Abstract
This paper presents a novel weld groove parametrization algorithm, which is developed specifically for weld grooves in typical stub and butt joints between large tubular elements. The procedure is based on random sample consensus (RANSAC) with additionally proposed correction steps, including a corner correction step for grooves with narrow root weld, and an iterative error elimination step for improving the initially obtained data fit. The problem of curved groove sides (due to the pipe geometry) is attributed and solved. In addition, the procedure detects and eliminates several types of data noise due to laser line reflections. The performance of the procedure is studied experimentally using small-scale test objects, which have been ground using typical industrial power tools to achieve a realistic level of reflections. The execution times and data fit errors of the proposed procedure are compared to a procedure based on a more conventional RANSAC approach for line segment detection.
Highlights
Welding is an important manufacturing process for steel components and structures
In this work we propose a procedure for the precise parametrization of weld grooves from triangulated points with strong data noise, and, we suggest that comparing our approach with the conventional random sample consensus (RANSAC) line segment detector is a relevant addition to our experimental investigation
We have presented a novel weld groove parametrization procedure for typical grooves in large tubular butt and stub joints
Summary
Welding is an important manufacturing process for steel components and structures. Welding is often done by manual labor, especially for complex welding processes, complex interface geometries, and welds with high quality requirements. Robotic welding becomes more challenging when large components have to be welded together. This is due to larger geometrical deviations of components and large welds required to connect them. In such applications, scanning and parametrization of weld grooves is a vital step before welding can start. We propose an algorithm for precise parametrization of weld grooves at interfaces between large tubular joints when a 2-dimensional (2D) laser scanner is used
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