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Sensors 2017, 17(5), 1099; doi:10.3390/s17051099

A Vision-Aided 3D Path Teaching Method before Narrow Butt Joint Welding

Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
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Academic Editor: Vittorio M. N. Passaro
Received: 30 March 2017 / Revised: 8 May 2017 / Accepted: 8 May 2017 / Published: 11 May 2017
(This article belongs to the Section Physical Sensors)
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Abstract

For better welding quality, accurate path teaching for actuators must be achieved before welding. Due to machining errors, assembly errors, deformations, etc., the actual groove position may be different from the predetermined path. Therefore, it is significant to recognize the actual groove position using machine vision methods and perform an accurate path teaching process. However, during the teaching process of a narrow butt joint, the existing machine vision methods may fail because of poor adaptability, low resolution, and lack of 3D information. This paper proposes a 3D path teaching method for narrow butt joint welding. This method obtains two kinds of visual information nearly at the same time, namely 2D pixel coordinates of the groove in uniform lighting condition and 3D point cloud data of the workpiece surface in cross-line laser lighting condition. The 3D position and pose between the welding torch and groove can be calculated after information fusion. The image resolution can reach 12.5 μm. Experiments are carried out at an actuator speed of 2300 mm/min and groove width of less than 0.1 mm. The results show that this method is suitable for groove recognition before narrow butt joint welding and can be applied in path teaching fields of 3D complex components. View Full-Text
Keywords: seam tracking; visual detection; narrow butt joint recognition; position and pose detection; automatic path teaching seam tracking; visual detection; narrow butt joint recognition; position and pose detection; automatic path teaching
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MDPI and ACS Style

Zeng, J.; Chang, B.; Du, D.; Peng, G.; Chang, S.; Hong, Y.; Wang, L.; Shan, J. A Vision-Aided 3D Path Teaching Method before Narrow Butt Joint Welding. Sensors 2017, 17, 1099.

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