• International Journal of Korean Welding Society
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• v.1 no.2
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• pp.23-29
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• 2001

In this study, a preview-sensing visual sensor system is constructed far weld seam tracking in GMA welding. The visual sensor system consists of a CCD camera, a diode laser system with a cylindrical lens, and a band-pass-filter to overcome the degrading of image due to spatters and/or arc light. Among the image processing methods, Hough transform method is compared with the central difference method from a viewpoint of the capability for extracting the accurate feature position. As a result, it was revealed that Hough transform method can more accurately extract the feature positions and it can be applied to real time weld seam tracking. Image processing which includes Hough transform method is carried out to extract straight lines that express laser stripe. After extracting the lines, weld joint position and edge points are determined by intersecting the lines. Even though the image includes a spatter trace on it, it is possible to recognize the position of weld joint. Weld seam tracking was precisely implemented with adopting Hough transform method, and it is possible to track the weld seam in the case of offset angle is in the region of $\pm$ $15^{\circ}$.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.9
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• pp.179-185
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• 2001

In this study, a visual sensor system for weld seam tracking the I-butt weld joints in GMA welding was constructed. The sensor system consists of a CCD camera, a diode laser with a cylindrical lens and a band-pass-filter to overcome the degrading of image due to spatters and arc light. In order to obtain the enhanced image, quantitative relationship between laser intensity and iris number was investigated. Throughout the repeated experiments, the shutter speed was set at 1-milisecond for minimizing the effect of spatters on the image, and therefore most of the spatter trace in the image have been found to be reduced. Region of interest was defined from the entire image and gray level of searched laser line was compared to that of weld line. The differences between these gray levels lead to spot the position of weld joint using central difference method. The results showed that, as long as weld line was within $^\pm$15$^\circ$from the longitudinal straight fine, the system constructed in this study could track the weld line successful1y. Since the processing time reduced to 0.05 sec, it is expected that the developed method could be adopted to high speed welding such as laser welding.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.11a
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• pp.697-704
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• 2000

This study presents methodology and tools for remote measurement of the orientation of the rock parting surfaces. Two close circuit video camera capture the pictures of a rock excavation surface while a laser beam scans the surface. Positions of the laser beams in the two digital images are recognized by image processing. Using the stereoscopic concept, three dimensional coordinations of the rock surface and the orientation of the rock parting planes are calculated. Point, cross and line type laser beams are tested for better image processing results and measurement accuracy of the coordinates. According to a simple accuracy test, cross beam show better results than the point beam. However, line beam show more promising results for the measurement of the rock parting surfaces.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.6
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• pp.768-775
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• 2010

Automotive industry is a major business area in this country and it becomes more and more important. In order to maintain high quality of vehicles, every parts should be inspected. Among them the inspection job of the knuckle bracket holes of the outer tube of shock-absorber has been done manually until now. So, it takes long time and every product can not be inspected. An automatized inspection system was proposed utilizing machine vision technology, which was composed of a slit beam laser, CCD camera, image processing computer, special jig and illuminating back lights. An algorithm which could process images of the laser and bracket holes, then gave the position, radius, roundness of the holes, was developed. This system was applied for the good and no good products and the performance was confirmed.

• Proceedings of the KSR Conference
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• 2006.11b
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• pp.1320-1325
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• 2006

Railway track supports and guides train and it directly affects ride quality and safety. To maintain track quality, regular maintenance activity is essential but it degrades track usage since maintenance activity occupies the track during the work. To achieve maximum track efficiency, track inspection should be performed at commercial running speed. In this paper, we designed and developed high speed rail profile measurement system using laser light sectioning method with line laser generator, digital camera and DSP based image processing system. The measurement system can supports rail profile measurement at the speed of 300 Km/h that can be applied to KTX.

• Journal of Internet of Things and Convergence
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• v.6 no.2
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• pp.37-43
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• 2020

The paper proposed the method of calculating the latest approach angle that can reliably recognize multiple laser images even with the change in separation distance between screen and laser launch device. This method recognizes the angle of the laser pattern angle by using the distance of the laser pattern angle, and the angle extraction of the laser detects the laser image from the acquired image using the labeling algorithm, and performs the huff conversion to extract the angle of the straight line. The distance of the reference angle and angle of the laser image extracted using Euclidean distance among similarity scales is calculated, and the furnace is recognized using the calculated distance result value. Experiments with changing the separation distance to "200 cm to 400 cm" showed 100% recognition of individual strands at all separation distances. The experiment confirmed the reliability of the proposed method.

• Proceedings of the KWS Conference
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• 2002.10a
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• pp.314-319
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• 2002

The Automation and Control Group at the University of Brasilia is developing an automatic welding station based on an industrial robot and a controllable welding machine. Several techniques were applied in order to improve the quality of the welding joints. This paper deals with the implementation of a laser-based computer vision system to guide the robotic manipulator during the welding process. Currently the robot is taught to follow a prescribed trajectory which is recorded a repeated over and over relying on the repeatability specification from the robot manufacturer. The objective of the computer vision system is monitoring the actual trajectory followed by the welding torch and to evaluate deviations from the desired trajectory. The position errors then being transfer to a control algorithm in order to actuate the robotic manipulator and cancel the trajectory errors. The computer vision systems consists of a CCD camera attached to the welding torch, a laser emitting diode circuit, a PC computer-based frame grabber card, and a computer vision algorithm. The laser circuit establishes a sharp luminous reference line which images are captured through the video camera. The raw image data is then digitized and stored in the frame grabber card for further processing using specifically written algorithms. These image-processing algorithms give the actual welding path, the relative position between the pieces and the required corrections. Two case studies are considered: the first is the joining of two flat metal pieces; and the second is concerned with joining a cylindrical-shape piece to a flat surface. An implementation of this computer vision system using parallel computer processing is being studied.

• Journal of Sensor Science and Technology
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• v.27 no.4
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• pp.216-220
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• 2018

In this paper, we present visual sensing techniques that can be used to teach a robot using a laser pointer. The light spot of an off-the-shelf laser pointer is detected and its movement is tracked on consecutive images of a camera. The three-dimensional position of the spot is calculated using stereo cameras. The light spot on the image is detected based on its color, brightness, and shape. The detection results in a binary image, and morphological processing steps are performed on the image to refine the detection. The movement of the laser spot is measured using two methods. The first is a simple method of specifying the region of interest (ROI) centered at the current location of the light spot and finding the spot within the ROI on the next image. It is assumed that the movement of the spot is not large on two consecutive images. The second method is using a Kalman filter, which has been widely employed in trajectory estimation problems. In our simulation study of various cases, Kalman filtering shows better results mostly. However, there is a problem of fitting the system model of the filter to the pattern of the spot movement.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.768-772
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• 2008

Various scanning systems have been studied in many industrial areas to acquire a range data or to reconstruct an explicit 3D model. Currently optical technology has been used widely by virtue of noncontactness and high-accuracy. In this paper, we describe a 3D laser scanning system developped to reconstruct the 3D surface of a large-scale object such as a curved-plate of ship-hull. Our scanning system comprises of 4ch-parallel laser vision modules using a triangulation technique. For multi laser vision, calibration method based on least square technique is applied. In global scanning, an effective method without solving difficulty of matching problem among the scanning results of each camera is presented. Also minimal image processing algorithm and robot-based calibration technique are applied. A prototype had been implemented for testing.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.121-126
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• 2002

This paper introduces a method that can get information for the movement of a spreader and skew in order to drive ALS(Automatic Landing System) in the crane used at the harbor. Some methods that use 3D laser scanner sensor or laser range finder to obtain the information in ALS are used presently. But these have some defects respectively in economical efficiency and performance. Therefore, to recover these defects, we propose a method acquiring the information for the movement of a spreader and skew using CCD camera for image processing and laser range finder