项目名称: 深海环境局部自主焊接机器人任务空间三维视觉重建与路径规划技术研究
项目编号: No.51305245
项目类型: 青年科学基金项目
立项/批准年度: 2014
项目学科: 机械、仪表工业
项目作者: 殷子强
作者单位: 山东省科学院
项目金额: 26万元
中文摘要: 由水下焊接机器人代替潜水焊工执行深海环境焊接任务是水下焊接技术发展和应用的一个重要方向.本项目主要围绕水下焊接机器人任务空间三维重建和运动路径规划问题,研究宏观遥控与局部自主完成焊接任务的方法.针对深海环境光照条件差、可见度低的特点,提出主动视觉与被动视觉相结合的机器视觉方法,建立人机共享的水下焊接机器人任务空间场景信息,为水下机器人焊接任务分配和规划提供可靠信息依据.针对传统遥控焊接对操作者过度依赖的问题,提出关键位置实时遥控、焊接任务自主控制的深海环境机器人焊接分区域路径规划策略,为水下焊接机器人的智能化水平的提高和突破奠定理论基础.揭示深海环境下焊枪角度、焊枪摆动和焊接速度等焊接路径参数对焊接接头质量的影响规律,建立基于回归分析的路径参数模型,为提高焊接机器人自主规划路径的准确性提供技术支撑.本项目将奠定深海环境机器人焊接技术发展和应用的坚实基础,具有重要理论研究和实际应用价值.
中文关键词: 水下焊接;焊接机器人;局部自主;路径规划;三维重建
英文摘要: It is promising to employ underwater welding robot instead of diving welder to fulfill underwater welding tasks. From the point of resolving those problems of three dimensional reconstruction for the task space and the path plan for underwater welding robot system, this project researches the macroscopic teleoperation, microscopic autonomous control method to complete the underwater welding task, This research puts forward a novel stereo vision approach based on the combination of the active vision method and the passive vision method, develops the image enhancement algorithm and three dimensional matching algorithm, and establishes a operator-machine shared three dimensional reconstruction model of the robotic task space. This novel approach supplies a reliable information foundation for the task scheduling and the path plan of the deep-sea welding robot. In oder to avoid the problem of depending too much on human operator during welding process in the traditional remote welding system, this research proposes a path plan strategy that the human operator real time remotely control the underwater welding robot on the key position, and the underwater welding robot autonomously control the welding process. The present remote-local autonomous path plan strategy serves a theoretical foundation for the development and
英文关键词: underwater welding;welding robot;local autonomy;path plan;dimensional reconstruction