Point cloud 3D parent surface reconstruction and weld seam feature extraction for robotic grinding path planning

Wang, Xiangfei; Zhang, Xiaoqiang; Ren, Xuan; Li, Lufeng; Feng, Hengjian; He, Yan‐Bing; Chen, Huabin; Chen, Xiaoqi

doi:10.1007/s00170-020-04947-1

Cited by 36 publications

(11 citation statements)

References 40 publications

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“…where, x max , x OA, min , y OA, max , and y OA, min are the limit position of the coordinates of the point cloud, and u is limited to a range of 0°-90°. Finally, the transformation from the original attitude to the optimal attitude is expressed in equation (3).…”

Section: Optimal Attitude Transformationmentioning

confidence: 99%

“…1 Since CNC machining procedures, cutting parameters, and machining toolpath are calculated according to the workpiece model, the acquisition and construction of the model are critical. 2,3 The workpiece model has wide expressions such as point cloud, triangular mesh, and B-Spline surface. Among these, the B-Spline surface model is preferable for CNC machining because of its advantages such as high precision, convenient acquisition of surface information, and convenient computer operation.…”

Section: Introductionmentioning

confidence: 99%

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A method for fast reconstruction of closed section workpiece surface using point clouds

Li,

Song,

et al. 2024

Advances in Mechanical Engineering

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Parameterized reconstruction of workpiece surfaces is a critical step for advanced manufacturing applications, such as the solving of machining parameters, and the expression of workpiece in situ measurement. Generally, the point clouds model is easy to obtain and can be seen as the source model of the workpiece, and the B-spline surface is always taken as the ideal target parameterized model. Existing research focuses on reconstructing the single-valued surface, which can be projected onto a spatial plane without overlapping. However, the dual-valued surface, which overlaps at least twice, is also commonly encountered in industry, and has few investigations. Therefore, this paper proposes a fast reconstruction method based on reasonable segmentation and parameter domain mapping. In this approach, first, the dual-valued point clouds model is segmented into multiple single-valued point clouds models according to the sought edges in the optimal attitude. Then, the grid point coordinates of the single-valued point clouds model are calculated using the parametric-domain moving least squares method. Finally, the B-spline surface is generated by interpolating these grid points. The proposed algorithm is applied to single-bending closed-section workpieces such as the turbine blade to illustrate the effectiveness of this method. The contrast results with existing method demonstrate that the proposed approach can reconstruct the workpiece with multi-valued surfaces more quickly and more accurately, which is significant in advanced manufacturing.

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Section: Optimal Attitude Transformationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A method for fast reconstruction of closed section workpiece surface using point clouds

Li,

Song,

et al. 2024

Advances in Mechanical Engineering

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show abstract

“…It should be noted that the straight line fitting based on SVD method is suitable for independent steel bar point cloud. However, [14]the straight line fitting based on RANSAC method is suitable for clustering and segmentation of steel mesh point cloud. The main differences are listed as follows:…”

Section: Steps Of Welding Path Planningmentioning

confidence: 99%

A Method of Welding Path Planning of Steel Mesh Based on Point Cloud for Welding Robot

Geng

Zhang

Tian

et al. 2021

Preprint

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At present, the operators needs to carry out complicated teaching and programming work on the welding path planning for the welding robot before welding the steel mesh. In this work, an automatic welding path planning method of steel mesh based on point cloud is proposed to simplify the complicated teaching and programming work in welding path planning. The point cloud model of steel mesh is obtained by three-dimensional vision structured light camera. Then we use the relevant point cloud processing algorithm to calculate the welding path of the steel mesh, and obtainthe 3D information of the welding path for the welding localization of the robot welding process. Experimental results show that the method can accurately realize the welding path planning of the steel mesh and accomplish the welding task without teaching and programming before welding, which improves the production efficiency.

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“…In the above literature, the path planning of spot welding robot is almost limited in 2D environment. However, curved surface workpiece machining can not be ignored in many applications [11][12][13]. Since the flexibility and adaptability to different environments, the A-star algorithm has been widely used in path planning.…”

Section: Introductionmentioning

confidence: 99%

Spot-welding path planning method for the curved surface workpiece of body-in-white based on a memetic algorithm

Zhao

Zhang

Sun

et al. 2021

Int J Adv Manuf Technol

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Aiming at the problem of complex path planning in the processing of curved surface workpieces of body-in-white, a hybrid path planning method based on memetic algorithm is proposed. The method is divided into two parts, welding sequence planning and welding path planning between welding joints. By establishing the kinematics model of spot welding robot based on pipper criterion and z-y-z Euler angle solution method, the motion constraints of path optimization are analyzed. Under the framework of the memetic algorithm, the improved A-star algorithm with redundant node deletion and post smoothing process is used to obtain the smooth collision-free optimal path set between welding joints, and construct the objective function of traveling all welding joints with the shortest path length and the highest smoothness, the multi-objective elitist simulated annealing genetic algorithm is used to achieve the welding sequence planning of all welding joints. The variable neighborhood search method improves the mutation operator, the elitist strategy is introduced to improve the probability of crossover and mutation operation, and a simulated annealing algorithm is used to jump out of local search to get the global optimal solution. According to the motion constraints, the joint space path is obtained by the optimal path in Cartesian space. Simulations analysis results demonstrate that the hybrid path planning method based on the memetic algorithm can effectively optimize the path of spot welding robot, lay the foundation of controlling and trajectory planning during welding processes.

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Point cloud 3D parent surface reconstruction and weld seam feature extraction for robotic grinding path planning

Cited by 36 publications

References 40 publications

A method for fast reconstruction of closed section workpiece surface using point clouds

A method for fast reconstruction of closed section workpiece surface using point clouds

A Method of Welding Path Planning of Steel Mesh Based on Point Cloud for Welding Robot

Spot-welding path planning method for the curved surface workpiece of body-in-white based on a memetic algorithm

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