Abstract
Initial welding position guidance is necessary for vision-based intelligentized robotic welding. In this paper, we proposed a point cloud based approach to recognize working environment and locate welding initial position using laser stripe sensor. Calibrated laser sensor can achieve high accuracy in transforming from image coordinate system to camera coordinate system and to robot tool coordinate system with hand-eye calibration. Linear feature based image processing algorithm is developed to extract the position of laser stripe center in subpixel-level accuracy; then trajectory-queue based interpolation is implemented to convert down-sampled laser points to robot base coordinate system in real-time scanning. Identification of workpiece is implemented by segmenting workpieces from the point cloud data in the image. Before segmentation, KD-Tree based background model is constructed to filter out background points; then RANSAC fitting procedure rejects outliers and fits the correct workpiece plane model; and the welding initial position can be found along the weld seam which is the intersection of fitted planes. In verification experiment, workpiece planes and welding initial position can be correctly recognized despite the presence of abnormal noises.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Chen SB (2015) On intelligentized welding manufacturing. In: Robotic welding, intelligence and automation. Springer, Berlin, pp 3–34
Zhu ZY, Lin T, Piao YJ et al (2005) Recognition of the initial position of weld based on the image pattern match technology for welding robot. Int J Adv Manuf Technol 26(7–8):784–788
Chen XZ, Chen SB (2010) The autonomous detection and guiding of start welding position for arc welding robot. Ind Robot 37(1):70–78
Dinham M, Fang G (2013) Autonomous weld seam identification and localisation using eye-in-hand stereo vision for robotic arc welding. Robot Comput Integr Manuf 29:288–301
Xu Y, Yu H, Zhong J et al (2012) Real-time seam tracking control technology during welding robot GTAW process based on passive vision sensor. J Mater Process Technol 212(8):1654–1662
Li X, Ge S, Khyam MO et al (2017) Automatic welding seam tracking and identification. IEEE Trans Ind Electron 99:1
Ding Y, Huang W, Kovacevic R (2016) An on-line shape-matching weld seam tracking system. Robot Comput Integ Manuf 42:103–112
Huynh DQ, Owens RA, Hartmann P (1999) Calibrating a structured light stripe system: a novel approach. Int J Comput Vision 33(1):73–86
Wengert C, Reeff M, Cattin PC, et al (2006) Fully automatic endoscope calibration for intraoperative use. Bildverarbeitung für die Medizin, 419–423
Forest J, Salvi J, Cabruja E, et al (2004) Laser stripe peak detector for 3D scanners. A FIR filter approach. In: Proceedings of the 17th international conference on pattern recognition, IEEE, pp. 646–649
Du J, Xiong W, Chen W, et al (2015) Robust laser stripe extraction using ridge segmentation and region ranking for 3D reconstruction of reflective and uneven surface. In: IEEE International conference on image processing, IEEE, pp 4912–4916
Acknowledgements
This work is partly supported by the National Natural Science Foundation of China (51405298 and 51575349), Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, the State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System (GZ2016KF002), the Development Fund Project of the Science and Technology Committee of Qingpu District and the National High Technology Research and Development Program 863 (2015AA043102).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Zhang, L., Xu, Y., Du, S., Zhao, W., Hou, Z., Chen, S. (2018). Point Cloud Based Three-Dimensional Reconstruction and Identification of Initial Welding Position. In: Chen, S., Zhang, Y., Feng, Z. (eds) Transactions on Intelligent Welding Manufacturing. Transactions on Intelligent Welding Manufacturing. Springer, Singapore. https://doi.org/10.1007/978-981-10-8330-3_4
Download citation
DOI: https://doi.org/10.1007/978-981-10-8330-3_4
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-8329-7
Online ISBN: 978-981-10-8330-3
eBook Packages: EngineeringEngineering (R0)