Single-stripe laser was applied to acquire V-shape groove contour information. Most of arc light and splash noise was removed and stripe laser image was kept by wavelet transform. Half-threshold algorithm was used for...Single-stripe laser was applied to acquire V-shape groove contour information. Most of arc light and splash noise was removed and stripe laser image was kept by wavelet transform. Half-threshold algorithm was used for image segmentation and stripe laser image was gotten after refining. Weld seam center position was identified and extracted by extreme curvature corner detection method. The location of torch was detected to accord the frequency of computer program with robot program and serial communication program. The tracking experiments of sidelong, reflex and curve weld line show that the system can meet the demand of the tracking precision under normal welding conditions.展开更多
Wire and arc additive manufacturing(WAAM) shows a great promise for fabricating fully dense metal parts by means of melting materials in layers using a welding heat source. However, due to a large layer height produce...Wire and arc additive manufacturing(WAAM) shows a great promise for fabricating fully dense metal parts by means of melting materials in layers using a welding heat source. However, due to a large layer height produced in WAAM, an unsatisfactory surface roughness of parts processed by this technology has been a key issue. A methodology based on laser vision sensing is proposed to quantitatively calculate the surface roughness of parts deposited by WAAM.Calibrations for a camera and a laser plane of the optical system are presented. The reconstruction precision of the laser vision system is verified by a standard workpiece. Additionally, this determination approach is utilized to calculate the surface roughness of a multi-layer single-pass thin-walled part. The results indicate that the optical measurement approach based on the laser vision sensing is a simple and effective way to characterize the surface roughness of parts deposited by WAAM. The maximum absolute error is less than 0.15 mm. The proposed research provides the foundation for surface roughness optimization with different process parameters.展开更多
In order to overcome the limitations of manual post-weld visual inspection approach, an automated inspection system is developed which uses three-dimensioual laser vision system based on the principle of optical trian...In order to overcome the limitations of manual post-weld visual inspection approach, an automated inspection system is developed which uses three-dimensioual laser vision system based on the principle of optical triangulation. The system hardware consists of a modular development kit (MDK), a computer, an actuating mechanism and so on. In image processing algorithms, extraction accuracy of centric line of laser stripe is the critical factor that determines the system performance. So according to the features of laser stripe image, a novel algorithm is developed to detect the central line of laser stripe fast and accurately. Experiments have demonstrated that this system can be used in various weld features inspection of both butt and fillet types of weld. Compared with traditional manual inspection method, this method has obvious dominance. The three-dimensional reconstruction result shows that this system has high accuracy and reliability.展开更多
Seam image processing is the basis of the realization of automatic laser vision seam tracking system, and it has become one of the important research directions. Adding windows processing, gray processing, fast median...Seam image processing is the basis of the realization of automatic laser vision seam tracking system, and it has become one of the important research directions. Adding windows processing, gray processing, fast median filtering, binary processing and image edge extraction are used to pretreat the seam image. In the post-processing of seam image, the feature points of the target image are succesfully detected by using center line extraction and feature points detection algorithm based on slope analysis. The whole processing time is less than 150 ms, and the real-time processing of seam image can be implemented.展开更多
The variation of joint groove size during tungsten inert gas (TIG) welding will result in the non-uniform fill of deposited metal. To solve this problem, an adaptive fill control system was developed based on laser ...The variation of joint groove size during tungsten inert gas (TIG) welding will result in the non-uniform fill of deposited metal. To solve this problem, an adaptive fill control system was developed based on laser vision sensing. The system hardware consists of a modular development kit (MDK) as the real-time image capturing system, a computer as the controller, a D/A conversion card as the interface of controlled variable output, and a DC TIG welding system as the controlled device. The system software is developed and the developed feature extraction algorithm and control strategy are of good accuracy and robustness. Experimental results show that the system can implement adaptive fill of melting metal with high stability, reliability and accuracy. The groove is filled well and the quality of the weld formation satisfies the relevant industry criteria.展开更多
The service cycle and dynamic performance of structural parts are afected by the weld grinding accuracy and surface consistency. Because of reasons such as assembly errors and thermal deformation, the actual track of ...The service cycle and dynamic performance of structural parts are afected by the weld grinding accuracy and surface consistency. Because of reasons such as assembly errors and thermal deformation, the actual track of the robot does not coincide with the theoretical track when the weld is ground ofine, resulting in poor workpiece surface quality. Considering these problems, in this study, a vision sensing-based online correction system for robotic weld grinding was developed. The system mainly included three subsystems: weld feature extraction, grinding, and robot real-time control. The grinding equipment was frst set as a substation for the robot using the WorkVisual software. The input/output (I/O) ports for communication between the robot and the grinding equipment were confgured via the I/O mapping function to enable the robot to control the grinding equipment (start, stop, and speed control). Subsequently, the Ethernet KRL software package was used to write the data interaction structure to realize realtime communication between the robot and the laser vision system. To correct the measurement error caused by the bending deformation of the workpiece, we established a surface profle model of the base material in the weld area using a polynomial ftting algorithm to compensate for the measurement data. The corrected extracted weld width and height errors were reduced by 2.01% and 9.3%, respectively. Online weld seam extraction and correction experiments verifed the efectiveness of the system’s correction function, and the system could control the grinding trajectory error within 0.2 mm. The reliability of the system was verifed through actual weld grinding experiments. The roughness, Ra, could reach 0.504 µm and the average residual height was within 0.21 mm. In this study, we developed a vision sensing-based online correction system for robotic weld grinding with a good correction efect and high robustness.展开更多
Multi-sensor vision system plays an important role in the 3D measurement of large objects.However,due to the widely distribution of sensors,the problem of lacking common fields of view(FOV) arises frequently,which m...Multi-sensor vision system plays an important role in the 3D measurement of large objects.However,due to the widely distribution of sensors,the problem of lacking common fields of view(FOV) arises frequently,which makes the global calibration of the vision system quite difficult.The primary existing solution relies on large-scale surveying equipments,which is ponderous and inconvenient for field calibrations.In this paper,a global calibration method of multi-sensor vision system is proposed and investigated.The proposed method utilizes pairs of skew laser lines,which are generated by a group of laser pointers,as the calibration objects.Each pair of skew laser lines provides a unique coordinate system in space which can be reconstructed in certain vision sensor's coordinates by using a planar pattern.Then the geometries of sensors are computed under rigid transformation constrains by taking coordinates of each skew lines pair as the intermediary.The method is applied on both visual cameras with synthetic data and a real two-camera vision system;results show the validity and good performance.The prime contribution of this paper is taking skew laser lines as the global calibration objects,which makes the method simple and flexible.The method need no expensive equipments and can be used in large-scale calibration.展开更多
I am Dr. David P Pifiero from the Department of Optics, Pharmacology and Anatomy of the University of Alicante and from the Department of Ophthalmology of Vithas Medimar (Oftalmar) and Vithas Virgen del Carmen (Qv...I am Dr. David P Pifiero from the Department of Optics, Pharmacology and Anatomy of the University of Alicante and from the Department of Ophthalmology of Vithas Medimar (Oftalmar) and Vithas Virgen del Carmen (Qvision) hospitals in Spain.展开更多
Wavelet moment invariants are constructed for object recognition based on the global feature and local feature of target, which are brought for the simple background of the underwater objects, complex structure, simil...Wavelet moment invariants are constructed for object recognition based on the global feature and local feature of target, which are brought for the simple background of the underwater objects, complex structure, similar form etc. These invariant features realize the multi-dimension feature extraction of local topology and in- variant transform. Considering translation and scale invariant characteristics were ignored by conventional wavelet moments, some improvements were done in this paper. The cubic B-spline wavelets which are optimally localized in space-frequency and close to the forms of Li's(or Zernike's) polynomial moments were applied for calculating the wavelet moments. To testify superiority of the wavelet moments mentioned in this paper, generalized regres- sion neural network(GRNN) was used to calculate the recognition rates based on wavelet invariant moments and conventional invariant moments respectively. Wavelet moments obtained 100% recognition rate for every object and the conventional moments obtained less classification rate. The result shows that wavelet moment has the ability to identify many types of objects and is suitable for laser image recognition.展开更多
Robot welding is an important developing direction of welding automation and intelligentization, and automatic seam tracking technology is one of principal research domains. Nowadays, seam tracking system with structu...Robot welding is an important developing direction of welding automation and intelligentization, and automatic seam tracking technology is one of principal research domains. Nowadays, seam tracking system with structured light vision becomes a hot research. Structured light vision seam tracking products abroad are generally very expensive and can only be applied on special occasions. In China, the research of structured light vision seam tracking system is still just on the stage of experiments. A robot real-time seam tracking system with line structured light vision is designed. The hardware system is set up, a filtering method for line structure seam image is improved, and compared with common filtering, it has better effect and characteristic of real time. Two methods, fast template matching and fast Hough transform, to recognize the image coordinates of seam center are improved. Two new image recognition methods, structure element matching and comer detecting, are proposed. The comparison of seam image recognition shows that fast template matching and comer detecting are more precise and stable than the other two methods, and comer detecting is the best in real time. A simultaneous calibration for camera parameters and robot hand-eye is also proposed, and calculation shows that the calibration is effective and feasible. The robot seam tracking tests for linear and folded lap-joint are performed, which are based on the above four image recognition methods, and the results indicate that four image recognition methods are all applicable to real-time seam tracking, and the whole system sufficed for the requirements of real-time seam tracking. Automatic seam tracking with line structured light vision is feasible and has good versatility.展开更多
基金supported by National Natural Science Foundation of China No. 50705030Guangdong Province Foundation of No.0133002
文摘Single-stripe laser was applied to acquire V-shape groove contour information. Most of arc light and splash noise was removed and stripe laser image was kept by wavelet transform. Half-threshold algorithm was used for image segmentation and stripe laser image was gotten after refining. Weld seam center position was identified and extracted by extreme curvature corner detection method. The location of torch was detected to accord the frequency of computer program with robot program and serial communication program. The tracking experiments of sidelong, reflex and curve weld line show that the system can meet the demand of the tracking precision under normal welding conditions.
基金Supported by National Natural Science Foundation of China(Grant Nos.51505394,61573293)Key Technologies R&D Program of Sichuan Province of China(Grant No.2015GZ0305)
文摘Wire and arc additive manufacturing(WAAM) shows a great promise for fabricating fully dense metal parts by means of melting materials in layers using a welding heat source. However, due to a large layer height produced in WAAM, an unsatisfactory surface roughness of parts processed by this technology has been a key issue. A methodology based on laser vision sensing is proposed to quantitatively calculate the surface roughness of parts deposited by WAAM.Calibrations for a camera and a laser plane of the optical system are presented. The reconstruction precision of the laser vision system is verified by a standard workpiece. Additionally, this determination approach is utilized to calculate the surface roughness of a multi-layer single-pass thin-walled part. The results indicate that the optical measurement approach based on the laser vision sensing is a simple and effective way to characterize the surface roughness of parts deposited by WAAM. The maximum absolute error is less than 0.15 mm. The proposed research provides the foundation for surface roughness optimization with different process parameters.
文摘In order to overcome the limitations of manual post-weld visual inspection approach, an automated inspection system is developed which uses three-dimensioual laser vision system based on the principle of optical triangulation. The system hardware consists of a modular development kit (MDK), a computer, an actuating mechanism and so on. In image processing algorithms, extraction accuracy of centric line of laser stripe is the critical factor that determines the system performance. So according to the features of laser stripe image, a novel algorithm is developed to detect the central line of laser stripe fast and accurately. Experiments have demonstrated that this system can be used in various weld features inspection of both butt and fillet types of weld. Compared with traditional manual inspection method, this method has obvious dominance. The three-dimensional reconstruction result shows that this system has high accuracy and reliability.
基金The work was supported by National Natural Science Foundation of China (No. 50975195).
文摘Seam image processing is the basis of the realization of automatic laser vision seam tracking system, and it has become one of the important research directions. Adding windows processing, gray processing, fast median filtering, binary processing and image edge extraction are used to pretreat the seam image. In the post-processing of seam image, the feature points of the target image are succesfully detected by using center line extraction and feature points detection algorithm based on slope analysis. The whole processing time is less than 150 ms, and the real-time processing of seam image can be implemented.
文摘The variation of joint groove size during tungsten inert gas (TIG) welding will result in the non-uniform fill of deposited metal. To solve this problem, an adaptive fill control system was developed based on laser vision sensing. The system hardware consists of a modular development kit (MDK) as the real-time image capturing system, a computer as the controller, a D/A conversion card as the interface of controlled variable output, and a DC TIG welding system as the controlled device. The system software is developed and the developed feature extraction algorithm and control strategy are of good accuracy and robustness. Experimental results show that the system can implement adaptive fill of melting metal with high stability, reliability and accuracy. The groove is filled well and the quality of the weld formation satisfies the relevant industry criteria.
基金Supported by Hunan Provincial Natural Science Foundation of China(Grant No.2021JJ50116).
文摘The service cycle and dynamic performance of structural parts are afected by the weld grinding accuracy and surface consistency. Because of reasons such as assembly errors and thermal deformation, the actual track of the robot does not coincide with the theoretical track when the weld is ground ofine, resulting in poor workpiece surface quality. Considering these problems, in this study, a vision sensing-based online correction system for robotic weld grinding was developed. The system mainly included three subsystems: weld feature extraction, grinding, and robot real-time control. The grinding equipment was frst set as a substation for the robot using the WorkVisual software. The input/output (I/O) ports for communication between the robot and the grinding equipment were confgured via the I/O mapping function to enable the robot to control the grinding equipment (start, stop, and speed control). Subsequently, the Ethernet KRL software package was used to write the data interaction structure to realize realtime communication between the robot and the laser vision system. To correct the measurement error caused by the bending deformation of the workpiece, we established a surface profle model of the base material in the weld area using a polynomial ftting algorithm to compensate for the measurement data. The corrected extracted weld width and height errors were reduced by 2.01% and 9.3%, respectively. Online weld seam extraction and correction experiments verifed the efectiveness of the system’s correction function, and the system could control the grinding trajectory error within 0.2 mm. The reliability of the system was verifed through actual weld grinding experiments. The roughness, Ra, could reach 0.504 µm and the average residual height was within 0.21 mm. In this study, we developed a vision sensing-based online correction system for robotic weld grinding with a good correction efect and high robustness.
基金supported by National Natural Science Foundation of China (Grant No. 60804060)Research Fund for the Doctoral Program of Higher Education of China (Grant No. 200800061003)
文摘Multi-sensor vision system plays an important role in the 3D measurement of large objects.However,due to the widely distribution of sensors,the problem of lacking common fields of view(FOV) arises frequently,which makes the global calibration of the vision system quite difficult.The primary existing solution relies on large-scale surveying equipments,which is ponderous and inconvenient for field calibrations.In this paper,a global calibration method of multi-sensor vision system is proposed and investigated.The proposed method utilizes pairs of skew laser lines,which are generated by a group of laser pointers,as the calibration objects.Each pair of skew laser lines provides a unique coordinate system in space which can be reconstructed in certain vision sensor's coordinates by using a planar pattern.Then the geometries of sensors are computed under rigid transformation constrains by taking coordinates of each skew lines pair as the intermediary.The method is applied on both visual cameras with synthetic data and a real two-camera vision system;results show the validity and good performance.The prime contribution of this paper is taking skew laser lines as the global calibration objects,which makes the method simple and flexible.The method need no expensive equipments and can be used in large-scale calibration.
文摘I am Dr. David P Pifiero from the Department of Optics, Pharmacology and Anatomy of the University of Alicante and from the Department of Ophthalmology of Vithas Medimar (Oftalmar) and Vithas Virgen del Carmen (Qvision) hospitals in Spain.
基金the Fundamental Research Funds for Central Universities(No.HEUCF110111)the National Natural Science Foundation of China(No.51009040)+2 种基金the China Postdoctoral Science Foundation(No.2012M510928)the Heilongjiang Post-doctoral Fund(No.LBH-Z11205)the National High Technology Research and Development Program(863)of China(No.2011AA09A106)
文摘Wavelet moment invariants are constructed for object recognition based on the global feature and local feature of target, which are brought for the simple background of the underwater objects, complex structure, similar form etc. These invariant features realize the multi-dimension feature extraction of local topology and in- variant transform. Considering translation and scale invariant characteristics were ignored by conventional wavelet moments, some improvements were done in this paper. The cubic B-spline wavelets which are optimally localized in space-frequency and close to the forms of Li's(or Zernike's) polynomial moments were applied for calculating the wavelet moments. To testify superiority of the wavelet moments mentioned in this paper, generalized regres- sion neural network(GRNN) was used to calculate the recognition rates based on wavelet invariant moments and conventional invariant moments respectively. Wavelet moments obtained 100% recognition rate for every object and the conventional moments obtained less classification rate. The result shows that wavelet moment has the ability to identify many types of objects and is suitable for laser image recognition.
基金supported by National Natural Science Foundation of China (Grant No. 50175027)Guangdong Provincial Natural Science Foundation of China(Grant No. 0133002)
文摘Robot welding is an important developing direction of welding automation and intelligentization, and automatic seam tracking technology is one of principal research domains. Nowadays, seam tracking system with structured light vision becomes a hot research. Structured light vision seam tracking products abroad are generally very expensive and can only be applied on special occasions. In China, the research of structured light vision seam tracking system is still just on the stage of experiments. A robot real-time seam tracking system with line structured light vision is designed. The hardware system is set up, a filtering method for line structure seam image is improved, and compared with common filtering, it has better effect and characteristic of real time. Two methods, fast template matching and fast Hough transform, to recognize the image coordinates of seam center are improved. Two new image recognition methods, structure element matching and comer detecting, are proposed. The comparison of seam image recognition shows that fast template matching and comer detecting are more precise and stable than the other two methods, and comer detecting is the best in real time. A simultaneous calibration for camera parameters and robot hand-eye is also proposed, and calculation shows that the calibration is effective and feasible. The robot seam tracking tests for linear and folded lap-joint are performed, which are based on the above four image recognition methods, and the results indicate that four image recognition methods are all applicable to real-time seam tracking, and the whole system sufficed for the requirements of real-time seam tracking. Automatic seam tracking with line structured light vision is feasible and has good versatility.