For better welding quality, accurate path teaching for actuators must be achieved before welding. Due to machining errors, assembly errors, deformations, etc., the actual groove position may be different from the predetermined path. Therefore, it is significant to recognize the actual groove position using machine vision methods and perform an accurate path teaching process. However, during the teaching process of a narrow butt joint, the existing machine vision methods may fail because of poor adaptability, low resolution, and lack of 3D information. This paper proposes a 3D path teaching method for narrow butt joint welding. This method obtains two kinds of visual information nearly at the same time, namely 2D pixel coordinates of the groove in uniform lighting condition and 3D point cloud data of the workpiece surface in cross-line laser lighting condition. The 3D position and pose between the welding torch and groove can be calculated after information fusion. The image resolution can reach 12.5 μm. Experiments are carried out at an actuator speed of 2300 mm/min and groove width of less than 0.1 mm. The results show that this method is suitable for groove recognition before narrow butt joint welding and can be applied in path teaching fields of 3D complex components.

During the complex path workpiece welding, it is important to keep the welding torch aligned with the groove center using a visual seam detection method, so that the deviation between the torch and the groove can be corrected automatically. However, when detecting the narrow butt of a specular reflection workpiece, the existing methods may fail because of the extremely small groove width and the poor imaging quality. This paper proposes a novel detection method to solve these issues. We design a uniform surface light source to get high signal-to-noise ratio images against the specular reflection effect, and a double-line laser light source is used to obtain the workpiece surface equation relative to the torch. Two light sources are switched on alternately and the camera is synchronized to capture images when each light is on; then the position and pose between the torch and the groove can be obtained nearly at the same time. Experimental results show that our method can detect the groove effectively and efficiently during the welding process. The image resolution is 12.5 μm and the processing time is less than 10 ms per frame. This indicates our method can be applied to real-time narrow butt detection during high-speed welding process.

This study aims to reveal the cause of different weld formation quality for varying welding position in the GTAW (Gas Tungsten Arc Welding) of a thick-sheet aluminum alloy structure. The fluid flow characteristics of weld pools are investigated by CFD (Computational Fluid Dynamic) modeling and high-speed imaging for the climbing and flat welding positions, which correspond to the start and finish ends of the welds of the structure, respectively. Results show that the directions of gravity relative to weld pools may notably affect the fluid flows in weld pools for different welding positions. For flat welding, gravity will accelerate the fluid flow in the direction of sheet thickness only and in turn result in a high velocity downwards, which implies a good penetrating capability. Welds of good formation with smooth surface and consistent width can be produced under flat welding position. In contrast, for climbing welding, gravity will act on the molten metal in both the direction of sheet thickness and the lateral direction of the weld pool. As a result, the velocity in sheet-thickness direction is decreased, which implies a decreased penetrating capability. Meanwhile, the velocity backwards is increased in the top portion of the weld pool, which makes the molten metal apt to flow out of the weld pool. Both the decreased penetrating capability and the accelerated molten metal outflow would render the climbing welding process unstable, and result in welds of poor formation with uneven weld surface and inconsistent weld width. Based on the study, possible methods are proposed that could be used to improve the weld formation quality when welding thick-sheet aluminum alloys structures using various welding positions.

A position and pose detection method of moving object in fog and dust environment is proposed in this paper. Laser array comprised of four angled lasers is mounted on a turntable fixated on the detecting object. The turntable is tuned automatically to guarantee that all laser spots are projected onto a plate, which keeps stationary with the world coordinate system. The position and pose of detecting object can be figured out according to laser spot positions. The position precision of the proposed method can reach 0.2% or higher in the detecting range of 25-30m. The azimuth detection range can be as wide as 0-360° with the tuning of the turntable. Simulations are carried out to evaluate the influence of the measurement errors on detecting results, revealing that the detection accuracy does not exceed 9mm and 0.01rad in the permitted noise levels. Those results indicate that the proposed method is expected to be applied to high-precision position and pose detection of moving objects (mobile robots, special machinery, etc.) in fog and dust environment.