A visual model of welding robot based on CNN deep learning

LI Hexi; HAN Xinle; FANG Zaojun

doi:10.12073/j.hjxb.2019400060

TRANSACTIONS OF THE CHINA WELDING INSTITUTION > 2019 > 40(2): 154-160. > DOI: 10.12073/j.hjxb.2019400060

LI Hexi, HAN Xinle, FANG Zaojun. A visual model of welding robot based on CNN deep learning[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2019, 40(2): 154-160. DOI: 10.12073/j.hjxb.2019400060

Citation:

LI Hexi, HAN Xinle, FANG Zaojun. A visual model of welding robot based on CNN deep learning[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2019, 40(2): 154-160. DOI: 10.12073/j.hjxb.2019400060

Citation:

LI Hexi, HAN Xinle, FANG Zaojun. A visual model of welding robot based on CNN deep learning[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2019, 40(2): 154-160. DOI: 10.12073/j.hjxb.2019400060

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A visual model of welding robot based on CNN deep learning

1. Intelligent Manufacturing Department, Wuyi University, Jiangmen 529020, China;
2. Institute of Automation, Chinese Academy of Sciences，Beijing 100190, China

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Received Date: July 28, 2018

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In order to accurately recognize the weld target in complex environment, a visual model of welding robot based on deep learning was established. The model adoped a convolutional neural network (CNN) combining local connection and full connection. The local connection was composed of 3 convolution layers (C) and 3 subsampling layers (S) with C-S alternating mode for feature extraction of welding target. The full connection layer was composed of input layer, hidden layer and output layer as a classifier for weld target recognition. More than 1 000 image samples of welding targets were sampled for CNN network training, and the influence of different CNN structure parameters on the model was analyzed. The test results show that the visual model was robust to the translation, rotation and scaling of welding targets, and could be applied to the visual navigation of welding robots.
- deep learning,
- convolutional neural network,
- welding robot,
- visual model,
- welding target

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