| Automatic 3D Seam Extraction Method for Welding Robot Based on Monocular Structured Light | |
Lu, Zhenfeng1; Fan, Junfeng2 ; Hou, Zhanxin1; Deng, Sai2; Zhou, Chao2; Jing, Fengshui2
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| Source Publication | IEEE SENSORS JOURNAL
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| ISSN | 1530-437X |
| 2021-07-15 | |
| Volume | 21Issue:14Pages:16359-16370 |
| Corresponding Author | Fan, Junfeng(fanjunfeng2014@ia.ac.cn) |
| Abstract | 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. |
| Keyword | Structured light weld extraction visual sensor 3D reconstruction path model |
| DOI | 10.1109/JSEN.2021.3076341 |
| WOS Keyword | STEREO VISION ; POOL CONTROL ; SYSTEM ; PENETRATION ; PROFILOMETRY ; INSPECTION ; TRACKING |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | 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] |
| Funding Organization | National Natural Science Foundation of China ; 2020 Youth Research Fund of the State Key Laboratory of Management and Control for Complex Systems |
| WOS Research Area | Engineering ; Instruments & Instrumentation ; Physics |
| WOS Subject | Engineering, Electrical & Electronic ; Instruments & Instrumentation ; Physics, Applied |
| WOS ID | WOS:000673632700088 |
| Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| Sub direction classification | 智能机器人 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/45505 |
| Collection | 复杂系统管理与控制国家重点实验室_水下机器人 |
| Corresponding Author | Fan, Junfeng |
| Affiliation | 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 |
| Corresponding Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Recommended Citation 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. |
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