A precise seam tracking method for narrow butt seams based on structured light vision sensor

doi:10.1016/j.optlastec.2018.08.047

	A precise seam tracking method for narrow butt seams based on structured light vision sensor
	Fan, Junfeng; Jing, Fengshui1 ; Yang, Lei; Long, Teng; Tan, Min
发表期刊	OPTICS AND LASER TECHNOLOGY
ISSN	0030-3992
	2019
卷号	109 页码:616-626
通讯作者	Jing, Fengshui(fengshui.jing@ia.ac.cn)
摘要	At present, most popular approaches of seam detection are based on structured light vision sensors owing to features of high accuracy and robustness. However, the deformation of laser stripe is not obvious enough when it is projected onto narrow butt seam, whose width is less than 0.2 mm, so the traditional structured light vision sensor cannot detect the seam feature of narrow butt seam. In this paper, a precise seam tracking method for narrow butt seams based on structured light vision sensor is proposed. Firstly, a new structured light vision sensor with optical filters and an extra LED light is developed to filtered out most of noises from strong arc lights and acquire the image including laser stripe and narrow butt seam. In addition, an image processing method for the vision sensor is designed to obtain welding torch deviations of narrow butt seams both in horizontal and vertical directions. Based on the obtained deviations, two independent Fuzzy-PID controllers are designed to achieve seam tracking control accurately. Finally, in order to verify the effectiveness of the proposed method in this paper, a welding experimental system is setup and welding experiments are carried out. Experimental results demonstrate that this method can meet the requirement of narrow butt seams tracking accuracy.
关键词	Seam tracking Structured light vision Narrow butt seam Image processing Fuzzy-PID controller
DOI	10.1016/j.optlastec.2018.08.047
关键词[WOS]	VISUAL SERVO CONTROL ; WELDING ROBOT ; CONTROL-SYSTEM ; GTAW PROCESS ; TECHNOLOGY ; JOINT
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61573358] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61573358] ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China[61421004]
项目资助者	National Natural Science Foundation of China ; Foundation for Innovative Research Groups of the National Natural Science Foundation of China
WOS研究方向	Optics ; Physics
WOS类目	Optics ; Physics, Applied
WOS记录号	WOS:000446949600075
出版者	ELSEVIER SCI LTD
七大方向——子方向分类	多模态智能
引用统计	被引频次：46[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23527
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Jing, Fengshui
作者单位	1.Chinese Acad Sci, Inst Automat, 95 Zhongguancun East Rd, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, 19 A Yuquan Rd, Beijing 100049, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Fan, Junfeng,Jing, Fengshui,Yang, Lei,et al. A precise seam tracking method for narrow butt seams based on structured light vision sensor[J]. OPTICS AND LASER TECHNOLOGY,2019,109:616-626.
APA	Fan, Junfeng,Jing, Fengshui,Yang, Lei,Long, Teng,&Tan, Min.(2019).A precise seam tracking method for narrow butt seams based on structured light vision sensor.OPTICS AND LASER TECHNOLOGY,109,616-626.
MLA	Fan, Junfeng,et al."A precise seam tracking method for narrow butt seams based on structured light vision sensor".OPTICS AND LASER TECHNOLOGY 109(2019):616-626.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
A precise seam track（2170KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览下载