vision-based system for welding groove measurements for robotic welding applications - icra 2016

Vision-Based System for Welding Groove Measurements for Robotic Welding ApplicationsBQ Leonardo, CR Steffens, SC Silva Fil., JL Mór, V Hüttner, EA Leivas, VS

Rosa and SSC Botelho

cristianosteffens@furg.br

Center of Computer Science, Federal University of Rio Grande, Brazil

Source: worldoceanreview.com

Welding is easy! Isn’t it?

• Manual process affects the quality of the weld• Rework

• Material waste

• Weak and breakable final product

• Reproducibility and regularity

• The human side• Welding is unhealthy – ergonomy, heat and fumes

• Laborious and repetitive task

Typical Setup of a Linear Welding System

Typical Setup of a Linear Welding System

Typical Setup of a Linear Welding System

Proposed Solution

• Contrast Enhancement

• Noise reduction (Gaussian, Mean, Median filters)

• Edge and line detection(Canny + Hough, PPHT, LSWMS, EDLines, Fast LSD)

• Heuristics and Non-MaximaSuppression

• Pixel to metric unitconversion

Embedded Visual Welding System

Conclusion

• Modular Vision-Based Measurement for linear welding robots

• Machine Vision can be used on reflective metallic surfaces

• Avoided complicated hardware setup

• State of the art algorithms offer better cost-benefit ratio

• Developed a complete solution, featuring illumination, image acquisition and processing, robot operation and welding equipment setup