CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
An initial point alignment method of narrow weld using laser 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 PublicationThe International Journal of Advanced Manufacturing Technology
2019
Volume102Issue:1-4Pages:201-212
Abstract

In this paper, an initial point alignment method of narrow weld using laser vision sensor is presented on the basis of the relationship between the feature point of laser stripe and initial point. The whole initial point alignment process contains two stages. At the first stage, the initial point image is captured, and the image coordinates of the feature point of laser stripe and initial point are obtained. At the second stage, according to the relationship between the feature point of laser stripe and initial point, the three-dimensional (3D) coordinates of initial point could be determined to achieve initial point alignment. The initial point alignment method mainly includes vision sensing and motion control two parts. Firstly, a new laser vision sensor with a uniform LED surface light source is developed to capture the high signal-to-noise ratio (SNR) image including narrow weld, and the feature point of laser stripe and initial point are detected using the image processing method. Secondly, initial point alignment control system including feature verification and controller is designed to achieve initial point alignment control. Finally, a series of initial point alignment experiments of straight and curve narrow weld are conducted to test the performance of the proposed method. Experimental results indicate the alignment error is less than previous methods, which could be used in automatic welding process.

KeywordInitial Point Alignment Image Processing Laser Vision Sensor Narrow Weld Welding Robot
Language英语
WOS IDWOS:000463670200015
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23529
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. An initial point alignment method of narrow weld using laser vision sensor[J]. The International Journal of Advanced Manufacturing Technology,2019,102(1-4):201-212.
APA Fan JF,Jing FS,Yang L,Long T,&Tan M.(2019).An initial point alignment method of narrow weld using laser vision sensor.The International Journal of Advanced Manufacturing Technology,102(1-4),201-212.
MLA Fan JF,et al."An initial point alignment method of narrow weld using laser vision sensor".The International Journal of Advanced Manufacturing Technology 102.1-4(2019):201-212.
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