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A precise initial weld point guiding method of micro-gap weld 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 PublicationIEEE SENSORS JOURNAL
2019
Volume19Issue:1Pages:322-331
Abstract

Initial weld point guiding is the premise of intelligentized welding process. At present, many initial weld point guiding methods based on structured light vision sensors and passive vision sensors have been presented. However, the methods based on structured light vision sensors are not suitable for micro-gap weld and the methods based on passive vision sensors have large guiding errors, which limits their application for micro-gap weld. Therefore, a precise initial weld point guiding method of micro-gap weld is proposed in this paper. This initial weld point guiding method consists of two parts. In the vision sensing part, a structured light vision sensor with a narrowband optical filter and a LED light is designed to acquire clear image including laser stripe and micro-gap weld seam. Then, the image processing method is designed to detect feature point and the 3D coordinates of the feature point can be obtained based on established vision model. In the control part, combining the 3D coordinates of the feature point with the initial weld point guiding model, the 3D coordinates of initial weld point can be determined. Then, the initial weld point guiding controller is adopted to make welding torch align with the initial weld point. Finally, many initial weld point guiding experiments are carried out. Experimental results show that the proposed method can achieve the initial weld point guiding of planar and curved surface micro-gap weld accurately, and the guiding accuracy is improved compared previous methods, which can be applied in welding production.

KeywordInitial Weld Point Guiding Micro-gap Weld Structured Light Vision Robot Welding
WOS IDWOS:000452623200036
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23528
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 initial weld point guiding method of micro-gap weld based on structured light vision sensor[J]. IEEE SENSORS JOURNAL,2019,19(1):322-331.
APA Fan JF,Jing FS,Yang L,Long T,&Tan M.(2019).A precise initial weld point guiding method of micro-gap weld based on structured light vision sensor.IEEE SENSORS JOURNAL,19(1),322-331.
MLA Fan JF,et al."A precise initial weld point guiding method of micro-gap weld based on structured light vision sensor".IEEE SENSORS JOURNAL 19.1(2019):322-331.
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