Robust butt welding seam finding technique for intelligent robotic welding system using active laser vision

Jawad Muhammad, Halis Altun, Essam Abo-Serie

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

Intelligent robotic welding requires automatic finding of the seam geometrical features in order for an efficient intelligent control. Performance of the system, therefore, heavily depends on the success of the seam finding stage. Among various seam finding techniques, active laser vision is the most effective approach. It typically requires high-quality lasers, camera and optical filters. The success of the algorithm is highly sensitive to the image processing and feature extraction algorithms. In this work, sequential image processing and feature extraction algorithms are proposed to effectively extract the seam geometrical properties from a low-quality laser image captured without the conventional narrow band filter. A novel method of laser segmentation and detection is proposed. The segmentation method involves averaging, colour processing and blob analysis. The detection method is based on a novel median filtering technique that involves enhancing of the image object based on its underlying structure and orientation in the image. The method when applied enhances the vertically oriented laser stripe in the image which improves the laser peak detection. The image processing steps are performed to make sure that the laser profile is accurately extracted within the region of interest (ROI). Feature extraction algorithm based on pixels’ intensity distribution and neighbourhood search is also proposed that can effectively extract the seam feature points. The proposed algorithms have been implemented and evaluated on various background complexities, seam sizes, material type and laser types before and during the welding operation.
Original languageEnglish
Pages (from-to)13-29
Number of pages17
JournalThe International Journal of Advanced Manufacturing Technology
Volume94
Issue number1-4
Early online date14 Oct 2016
DOIs
Publication statusPublished - 1 Jan 2018

Keywords

  • Seam finding
  • Robotic welding
  • Computer vision
  • Feature extraction
  • Intelligent sensors
  • Robotic application

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  • Research Output

    • 12 Citations
    • 1 Patent

    OTOMATİK KAYNAK DİKİŞ İZİ TAKİP YÖNTEMİ VE ARACI

    Translated title of the contribution: Automatic Welding Stitch Tracking Method And ToolAbo-Serie, E. & Alton, H., 22 Aug 2016, IPC No. B23K9/127, G05B19/00, Turkish Patent and Trademark Institute, Patent No. TR20160007850 20160609 , 22 Jun 2016, Priority date 9 Jun 2016, Priority No. TR20160007850 20160609

    Research output: Patent

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