Abstract
To meet the current flexible modern manufacturing mode, based on the idea from coarse to fine, a novel three-dimensional(3D) seam extraction algorithm is proposed in this paper which includes the global rough extraction and the local fine positioning. Firstly, a multi-functional vision system based on Digital Light Processing(DLP) projector is designed to adapt different 3D measurement tasks. Secondly, a global sensor based on DLP projector is constructed which is used to acquire the whole weld seam. Meanwhile, a new feature extraction algorithm based on 3D information of work pieces is proposed. Thirdly, a line structured light sensor based on DLP projector is to serve as local sensor. Based on the results of rough extraction, the close-range laser scanning is to improve the measurement precision. Finally, the 3D path model and pose estimation of weld seam are done which could be applied into the 3D path teaching of welding robots. The experiments show that the proposed algorithm could well finish the high-precision 3D seam path planning through the “Global-Local” method.
Highlights
Nowadays, the welding robots have been widely working on intelligent manufacturing and automatic production lines
To better realized high-precision seam extraction, a multi-functional vision sensor is designed based on optical projector
SYSTEM ARCHITECTURE To realize the high-precision and robust 3D seam path extraction, based on the idea from coarse to fine, a new ‘‘GlobalLocal’’ method is proposed based on the multi-functional vision sensors
Summary
The welding robots have been widely working on intelligent manufacturing and automatic production lines. Due to the characteristics of high precision and good robustness, the laser structured light has been widely applied into the 3D measurement of welding robots. (3) To perceive the whole weld seam, the global location method based on point cloud segmentation is proposed, which has better robustness to complex welding environment. To better realized high-precision seam extraction, a multi-functional vision sensor is designed based on optical projector. To acquire 3D information of weld seam, combined with the DLP projector, the stereo cameras are adopted to design the stereo structured light sensor. C. SYSTEM ARCHITECTURE To realize the high-precision and robust 3D seam path extraction, based on the idea from coarse to fine, a new ‘‘GlobalLocal’’ method is proposed based on the multi-functional vision sensors. It could well finish the path fitting with noise
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