A novel multi-seam extraction method for structured workpieces with medium-thick plates based on DLP vision

Abstract

Currently, most seam extraction methods focus on some simple application scenarios. For structured workpieces with medium-thick plates, which have unknown and various structures, the current methods are difficult to deal with. Based on DLP (Digital Light Processing) vision, this paper proposes a novel multi-seam extraction method for structured workpieces. Firstly, the DLP vision system is constructed to achieve single-view data acquisition for workpieces. Next, we propose an improved registration method to fuse point clouds collected from multiple perspectives. Finally, the positions and poses of seams are solved by the designed extraction algorithm. The experimental results demonstrate the proposed multi-seam extraction method can accurately extract seams in a single perspective, and achieve coarse extraction for seams distributed in multiple perspectives, which can be further provided for robot trajectory planning and laser sensing to achieve fully automatic welding.