Study on Robotic Seam Tracking of Laser Scanning System

DOI

10.2991/icsmme-15.2015.30How to use a DOI?

Keywords

Digitalmorphological, Hand-Eye Matrix, Seam Tracking, Triangulation, Laser Calibration

Abstract

A kind of laser scanning weld seam tracking system is studied. The calibration method for the system parameters is presented and the recognition method for the seam characteristic point is given based on digital image processing. Firstly, preprocess the laser image using median filter method, adaptive threshold method and isolated point filter method and find the seam characteristic point using the digital morphological method. Then, accomplish the parameter calibration of the structured light according to laser plane infinity point projection in the camera obtained by moving the sensor with the target of a set of parallel lines. Finally, Change the position of the robot to detect fixed target and solve the robot hand-eye matrix. The calibration process of the sensor is convenient and the precision is reliable. U weld seam on the spatial free-form surface can be measured by the sensor.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Bin Zhang
AU  - Chen Tang
PY  - 2015/11
DA  - 2015/11
TI  - Study on Robotic Seam Tracking of Laser Scanning System
BT  - Proceedings of the 2015 International Conference on Structural, Mechanical and Material Engineering
PB  - Atlantis Press
SP  - 128
EP  - 132
SN  - 2352-5401
UR  - https://doi.org/10.2991/icsmme-15.2015.30
DO  - 10.2991/icsmme-15.2015.30
ID  - Zhang2015/11
ER  -