• Title/Summary/Keyword: vision seam tracking

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MULTI SENSOR DATA FUSION FOR IMPROVING PERFORMANCE AND RELIABILITY OF FULLY AUTOMATED MULTIPASS WELDING

  • Beattie, R.J.
    • Proceedings of the KWS Conference
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    • 2002.10a
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    • pp.336-341
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    • 2002
  • Recent developments in sensor hardware and in advanced software have made it feasible to consider automating some of the most difficult welding operations. This paper describes some techniques used to automate successfully multipass submerged arc welding operations typically used in pressure vessel manufacture, shipbuilding, production of offshore structures and in pipe mills.

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System for Measuring the Welding Profile Using Vision and Structured Light (비전센서와 구조화빔을 이용한 용접 형상 측정 시스템)

  • Kim, Chang-Hyeon;Choe, Tae-Yong;Lee, Ju-Jang;Seo, Jeong;Park, Gyeong-Taek;Gang, Hui-Sin
    • Proceedings of the Korean Society of Laser Processing Conference
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    • 2005.11a
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    • pp.50-56
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    • 2005
  • The robot systems are widely used in the many industrial field as well as welding manufacturing. The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot tracking, many kinds of contact and non-contact sensors are used. Recently, the vision is most popular. In this paper, the development of the system which measures the shape of the welding part is described. This system uses the line-type structured laser diode and the vision sensor. It includes the correction of radial distortion which is often found in the image taken by the camera with short focal length. The Direct Linear Transformation (DLT) method is used for the camera calibration. The three dimensional shape of the parent metal is obtained after simple linear transformation. Some demos are shown to describe the performance of the developed system.

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Development of a vision sensor for measuring the weld groove parameters in arc welding process (자동 아크 용접공정의 용접개선변수 측정을 위한 시각 시스템)

  • 김호학;부광석;조형석
    • Journal of Welding and Joining
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    • v.8 no.2
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    • pp.58-69
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    • 1990
  • In conventional arc welding, position error of the weld torch with respect to the weld seam and variation of groove dimension are induced by inaccurate fitup and fixturing. In this study, a vision system has been developed to recognize and compensate the position error and dimensional inaccuracy. The system uses a structured laser light illuminated on the weld groove and perceived by a C.C.D camera. A new algorithm to detect the edge of the reflected laser light is introduced for real time processing. The developed system was applied to arbitarary weld paths with various types of joint in arc welding process. The experimental results show that the proposed system can detect the weld groove parameters within good accuracy and yield good tracking performance.

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A Study on Weld Line Detection and Wire Feeding Rate Control in GMAW with Vision Sensor (GMAW에서 시각센서를 이용한 용접선 정보의 추출과 와이어 승급속도의 제어에 관한 연구)

  • 조택동;김옥현;양상민;조만호
    • Journal of Welding and Joining
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    • v.19 no.6
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    • pp.600-607
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    • 2001
  • A CCD camera with a laser stripe was applied to realize the automatic weld seam tracking in GMAW. It takes relatively long time to process image on-line control using the basic Hough transformation, but it has a tendency of robustness over the noises such as spatter and arc light. For this reason. it was complemented with adaptive Hough transformation to have an on-line processing ability for scanning specific weld points. The adaptive Hough transformation was used to extract laser stripes and to obtain specific weld points. The 3-dimensional information obtained from the vision system made it possible to generate the weld torch path and to obtain the information such as width and depth of weld line. We controled the wire feeding rate using informations of weld line.

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Development of Vision Sensor Module for the Measurement of Welding Profile (용접 형상 측정용 시각 센서 모듈 개발)

  • Kim C.H.;Choi T.Y.;Lee J.J.;Suh J.;Park K.T.;Kang H.S.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2006.05a
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    • pp.285-286
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    • 2006
  • The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact sensors are used. Recently, the vision sensor is most popular. In this paper, the development of the system which measures the profile of the welding part is described. The total system will be assembled into a compact module which can be attached to the head of welding robot system. This system uses the line-type structured laser diode and the vision sensor It implemented Direct Linear Transformation (DLT) for the camera calibration as well as radial distortion correction. The three dimensional shape of the parent metal is obtained after simple linear transformation and therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.

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Automatic Pipeline Welding System with Self-Diagnostic Function and Laser Vision Sensor

  • Kim, Yong-Baek;Moon, Hyeong-Soon;Kim, Jong-Cheol;Kim, Jong-Jun;Choo, Jeong-Bog
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.1137-1140
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    • 2005
  • Automatic welding has been used frequently on pipeline projects. The productivity and reliability are most essential features of the automatic welding system. The mechanized GMAW process is the most widely used welding process and the carriage and band system is most effective welding system for pipeline laying. This application-oriented paper introduces new automatic welding equipment for pipeline construction. It is based on cutting-edge design and practical welding physics to minimize downtime. This paper also describes the control system which was designed and implemented for new automatic welding equipment. The system has the self diagnostic function which facilitates maintenance and repairs, and also has the network function via which the welding task data can be transmitted and the welding process data can be monitored. The laser vision sensor was designed for narrow welding groove in order to implement higher accuracy of seam tracking and fully automatic operation.

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The Welding Process Control Using Neural Network Algorithm (Neural Network 알고리즘을 이용한 용접공정제어)

  • Cho Man Ho;Yang Sang Min
    • Journal of the Korean Society for Precision Engineering
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    • v.21 no.12
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    • pp.84-91
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    • 2004
  • A CCD camera with a laser stripe was applied to realize the automatic weld seam tracking in GMAW. It takes relatively long time to process image on-line control using the basic Hough transformation, but it has a tendency of robustness over the noises such as spatter and arc tight. For this reason, it was complemented with adaptive Hough transformation to have an on-line processing ability for scanning specific weld points. The adaptive Hough transformation was used to extract laser stripes and to obtain specific weld points. The 3-dimensional information obtained from the vision system made it possible to generate the weld torch path and to obtain the information such as width and depth of weld line. In this study, a neural network based on the generalized delta rule algorithm was adapted for the process control of GMA, such as welding speed, arc voltage and wire feeding speed.

Environment Modeling for Autonomous Welding Robotus

  • Kim, Min-Y.;Cho, Hyung-Suk;Kim, Jae-Hoon
    • Transactions on Control, Automation and Systems Engineering
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    • v.3 no.2
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    • pp.124-132
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    • 2001
  • Autonomous of welding process in shipyard is ultimately necessary., since welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding robot that can navigate autonomously within the enclosure needs to be developed. To achieve the welding ra나, the robotic welding systems needs a sensor system for the recognition of the working environments and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with work environmental map. At the same time a strategy for environment recognition for welding mobile robot is proposed in order to recognize the work environment efficiently. The design of the sensor system, the algorithm for sensing the structured environment, and the recognition strategy and tactics for sensing the work environment are described and dis-cussed in detail.

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Seam Tracking System in a Laser Welding -Inductive & Laser vision sensor- (레이저 용접에서의 용접선 추적 장치)

  • 윤충섭;양상민;박희창;한유희
    • Journal of Welding and Joining
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    • v.12 no.2
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    • pp.28-38
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    • 1994
  • 고속 연속용접시 필연적으로 발생하는 용접선의 오차를 감소하는 방법으로 용접선 추적을 하게 되는데, 본 연구에서는 근래에 상용화된 전자기식 방식과 레이저 시각 방식을 이용하여 용접시 발생할 수 있는 용접선의 형태에 대하여 용접선 추적을 실험하였다. 이 시험을 통하여 각각의 방식에는 고유의 특성을 가지고 있음을 알았다. 효율적인 용접 자동화 시스템을 구성하기 위하여, 용접하고자 하는 대상물 및 시스템에 대하여 적절한 센서의 선택이 선행되어져야 할 것이다. 본 연구실은 수행중인 레이저 용접 자동화 시스템 구성을 할 예정이다. 끝으로 위와 같은 용접선 추적장치는 전량을 수입에 의존하고 있는 실정이다. 보편적인 센서 시스템의 개발보다는 구축 하고자 하는 시스템에 알맞는 센서의 개발이 선행되어야 할 것으로 생각된다.

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Modeling and Control of welding Processes Using Vision Sensor (비전센서를 이용한 용접시스템의 모델링 및 제어)

  • 엄기원;이세헌;김동철
    • Journal of Welding and Joining
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    • v.14 no.4
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    • pp.7-15
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    • 1996
  • 아크 용접 공정을 자동화하고 무인화하는 것은 용접 품질향상 및 생산성 향상 에 기여할 뿐만 아니라 용접숙련공의 감소문제에도 대처할 수 있기 때문에 중요한 것이라 생각된다. 그것을 위해 아크용접 분야에도 로봇의 도입이 급격히 증가하고 있는 추세이다. 그러나 현재 현장에 도입된 로봇은 주로 off-line으로 그 기능을 수행 하고 있기 때문에 생산성 향상 및 용접 품질향상 면에서 그 기능을 충분히 발휘하고 있지 못하고 있는 실정이다. 이런 단점을 극복하기 위해서는 센서의 도입과 그것을 이용하여 용접시스템을 퍼드백 루프로 구성할 필요가 있고 용접선 추적(seam tracking), 용융지 형상제어, 아크 길이 제어 등은 그 예라고 할 수 있다. 본논문에서 는 그동안 국내에서는 심도있게 취급되지 않았던 용융지 형상 제어시스템과 그것을 구성하기 위해 많이 사용되고 있는 비전센서에 관하여 서술한다.

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