CN107322597A - A kind of fillet weld seam track detection apparatus and method based on laser ranging - Google Patents
A kind of fillet weld seam track detection apparatus and method based on laser ranging Download PDFInfo
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- CN107322597A CN107322597A CN201710568976.2A CN201710568976A CN107322597A CN 107322597 A CN107322597 A CN 107322597A CN 201710568976 A CN201710568976 A CN 201710568976A CN 107322597 A CN107322597 A CN 107322597A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
Abstract
The invention provides a kind of fillet weld seam track detection apparatus and method based on laser ranging, wherein, fillet weld seam track detection device based on laser ranging using laser ranging and carries out independently seeking position and automatic welding to the weld seam of angle welding part, has the feature that, including：Robot, with robot body and mechanical arm；Welding gun, is set on the robotic arm, for being welded to weld seam；Laser range sensor, the end of mechanical arm is fixed on by support, for being scanned to weld seam, obtains characteristic point of the weld seam on locus；Times good fortune module, is connected with laser range sensor, for acquisition characteristics point, obtains the positional information of weld seam；Main control computer, is attached by Ethernet with robot, the welding procedure for generating robot according to positional information；And robot controller is used to carry out motion to weld weld seam according to welding procedure control machine people.
Description
Technical field
The invention belongs to welding field, and in particular to a kind of fillet weld seam track detection device based on laser ranging and
Method.
Background technology
Manufacturing development causes welding technique to become more and more important, and advanced welding technique can be provided to manufacturing industry
More preferable efficiency and quality assurance.But, manual welding is because cycle length, labor strength are big and operating environment is severe etc.
The need for reason can not meet modern production, welding robot is just gradually replacing it to turn into welding field development trend.
In welding structure, angle welding is a kind of one of most common weld seam, especially in shipbuilding, and the weld seam for having 80% is
Angle welding.At present, for the robot welding of angle welding part, semi-automation most or using traditional " teaching playback "
Mode, Some Enterprises add the realization of some sensors in robot and seek bit function to angle welding.
Harbin institute of welding devised a kind of new by sensor, control circuit, executing agency etc. in 1999
The mechanical probe contact weld seam position-finding system of part composition, is mainly used in the seeking during position of angle welding, simple in construction, work
Reliably, but probe wear and tear big, yielding, efficiency comparison it is low.
Many enterprises combine vision technique in addition, and a CCD camera is added in robot welding system, and butt-welding fitting is carried out
Take pictures, find the welding position track of angle welding.The method scope of application relatively wide, precision is high, response is fast, but structure is relatively multiple
Miscellaneous and price is costly.
The content of the invention
The present invention is carried out to solve the above problems, it is therefore intended that provide a kind of angle welding based on laser ranging
Device for detecting welding track and method.
The invention provides a kind of fillet weld seam track detection device based on laser ranging, using laser ranging and right
The weld seam of angle welding part carries out independently seeking position and automatic welding, has the feature that, including：Robot, with robot sheet
Body and mechanical arm；Welding gun, is set on the robotic arm, for being welded to weld seam；Laser range sensor, is fixed by support
In the end of mechanical arm, for being scanned to weld seam, characteristic point of the weld seam on locus is obtained；Times good fortune module, with swashing
Ligh-ranging sensor is connected, and for acquisition characteristics point, obtains the positional information of weld seam；Main control computer, passes through Ethernet and machine
Device people is attached, the welding procedure for generating robot according to positional information；And robot controller, for according to weldering
Programme-control machine people is met to carry out motion to weld weld seam.
In the fillet weld seam track detection device based on laser ranging that the present invention is provided, can also have such
Feature：Wherein, laser range sensor is Keyemce precision distance measurement sensor.
The side that the fillet weld seam track detection device based on laser ranging provided in the present invention is welded to weld seam
Method, it is characterised in that comprise the following steps：
S1, using four-point method to the coordinate system of laser range sensor relative to the position of the ending coordinates system of robot and
Rotation relationship is demarcated；
S2, main control computer control laser range sensor is scanned to weld seam, obtains weld seam on locus
Characteristic point；
S3, times good fortune module acquisition characteristics point, obtains the positional information of weld seam；
S4, main control computer is handled the positional information of weld seam, obtains the starting point and ending point of weld seam；
S5, main control computer generates the welding procedure of robot according to starting point and ending point；
S6, robot controller controls welding gun to weld weld seam according to welding procedure.
The side that the fillet weld seam track detection device based on laser ranging provided in the present invention is welded to weld seam
Method, can also have the feature that：Wherein, following sub-step is also included in S-1：
S1-1：Adjust support so that the Y-axis of the transmitting light beam of laser range sensor and the ending coordinates system of robot is put down
OK；
S1-2：Transmitting light beam forms laser plane on the bottom surface straight angle of angle welding part, and the transmitting beam distance laser is put down
Face is set to the coordinate center of the coordinate system of laser range sensor for 300mm point；
S1-3：Operating personnel make what transmitting light beam direct projection was set using four kinds of manual teaching robots of different postures
Sphere fixing point, records the attitude value and positional value of the ending coordinates system of the corresponding robot of various postures；
S1-4：According to attitude value and positional value, the end based on laser range sensor and mechanical arm is in preset coordinates system
Transformational relation and laser range sensor relative to robot end position offset, to the position of laser range sensor
Put and demarcated；
S1-5：It is consistent with the coordinate direction of the end of mechanical arm by the Coordinate Setting of laser range sensor, to swashing
The rower that is rotated into of ligh-ranging sensor is determined.
The side that the fillet weld seam track detection device based on laser ranging provided in the present invention is welded to weld seam
Method, can also have the feature that：Wherein, following sub-step is also included in S2：
S2-1, main control computer controls the vertical of the weld seam on the bottom surface straight angle of the laser range sensor along angle welding part
Direction carries out twice sweep；
S2-2, main control computer controls the level of the weld seam on the bottom surface straight angle of the laser range sensor along angle welding part
Direction carries out twice sweep；
S2-3, obtains characteristic point of the weld seam on locus.
The side that the fillet weld seam track detection device based on laser ranging provided in the present invention is welded to weld seam
Method, can also have the feature that：Wherein, following sub-step is also included in S4：
S4-1：The positional information of weld seam is handled using median filtering method, filter window length is set as L=2k+
1, object element fiThe set of neighborhood is set to (fi-k,...,fi,...,fi+k), by fiNeighborhood is arranged according to numerical values recited, and
By yi=med [fi-k,...,fi,...,fi+k] formula exports the value of middle sequence number as filtering, respectively obtains two smooth figures
As xi and yi and two smoothed image c and d；
S4-2：Using least square method to smoothed image xi and yi carry out fitting a straight line, obtain two weld bead feature points a and
B,
Wherein, n is the quantity for the positional information that laser sensor is vertically scanned；
S4-3：Characteristics of weld seam equation g (x)=kx+c is set up according to two characteristic points a and b；
S4-4：According to smoothed image c and d obtain the maximum coordinate of distance value be respectively (mc,
Nc) and 2 points of (md, nd), two vertical line sides are respectively obtained with reference to characteristics of weld seam equation
Journey hc (x) and hd (x)：
S4-5：According to a characteristics of weld seam equation g (x) and two vertical line equation hc (x) and hd (x), two intersection points are obtained,
That is the starting point and ending point of weld seam.
The effect of invention and effect
According to a kind of fillet weld seam track detection apparatus and method based on laser ranging involved in the present invention, due to
Employ laser range sensor and angle welding part is scanned and extracted the characteristic point of weld seam, and generated by main control computer
The seam track of workpiece.Further, since the positional information of the weld seam using main control computer to collecting is handled, it is to avoid
Because caused by the inside of laser range sensor, mechanical arm slight jitter and uncertain factor positional information fluctuation ratio compared with
Substantially, burr is more, so as to accurately find the starting point and ending point of weld seam.It is based on swashing according to one kind involved in the present invention
The fillet weld seam track detection apparatus and method of ligh-ranging can realize the function of contactless fast searching angle welding track,
The weld interval of angle welding is substantially reduced, production efficiency is improved, the need for angle welding part can be met in welding process, had
Relatively good application prospect.
Brief description of the drawings
Fig. 1 is the plane signal of the fillet weld seam track detection device based on laser ranging in embodiments of the invention
Figure；
Fig. 2 is the schematic diagram in kind of robot in embodiments of the invention；
Fig. 3 is the schematic diagram of display input section in embodiments of the invention；
Fig. 4 is the flow chart of the fillet weld seam track-detecting method based on laser ranging in embodiments of the invention；
Fig. 5 is scanning schematic diagram of the laser range sensor perpendicular to weld seam in embodiments of the invention；
Fig. 6 be in embodiments of the invention laser range sensor level in the scanning schematic diagram of weld seam.
Embodiment
In order that the technological means realized of the present invention is easy to understand with effect, with reference to embodiments and accompanying drawing to
Invention is specifically addressed.
<Embodiment>
Fig. 1 is the plane signal of the fillet weld seam track detection device based on laser ranging in embodiments of the invention
Figure, Fig. 2 is the schematic diagram in kind of robot in embodiments of the invention, and Fig. 3 is display input section in embodiments of the invention
Schematic diagram.
As shown in Figure 1, Figure 2 and Figure 3, the device 100 of the fillet weld seam track detection based on laser ranging uses laser
Ranging simultaneously carries out independently seeking position and automatic welding to the weld seam of angle welding part 1, including：Robot 10, welding gun 20, laser ranging are passed
Sensor 30, times good fortune module 40, main control computer 50, robot controller 60 and data store (not shown).
As shown in Fig. 2 robot 10 includes robot body 11 and mechanical arm 12.
As shown in figure 1, welding gun 20 is arranged on mechanical arm 12, for being welded to weld seam, in addition to welding machine 21 and to
The welding machine provides the power supply 22 of electric energy.
Laser range sensor 30 is fixed on the end of mechanical arm 12 by support (not shown), for entering to weld seam
Row scanning, obtains characteristic point of the weld seam on locus, in the present embodiment, laser range sensor 30 is that Keyemce is high-precision
Spend distance measuring sensor.
As shown in figure 1, good fortune module 40 is connected with laser range sensor 30 again, for acquisition characteristics point, weld seam is obtained
Positional information, in the present embodiment, times good fortune module 40 is by 1 bus terminal module (BK5250), 1 Analog input mModule
(KL3061) constituted with 1 terminus module (KL9010), each analog input channel (KL3061) takes two bytes, signal electricity
Pressure scope is 0~10V, and conversion time is 1ms.
As shown in figure 1, main control computer 50 is attached by Ethernet with robot 10, for being given birth to according to positional information
Into the welding procedure of robot, including the display input section (not shown) being arranged on main control computer 50.
As shown in figure 3, display input section is used for the running status for showing robot 10, such as operating personnel can be to robot
10 scanning process and welding process is monitored；Operating personnel can monitoring device state and signal break-make, and pass through display
Input unit 51 sets the parameter of scanning process and welding process.
Robot controller 60 is used to carry out motion to weld weld seam according to welding procedure control machine people 10.
Data store is used to storing the data that laser range sensor 30 and robot 10 are gathered, analyze and
Processing, imports robot controller 60, and complete welding process by the robot welding program automatically generated.
Fig. 4 is the flow chart of the fillet weld seam track-detecting method based on laser ranging in embodiments of the invention.
The method that the device 100 of fillet weld seam track detection based on laser ranging is welded to weld seam, including with
Lower step：
S1, using four-point method to the coordinate system of laser range sensor relative to the position of the ending coordinates system of robot and
Rotation relationship is demarcated.
Specifically include following sub-step：
S1-1：Adjust support so that the transmitting light beam and the Y of the ending coordinates system of robot 10 of laser range sensor 30
Axle is parallel.
S1-2：Transmitting light beam forms laser plane on the bottom surface straight angle of angle welding part 1, and the transmitting beam distance laser is put down
Face is set to the coordinate center of the coordinate system of laser range sensor 30 for 300mm point.
S1-3：Operating personnel use the manual teaching robot 10 of four kinds of different postures, set transmitting light beam direct projection
Sphere fixing point, record the attitude value and positional value of the ending coordinates system of the corresponding robot 10 of various postures.
S1-4：According to attitude value and positional value, the end based on laser range sensor 30 and mechanical arm 12 is in predetermined seat
The position offset of transformational relation and laser range sensor 30 relative to robot end of system is marked, laser ranging is sensed
The position of device 30 is demarcated.
S1-5：By the Coordinate Setting of laser range sensor 30 to be consistent with the coordinate direction of the end of mechanical arm 12,
The rower that is rotated into of laser range sensor 30 is determined.
S2, the control laser range sensor 30 of main control computer 50 is scanned to weld seam, obtains weld seam in locus
On characteristic point.
Specifically include following sub-step：
Fig. 5 is that laser range sensor is perpendicular to the scanning schematic diagram of weld seam in embodiments of the invention, and Fig. 6 is the present invention
Embodiment in laser range sensor level in the scanning schematic diagram of weld seam.
S2-1, as shown in figure 5, main control computer 50 controls bottom surface of the laser range sensor 30 along angle welding part 1 to put down
The vertical direction of weld seam on angle carries out twice sweep.
S2-2, as shown in fig. 6, main control computer 50 controls bottom surface of the laser range sensor 30 along angle welding part 1 to put down
The horizontal direction of weld seam on angle carries out twice sweep；
S2-3, obtains characteristic point of the weld seam on locus.
S3, the acquisition characteristics point of times good fortune module 40, obtains the positional information of weld seam.
S4, main control computer 50 is handled the positional information of weld seam, obtains the starting point and ending point of weld seam.
Specifically include following sub-step：
S4-1：The positional information of weld seam is handled using median filtering method, filter window length is set as L=2k+
1, object element fiThe set of neighborhood is set to (fi-k,...,fi,...,fi+k), by fiNeighborhood is arranged according to numerical values recited, and
By yi=med [fi-k,...,fi,...,fi+k] formula exports the value of middle sequence number as filtering, respectively obtains two smooth figures
As xi and yi and two smoothed image c and d；
S4-2：Using least square method to smoothed image xi and yi carry out fitting a straight line, obtain two weld bead feature points a and
B, as shown in fig. 6,
Wherein, n is the quantity for the positional information that laser sensor is vertically scanned；
S4-3：Characteristics of weld seam equation g (x)=kx+c is set up according to two characteristic points a and b；
S4-4：According to smoothed image c and d obtain the maximum coordinate of distance value be respectively (mc,
Nc) and (md, nd) 2 points (as shown in Figure 6), with reference to characteristics of weld seam equation difference
Obtain two vertical line equation hc (x) and hd (x)：
S4-5：According to a characteristics of weld seam equation g (x) and two vertical line equation hc (x) and hd (x), two intersection points are obtained,
That is the starting point and ending point of weld seam.
S5, main control computer 50 generates robot welding program according to starting point and ending point；
S6, robot controller 60 controls welding gun 20 to weld weld seam according to welding procedure.
The effect of embodiment and effect
A kind of fillet weld seam track detection apparatus and method based on laser ranging according to involved by the present embodiment, by
Angle welding part is scanned and extracted the characteristic point of weld seam in employing laser range sensor, and given birth to by main control computer
Into the seam track of workpiece.Further, since the positional information of the weld seam using main control computer to collecting has carried out intermediate value filter
Ripple, least square line process of fitting treatment, it is to avoid because the inside of laser range sensor, mechanical arm slight jitter and not
The obvious, burr of positional information fluctuation is more caused by determining factor, so as to accurately find starting point and the termination of weld seam
Point.It can be realized according to a kind of fillet weld seam track detection apparatus and method based on laser ranging involved in the present invention non-
The function of contact fast searching angle welding track, substantially reduces the weld interval of angle welding, improves production efficiency, can be full
The need for sufficient angle welding part is in welding process, there is relatively good application prospect.
Claims (6)
1. a kind of fillet weld seam track detection device based on laser ranging, using laser ranging and to the weld seam of angle welding part
Progress independently seeks position and automatic welding, it is characterised in that including：
Robot, with robot body and mechanical arm；
Welding gun, is arranged on the mechanical arm, for being welded to the weld seam；
Laser range sensor, the end of the mechanical arm is fixed on by support, for being scanned to the weld seam, is obtained
Characteristic point of the weld seam on locus；
Times good fortune module, is connected with the laser range sensor, for gathering the characteristic point, obtains the position letter of the weld seam
Breath；
Main control computer, is attached by Ethernet with the robot, for generating the machine according to the positional information
The welding procedure of device people；And
Robot controller, for controlling the robot to carry out motion so as to weld seam progress according to the welding procedure
Welding.
2. the fillet weld seam track detection device according to claim 1 based on laser ranging, it is characterised in that：
Wherein, the laser range sensor is Keyemce precision distance measurement sensor.
3. a kind of carried out using the fillet weld seam track detection device as claimed in claim 1 based on laser ranging to weld seam
The method of welding, it is characterised in that comprise the following steps：
S1, using coordinate system position relative to the ending coordinates system of the robot of the four-point method to the laser range sensor
Put and demarcated with rotation relationship；
S2, the main control computer controls the laser range sensor to be scanned the weld seam, obtains the weld seam and exists
Characteristic point on locus；
S3, described times of good fortune module gathers the characteristic point, obtains the positional information of the weld seam；
S4, the main control computer is handled the positional information of the weld seam, obtains starting point and the termination of the weld seam
Point；
S5, the main control computer generates the welding procedure of the robot according to the starting point and the terminating point；
S6, the robot controller controls the welding gun to weld the weld seam according to the welding procedure.
4. the fillet weld seam track detection device according to claim 3 based on laser ranging to weld seam carry out ranging,
The method of automatic localization and automatic welding, it is characterised in that：
Wherein, following sub-step is also included in the S-1：
S1-1：Adjust the support so that the ending coordinates of the transmitting light beam and the robot of the laser range sensor
The Y-axis of system is parallel；
S1-2：The transmitting light beam forms laser plane, the transmitting beam distance on the bottom surface straight angle of the angle welding part
The laser plane is set to the coordinate center of the coordinate system of the laser range sensor for 300mm point；
S1-3：Operating personnel set the transmitting light beam direct projection using robot described in four kinds of manual teachings of different postures
Good sphere fixing point, records the attitude value and positional value of the ending coordinates system of the corresponding robot of various postures；
S1-4：According to the attitude value and institute's location value, the end based on the laser range sensor Yu the mechanical arm
In the position offset of transformational relation and the laser range sensor relative to the robot end of preset coordinates system,
The position of the laser range sensor is demarcated；
S1-5：It is the coordinate direction one with the end of the mechanical arm by the Coordinate Setting of the laser range sensor
Cause, the rower that is rotated into of the laser range sensor is determined.
5. the fillet weld seam track detection device according to claim 3 based on laser ranging to weld seam carry out ranging,
The method of automatic localization and automatic welding, it is characterised in that：
Wherein, following sub-step is also included in the S2：
S2-1, the main control computer controls the institute on the bottom surface straight angle of the laser range sensor along the angle welding part
The vertical direction for stating weld seam carries out twice sweep；
S2-2, the main control computer controls the institute on the bottom surface straight angle of the laser range sensor along the angle welding part
The horizontal direction for stating weld seam carries out twice sweep；
S2-3, obtains characteristic point of the weld seam on locus.
6. the fillet weld seam track detection device according to claim 3 based on laser ranging to weld seam carry out ranging,
The method of automatic localization and automatic welding, it is characterised in that：
Wherein, following sub-step is also included in the S4：
S4-1：The positional information of the weld seam is handled using median filtering method, filter window length is set as L=2k+
1, object element fiThe set of neighborhood is set to (fi-k,...,fi,...,fi+k), by the fiNeighborhood is arranged according to numerical values recited
Row, and by formula yi=med [fi-k,...,fi,...,fi+k] exported the value of middle sequence number as filtering, respectively obtain two
Smoothed image xi and yi and two smoothed image c and d；
S4-2：Fitting a straight line is carried out to the smoothed image xi and yi using least square method, obtain two weld bead feature points a and
B,
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Wherein, n is the quantity for the positional information that laser sensor is vertically scanned；
S4-3：Characteristics of weld seam equation g (x)=kx+c is set up according to two characteristic point a and b；
S4-4：It is respectively the two of (mc, nc) and (md, nd) to obtain the maximum coordinate of distance value according to the smoothed image c and d
Point, two vertical line equation h are respectively obtained with reference to the characteristics of weld seam equationcAnd h (x)d(x)：
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S4-5：According to a characteristics of weld seam equation g (x) and two vertical line equation hcAnd h (x)d(x) two friendships, are obtained
Point, i.e., the starting point and the terminating point of described weld seam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568976.2A CN107322597A (en) | 2017-07-13 | 2017-07-13 | A kind of fillet weld seam track detection apparatus and method based on laser ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568976.2A CN107322597A (en) | 2017-07-13 | 2017-07-13 | A kind of fillet weld seam track detection apparatus and method based on laser ranging |
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| CN108527332A (en) * | 2018-06-11 | 2018-09-14 | 华南理工大学 | A kind of seam track off-line calibration method based on structured light vision sensor |
| CN109128434A (en) * | 2018-10-09 | 2019-01-04 | 王燕蓉 | The welding method of fillet weld |
| CN109926703A (en) * | 2017-12-19 | 2019-06-25 | 株式会社达谊恒 | Welding position detection device, welding position detection method and welding robot system |
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| CN111044701A (en) * | 2019-12-30 | 2020-04-21 | 中核武汉核电运行技术股份有限公司 | Device and method for calibrating position of wall-climbing robot for spent pool inspection of nuclear power plant |
| CN111086000A (en) * | 2019-12-25 | 2020-05-01 | 上海新时达机器人有限公司 | Welding seam locating method and device, computer equipment and storage medium |
| CN113146622A (en) * | 2021-03-22 | 2021-07-23 | 哈尔滨工业大学 | Visual identification method for laser welding of framework skin structure |
| CN113834432A (en) * | 2020-06-23 | 2021-12-24 | 宝山钢铁股份有限公司 | Device and method for calibrating slender metallurgical tool based on laser ranging sensor |
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| CN108008729A (en) * | 2017-12-13 | 2018-05-08 | 广州乾鼎电力科技发展有限公司 | Robot infrared laser positioning motion trail planning method and device |
| CN109926703A (en) * | 2017-12-19 | 2019-06-25 | 株式会社达谊恒 | Welding position detection device, welding position detection method and welding robot system |
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| CN108527332A (en) * | 2018-06-11 | 2018-09-14 | 华南理工大学 | A kind of seam track off-line calibration method based on structured light vision sensor |
| CN109128434A (en) * | 2018-10-09 | 2019-01-04 | 王燕蓉 | The welding method of fillet weld |
| CN109128434B (en) * | 2018-10-09 | 2022-03-29 | 王燕蓉 | Fillet weld welding method |
| CN110977226B (en) * | 2019-12-19 | 2021-08-31 | 北京创想智控科技有限公司 | Method and system for welding carriage box plate |
| CN110977226A (en) * | 2019-12-19 | 2020-04-10 | 北京创想智控科技有限公司 | Method and system for welding carriage box plate |
| CN111086000A (en) * | 2019-12-25 | 2020-05-01 | 上海新时达机器人有限公司 | Welding seam locating method and device, computer equipment and storage medium |
| CN111044701A (en) * | 2019-12-30 | 2020-04-21 | 中核武汉核电运行技术股份有限公司 | Device and method for calibrating position of wall-climbing robot for spent pool inspection of nuclear power plant |
| CN113834432A (en) * | 2020-06-23 | 2021-12-24 | 宝山钢铁股份有限公司 | Device and method for calibrating slender metallurgical tool based on laser ranging sensor |
| CN113834432B (en) * | 2020-06-23 | 2022-07-19 | 宝山钢铁股份有限公司 | Device and method for calibrating slender metallurgical tool based on laser ranging sensor |
| CN113146622A (en) * | 2021-03-22 | 2021-07-23 | 哈尔滨工业大学 | Visual identification method for laser welding of framework skin structure |
| CN113146622B (en) * | 2021-03-22 | 2022-07-05 | 哈尔滨工业大学 | Visual identification method for laser welding of framework skin structure |
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