Automatic 3D Seam Extraction Method for Welding Robot Based on Monocular Structured Light

doi:10.1109/JSEN.2021.3076341

	Automatic 3D Seam Extraction Method for Welding Robot Based on Monocular Structured Light
	Lu, Zhenfeng 1; Fan, Junfeng2 ; Hou, Zhanxin 1; Deng, Sai2 ; Zhou, Chao2 ; Jing, Fengshui2
发表期刊	IEEE SENSORS JOURNAL
ISSN	1530-437X
	2021-07-15
卷号	21 期号:14 页码:16359-16370
通讯作者	Fan, Junfeng(fanjunfeng2014@ia.ac.cn)
摘要	The teaching programming mode and offline programming mode of welding robot are essential parts in today's manufacturing industry. However, these modes can't meet the automation requirements and adaptive ability of welding robot. To achieve 3D path acquisition of weld seam for robot autonomous programming, a fast and accurate offline 3D seam extraction method is proposed based on monocular structured light sensor. In this method, gray code and phase-shift code raster images are projected to the workpiece, and the 3D coordinates of the weld are calculated by collecting the workpiece images with raster patterns. The path fitting of robot is completed by polynomial fitting method. The novel monocular structured light sensor used by this paper has compact structure and small volume, and can adapt to a variety of welding working scenes. The combination of gray code and phase shift code makes the measurement accurate and fast, and achieves the effect of full resolution decoding. The experimental results show that the proposed method can complete the task of 3D weld extraction and path fitting, which has the characteristics of high efficiency and strong robustness.
关键词	Structured light weld extraction visual sensor 3D reconstruction path model
DOI	10.1109/JSEN.2021.3076341
关键词[WOS]	STEREO VISION ; POOL CONTROL ; SYSTEM ; PENETRATION ; PROFILOMETRY ; INSPECTION ; TRACKING
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62003341] ; National Natural Science Foundation of China[U1813208] ; National Natural Science Foundation of China[61903362] ; 2020 Youth Research Fund of the State Key Laboratory of Management and Control for Complex Systems[20200101]
项目资助者	National Natural Science Foundation of China ; 2020 Youth Research Fund of the State Key Laboratory of Management and Control for Complex Systems
WOS研究方向	Engineering ; Instruments & Instrumentation ; Physics
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation ; Physics, Applied
WOS记录号	WOS:000673632700088
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	智能机器人
引用统计	被引频次：16[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/173211/45505
专题	复杂系统认知与决策实验室_水下机器人
通讯作者	Fan, Junfeng
作者单位	1.China Univ Min & Technol, Sch Mech Elect & Informat Engn, Dept Mech Engn, Beijing 100083, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, 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	Lu, Zhenfeng,Fan, Junfeng,Hou, Zhanxin,et al. Automatic 3D Seam Extraction Method for Welding Robot Based on Monocular Structured Light[J]. IEEE SENSORS JOURNAL,2021,21(14):16359-16370.
APA	Lu, Zhenfeng,Fan, Junfeng,Hou, Zhanxin,Deng, Sai,Zhou, Chao,&Jing, Fengshui.(2021).Automatic 3D Seam Extraction Method for Welding Robot Based on Monocular Structured Light.IEEE SENSORS JOURNAL,21(14),16359-16370.
MLA	Lu, Zhenfeng,et al."Automatic 3D Seam Extraction Method for Welding Robot Based on Monocular Structured Light".IEEE SENSORS JOURNAL 21.14(2021):16359-16370.