Development of a High-speed Visual Sensing System for Robotic Seam-Tracking in Automobile Body Sealing.

摘要

A high-speed visual sensing system for robotic seam tracking in automobile body sealing has been developed. Based on technology that has sub-mm sensing accuracy for high-speed seam-tracking of a complicated seam with position tolerance, an advanced sealing robotic system minimizing the necessary sealant has been achieved. The featured technologies are as follows: (1) a compact and high-speed laser range finder mounted on a robotic manipulator of high-speed spatial motion, (2) an adaptive seam-recognition algorithm which accurately determines the seam feature point by detecting the noticeable gap in non-uniform range profiIe data, (3) a high-speed trajectory planner supplying stable and well-timed servo references for a sealing-gun actuator by suppressing the sensor data noise, (4) a sensor-enhanced teaching advisor utilizing a graphical user interface. Results obtained in field testing with almost 10 000 bodies on an automobile sealing line show significant sealant cost reduction and reliable system performance.