A seam-tracking laser welding platform with 3D and 2D visual information fusion vision sensor system

Huang, Yu; Yang-liu, Xiao; Wang, Pingjiang; Li, Mingzhen

doi:10.1007/s00170-012-4494-4

Cited by 39 publications

(11 citation statements)

References 12 publications

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“…Vision-based steering can be found an important issue for industrial applications that use laser scanning process. There are several works reported in the literature, especially in vision-based control (often in open-loop mode) supervision of welding process (Sibillano et al, 2009), for example using a robotic arm which embeds the vision system as well as the laser source (Fridenfalk and Bolmsjö, 2004;Huang et al, 2012;. In addition, precise, efficient laser steering can find applications in 2D/3D laser-based micromachining (e.g., microsystems fabrication, semiconductors, glasses, etc) (Rajesh and Bellouard, 2010;Petrak et al, 2011) as well as in free-contact micromanipulation techniques (e.g., laser trapping) (Nahmias and Oddel, 2002;Arai et al, 2004).…”

Section: Medical Objectivesmentioning

confidence: 99%

Laser steering using virtual trifocal visual servoing

Andreff

Tamadazte

2015

The International Journal of Robotics Research

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This paper focuses on the development of a weakly calibrated three-view based visual servoing control law applied to laser steering process. It proposes to revisit the conventional trifocal constraints governing a three-view geometry for a more suitable use in the design of an efficient trifocal vision-based control. Thereby, an explicit control law is derived, without any matrix inversion, which allows to simply prove the global exponential stability of the control. Moreover, only "twenty-five lines of code" are necessary to design a fast trifocal control system. Despite or thanks to the simplicity of the implementation, our control law is fast, accurate, robust to errors on the weak calibration, and exhibits good behavior in terms of convergence and decoupling. This was demonstrated by different experimental validations performed on a test-bench for the steering of laser spot on a 2D and 3D surface using a two degrees-of-freedom commercial piezoelectric mirror, as well as in preliminary cadaver trials using an endoluminal micromirror prototype.

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Section: Medical Objectivesmentioning

confidence: 99%

Laser steering using virtual trifocal visual servoing

Andreff

Tamadazte

2015

The International Journal of Robotics Research

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“…• a laser scanning mechatronic system, e.g., electrical motors, galvanometers, robotic arms, piezoelectric or magnetostrictive actuators [6]- [8], • a control law scheme which nowadays tends to be based on visual/optical feedback [9], [11], [12] or other efficient control schemes [10]. This paper focuses on the second point which concerns the development of a vision-based control scheme which must ensure the control, in a closed-loop scheme, of the laser beam (respectively, laser spot) motion.…”

Section: Introductionmentioning

confidence: 99%

“…brahim.tamadazte@femto-st.fr accurately modelled (geometric, optical and modelling) and even calibrated (compensation of the different mechanical imperfections of the mirror/prism mechanism) [14]. On the other hand, closed-loop approaches are generally based on the use of vision feedback, such as trajectory tracking [9], [15], path following [11], [14], [16], and point-to-point methods [19]. Path following in mobile robotics has been widely studied in the literature for many years and has found several applications in the industrial fields (e.g., autonomous vehicle control, farming application).…”

Section: Introductionmentioning

confidence: 99%

Laser Beam Steering Along Three-Dimensional Paths

Tamadazte

Renevier

Seon

et al. 2018

IEEE/ASME Trans. Mechatron.

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This paper deals with the development of a visionbased control scheme for 3D laser steering. It proposes to incorporate a simplified trifocal constraint inside a path following scheme in order to ensure intuitively a 3D control of laser spot displacements in unknown environment (target). The described controller is obtained without complex mathematical formulation nor matrix inversion as it requires only weak camera and hand-eye calibration. The developed control law was validated in both simulation and experimental conditions using various scenarios (e.g., static and deformable 3D scenes, different control gains, initial velocities, etc.). The obtained results exhibit good accuracy and robustness with respect to the calibration and measurement errors and scene variations. In addition, with this kind of laser beam steering controller, it becomes possible to perfectly decouple the laser spot velocity from both the path shape and time. These features can fit several industrial applications (welding, micromachining, etc.) as well as surgical purposes (e.g., laser surgery) requirements. • a geometric task, which consists of approaching the robot to the desired curve, • a dynamic assignment task, which assigns a velocity profile (instead of time) to the desired curve.

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“…To overcome the existing problems in structured light detection methods, researchers have proposed many other visual methods to achieve narrow butt detection. Huang projected a line laser stripe onto the workpiece surface and captured the images of the laser speckles [ 22 ]. The discontinuity of the speckles indicates the region of the groove.…”

Section: Introductionmentioning

confidence: 99%

“…However, although some active lighting methods are proposed in these studies, there is still a lack of solutions for the specular reflection effect; the signal-to-noise ratio of the images captured in the previous researches is pretty low [ 22 , 23 , 24 , 25 , 26 ]. The grayscale distribution of the laser speckles or the workpiece surface is not uniform [ 24 , 25 , 26 ]; There are several highlighted regions caused by specular reflection effects while the grayscales in other regions are lower [ 23 ].…”

Section: Introductionmentioning

confidence: 99%

A Precise Visual Method for Narrow Butt Detection in Specular Reflection Workpiece Welding

Zeng

Chang

et al. 2016

Sensors

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During the complex path workpiece welding, it is important to keep the welding torch aligned with the groove center using a visual seam detection method, so that the deviation between the torch and the groove can be corrected automatically. However, when detecting the narrow butt of a specular reflection workpiece, the existing methods may fail because of the extremely small groove width and the poor imaging quality. This paper proposes a novel detection method to solve these issues. We design a uniform surface light source to get high signal-to-noise ratio images against the specular reflection effect, and a double-line laser light source is used to obtain the workpiece surface equation relative to the torch. Two light sources are switched on alternately and the camera is synchronized to capture images when each light is on; then the position and pose between the torch and the groove can be obtained nearly at the same time. Experimental results show that our method can detect the groove effectively and efficiently during the welding process. The image resolution is 12.5 μm and the processing time is less than 10 ms per frame. This indicates our method can be applied to real-time narrow butt detection during high-speed welding process.

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A seam-tracking laser welding platform with 3D and 2D visual information fusion vision sensor system

Cited by 39 publications

References 12 publications

Laser steering using virtual trifocal visual servoing

Laser steering using virtual trifocal visual servoing

Laser Beam Steering Along Three-Dimensional Paths

A Precise Visual Method for Narrow Butt Detection in Specular Reflection Workpiece Welding

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