (6), the second controlled The Cloud Terrace (15) and macroscopical Zoom camera (16); Manually control space mouse (4) is followed the tracks of weld seam; And the guiding welding gun (17) surmount obstacles, when laser vision controller (9) recomputate obtain weld bead feature points after, begin to guide the motion of welding gun (17); And with the CSRC man-machine interface (2) of the feedback information that guides to local side, operator (3) stops direct control.
2. the method for welding according to the said a kind of man-machine collaboration shared control remote of claim 1; It is characterized in that free degree weighting fusion algorithm is in robot controller (8), to carry out superposition according to predetermined weighted value by direct control command of operator (3) and visual sensing control command in the said step 7; The control command of the two influences all frees degree of robot (10); The common pose that changes welding gun (17), establish: the driving matrix of operator's (3) manual control command does
Weighted value is K
1, 0＜K
1＜1, the laser stripe of laser vision controller (9) is got to the surface of workpiece (14), reflexes on the laser vision sensor working head (18), handles the groove information of extracting weld seam through image; Obtain the positional information X of weld bead feature points, Y, Z, wherein X is that speed, Z are height for horizontal, Y; In conjunction with the attitude Rx of welding gun (17) at this moment, Ry, Rz; Wherein Rx is that angle of travel, Ry are that operating angle, Rz are spin angle, obtains the driving matrix of laser-vision sensing control command, establishes this driving matrix and does
Weighted value is K
2, 0＜K
2＜1, then: the driving matrix T that obtains welding gun (17) according to free degree weighting fusion algorithm:
0＜K
1＜1,0＜K
2＜1, solve each joint angle value that robot (10) will reach in the motion of next servo period through inverse kinematics, thereby realize in robot (10) motion process that manually control command and visual sensing order jointly the control to robot (10).
3. the method for welding according to the said a kind of man-machine collaboration shared control remote of claim 1; It is characterized in that sharing in the said step 7 control is that the control command of autonomous system and the control command of manually control are merged in welding teleoperation robot controller (8); The position and the attitude of welding gun (17) are controlled, adjusted to Autonomous Control with directly controlling the six-freedom degree of sharing robot (10), accomplishes the Remote Welding task.
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| CN106392304B (en) * | 2016-12-22 | 2019-02-15 | 河北省自动化研究所 | A kind of laser assisted weld seam Intelligent tracing system and method |
| CN106735749B (en) * | 2016-12-22 | 2019-10-11 | 河北省自动化研究所 | A kind of laser assisted weld seam Intelligent tracing system |
| CN106624523B (en) * | 2017-02-28 | 2018-08-21 | 成都南方电子仪表有限公司 | A kind of flexible guide rail welding robot |
| CN108907455A (en) * | 2018-08-04 | 2018-11-30 | 苏州佩恩机器人有限公司 | A kind of seam tracking system and method merging vision technique based on laser-visible light |
| CN109129477A (en) * | 2018-08-21 | 2019-01-04 | 上海理工大学 | A kind of 3 D positioning system based on binocular welding manipulator |
| US20200269338A1 (en) * | 2019-02-21 | 2020-08-27 | Lincoln Global, Inc. | Systems, methods, and apparatus for interacting with a computer during a welding operation |
| CN110539109B (en) * | 2019-08-28 | 2024-04-09 | 广东工业大学 | Robot automatic welding system and method based on single-binocular vision |
| CN112496582B (en) * | 2020-11-23 | 2022-05-10 | 博迈科海洋工程股份有限公司 | Ocean engineering complex node multi-robot welding cooperative control method |
| WO2022110046A1 (en) * | 2020-11-27 | 2022-06-02 | Abb Schweiz Ag | Human machine interface, controller, robot and corresponding system and method |
| CN114274158B (en) * | 2021-12-31 | 2024-02-02 | 北京博清科技有限公司 | Control method, controller and welding system of crawling welding robot |
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2009
- 2009-12-15 CN CN2009100734216A patent/CN101745765B/en not_active Expired - Fee Related
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