Automatic weld-bead recognition and tracking using a dedicated robotic vision system

Witold Czajewski

Abstract

The purpose of this work was to design a method of automatic recognition and precise tracking of any threedimensional weld-beads and to implement this method in a working robotic system to prove its feasibility. The experimental system is able to track the recognized weld-bead with high precision, maintaining constant speed, distance and orientation in respect to the weld surface, which is a crucial facto in many industries. The entire process is executed with minimal human intervention. The proposed method is based on active laser optical triangulation and structured lighting. In the thesis an emphasis is put on a novel calibration method of the measurement system. It does not require any knowledge of the system parameters, and despite that enables elimination of all nonlinearities and distortions present in the system, which entails precise range measurement.
Diploma typeDoctor of Philosophy
Author Witold Czajewski (FoEE / ICIE)
Witold Czajewski,,
- The Institute of Control and Industrial Electronics
Title in EnglishAutomatic weld-bead recognition and tracking using a dedicated robotic vision system
Languageen angielski
Certifying UnitFaculty of Electrical Engineering (FoEE)
Disciplineelectronic engineering / (technology domain) / (technological sciences)
Defense Date07-12-2001
Supervisor Tadeusz Kaczorek (FoEE / ICIE)
Tadeusz Kaczorek,,
- The Institute of Control and Industrial Electronics

Pages109
Keywords in Polishspawalnictwo, śledzenie automatyczne, rozpoznawanie obrazów
Abstract in EnglishThe purpose of this work was to design a method of automatic recognition and precise tracking of any threedimensional weld-beads and to implement this method in a working robotic system to prove its feasibility. The experimental system is able to track the recognized weld-bead with high precision, maintaining constant speed, distance and orientation in respect to the weld surface, which is a crucial facto in many industries. The entire process is executed with minimal human intervention. The proposed method is based on active laser optical triangulation and structured lighting. In the thesis an emphasis is put on a novel calibration method of the measurement system. It does not require any knowledge of the system parameters, and despite that enables elimination of all nonlinearities and distortions present in the system, which entails precise range measurement.
Thesis file
Czajewski_Witold_automatic.pdf 4.52 MB
Citation count*4 (2015-07-23)

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