特殊环境下大型构件全位置焊接移动机器人自主定位方法研究

项目名称： 特殊环境下大型构件全位置焊接移动机器人自主定位方法研究

项目编号： No.51475259

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 孙振国

作者单位： 清华大学

项目金额： 84万元

中文摘要： 大型水电站的建造和维护对全位置焊接移动机器人有着迫切需求，受作业环境封闭、作业空间受限、无法安装辅助传感器等条件约束，现有的移动机器人定位技术无法满足全位置修焊作业机器人对位姿和位置的高精度定位要求。本项目创新性地提出了一种通过旋转惯性测量单元（IMU）实现姿态定位的新方法，仅利用IMU内集成的三轴陀螺仪和三轴加速度计，通过旋转前后不同姿态下陀螺仪和加速度计输出的倾角数值，得到惯性测量单元漂移估计，有效地提高机器人姿态尤其是航向角的定位精度。在此基础上，构建融合惯导法、航迹法和视觉里程计法的高精度位置定位算法，构建体积小、成本低、精度高的机器人自主定位软硬件系统，并集成应用于大型水电站修焊作业机器人装备中。本项目既丰富和发展了现有的移动机器人自主定位理论方法，具有重要的科学意义；也为开发具有自主知识产权的全位置修焊作业机器人装备提供了关键技术支撑，工程应用价值显著。

中文关键词： 焊接机器人；焊接工艺；焊接自动化；自主定位；全位置焊接

英文摘要： There is an urgent need of all position repair welding mobile robot during the process of construction and maintenance of the large hydraulic power station. The existing pose measurement technique cannot reach the accuracy needed by all position repair welding mobile robot, because the working environment is enclosed and limited, and subsidiary sensor cannot be mounted. In this project, a novel method for attitude estimation based on rotation of inertial measurement unit (IMU) is developed. Using only a three-axis gyroscope together with a three-axis accelerometer, this method calculates the difference of inclination angle from the gyroscope and accelerometer respectively under different attitudes before and after rotation of IMU, therefore effectively improves the accuracy of attitude estimation, especially the heading angle. Based on the method above, the project will construct a high accuracy localization algorithm combining with traditional and visual odometry technique. At the same time the project will construct a small volume, low cost, and high accuracy self-localization system for mobile robot and apply it into the repair welding robot for large hydraulic power station. The project will not only promote the method of self-localization for mobile robot, but also provide one of the key technologies for the development of all position repair welding mobile robot with independent intellectual property.

英文关键词： welding robot;welding process;automatic welding;self location;all position welding