A real-time passive vision system for robotic arc welding

TY - GEN

T1 - A real-time passive vision system for robotic arc welding

AU - Liu, Jinchao

AU - Fan, Zhun

AU - Olsen, Søren Ingvor

AU - Christensen, Kim Hardam

AU - Kristensen, Jens Klæstrup

PY - 2015/10/7

Y1 - 2015/10/7

N2 - Visual sensing in arc welding has become more and more important. However, it has remained a challenging problem due to the harsh environment, especially the interference of the extremely strong arc light. A typical industrial solution for seam detection is to use laser scanner which however still suffers from several limitations. Solutions for weld pool sensing mostly rely on high speed cameras and powerful external illuminations and therefore the wide use in industrial environments is limited. In this paper we present a real-time passive machine vision system for both seam tracking and weld pool sensing in robotic arc welding. The system, which consists of a CCD camera and a carefully-selected narrowband pass filter, is capable of extracting the geometrical profile of the seam that is close to the arc region and the weld pool boundary simultaneously in real time. This visual information can be further utilized by the control system to navigate the welding robot and adjust the welding parameters. Experiments including several real-time demonstrations have been made and verified the feasibility of the proposed vision system.

AB - Visual sensing in arc welding has become more and more important. However, it has remained a challenging problem due to the harsh environment, especially the interference of the extremely strong arc light. A typical industrial solution for seam detection is to use laser scanner which however still suffers from several limitations. Solutions for weld pool sensing mostly rely on high speed cameras and powerful external illuminations and therefore the wide use in industrial environments is limited. In this paper we present a real-time passive machine vision system for both seam tracking and weld pool sensing in robotic arc welding. The system, which consists of a CCD camera and a carefully-selected narrowband pass filter, is capable of extracting the geometrical profile of the seam that is close to the arc region and the weld pool boundary simultaneously in real time. This visual information can be further utilized by the control system to navigate the welding robot and adjust the welding parameters. Experiments including several real-time demonstrations have been made and verified the feasibility of the proposed vision system.

U2 - 10.1109/CoASE.2015.7294109

DO - 10.1109/CoASE.2015.7294109

M3 - Article in proceedings

SN - 9781467381840

SP - 389

EP - 394

BT - 2015 IEEE International Conference on Automation Science and Engineering (CASE)

PB - IEEE

T2 - 2015 IEEE International Conference on Automation Science and Engineering

Y2 - 24 August 2015 through 28 August 2015

ER -