Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System
Abstract
:1. Introduction
2. Automatic Robot Welding System with a 3D Lug Pose Detection Sensor
2.1. Automatic Robot Welding Procedure
2.2. 3D Lug Pose Sensor Design
3. 3D Lug Pose Detection
3.1. Rough Lug Pose Detection
3.2. Precise Welding Line Detection
4. Experimental Results and Discussion
5. Conclusions
Acknowledgments
References and Notes
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Procedure: automatic robot welding |
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Sensor Parameters | Descriptions |
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b = 7 cm | Baseline between the camera and each laser line diode |
α = 70° | Projection angle of diodes, L1 and L2 |
β = 96.5° | Projection angle of diodes, L3 and L4 |
ε1 = 5 pixels | Acceptable boundary of the line parameter ρ for the same line |
ε2 = 5° | Acceptable boundary of the line parameter θ for the same line |
xl | 0 | −1 | −2 | −3 | −4 | −5 | −6 | −7 | −8 | −9 | −10 |
zl | −10.3 | −11.3 | −12.4 | −13.4 | −14.4 | −15.5 | −16.5 | −17.6 | −18.6 | −19.7 | −20.7 |
xl | −12 | −13 | −14 | −15 | −16 | −17 | −18 | −19 | −20 | −21 | −22 |
zl | −22.8 | −23.8 | −24.8 | −25.9 | −26.9 | −27.9 | −28.9 | −30.0 | −31.0 | −31.3 | −31.5 |
xl | −24 | −25 | −26 | −27 | −28 | −29 | −30 | −31 | … | ||
zl | −32.0 | −32.3 | −32.5 | −32.8 | −33.0 | −33.3 | −33.5 | −33.5 | … |
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Park, J.B.; Lee, S.H.; Lee, I.J. Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System. Sensors 2009, 9, 7550-7565. https://doi.org/10.3390/s90907550
Park JB, Lee SH, Lee IJ. Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System. Sensors. 2009; 9(9):7550-7565. https://doi.org/10.3390/s90907550
Chicago/Turabian StylePark, Jae Byung, Seung Hun Lee, and Il Jae Lee. 2009. "Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System" Sensors 9, no. 9: 7550-7565. https://doi.org/10.3390/s90907550
APA StylePark, J. B., Lee, S. H., & Lee, I. J. (2009). Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System. Sensors, 9(9), 7550-7565. https://doi.org/10.3390/s90907550