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