CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A precise seam tracking method for narrow butt seams based on structured light vision sensor
Fan JF(范俊峰)1,2; Jing FS(景奉水)1,2; Yang L(杨磊)1,2; Long T(龙腾)1,2; Tan M(谭民)1,2
Source PublicationOptics and Laser Technology
2019
Volume109Issue:1Pages:616-626
Abstract

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.

KeywordSeam Tracking Structured Light Vision Narrow Butt Seam Image Processing Fuzzy-pid Controller
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23527
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorJing FS(景奉水)
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Fan JF,Jing FS,Yang L,et al. A precise seam tracking method for narrow butt seams based on structured light vision sensor[J]. Optics and Laser Technology,2019,109(1):616-626.
APA Fan JF,Jing FS,Yang L,Long T,&Tan M.(2019).A precise seam tracking method for narrow butt seams based on structured light vision sensor.Optics and Laser Technology,109(1),616-626.
MLA Fan JF,et al."A precise seam tracking method for narrow butt seams based on structured light vision sensor".Optics and Laser Technology 109.1(2019):616-626.
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