Recognition and Tracking of Large Seam Based on Robotic Vision

2000 ◽  
Author(s):  
Hong Yue ◽  
Lixin Sun ◽  
Kai Li ◽  
Jianru Shi
Keyword(s):  
Image Processing ◽  
Tracking System ◽  
Seam Tracking ◽  
Welding Quality ◽  
Large Structure ◽  
The Real ◽  
Robotic Vision ◽  
Weld Joints ◽  
Image Segment

Abstract For the seams of large Structure, the low accordance of joint openings usually results in displacement of the real welding track from the robot teaching track, which will affect the welding quality of the structure. It has very important meanings to apply robotic vision for recognizing the feature parameters of the weld joints. A set of seam tracking system is presented. In order to remove arc noise, the methods of LOG filter and image segment filter are used in image processing.

scholarly journals High Speed Running and Sprinting Profiles of Elite Soccer Players

2017 ◽  
Vol 58 (1) ◽  
pp. 169-176 ◽  
Author(s):  
Javier Miñano-Espin ◽  
Luis Casáis ◽  
Carlos Lago-Peñas ◽  
Miguel Ángel Gómez-Ruano
Keyword(s):  
Physical Performance ◽  
High Intensity ◽  
Repeated Measures ◽  
High Speed ◽  
Tracking System ◽  
Camera Tracking ◽  
The Real ◽  
Multiple Camera ◽  
Repeated Measures Analysis

AbstractReal Madrid was named as the best club of the 20th century by the International Federation of Football History and Statistics. The aim of this study was to compare if players from Real Madrid covered shorter distances than players from the opposing team. One hundred and forty-nine matches including league, cup and UEFA Champions League matches played by the Real Madrid were monitored during the 2001-2002 to the 2006-2007 seasons. Data from both teams (Real Madrid and the opponent) were recorded. Altogether, 2082 physical performance profiles were examined, 1052 from the Real Madrid and 1031 from the opposing team (Central Defenders (CD) = 536, External Defenders (ED) = 491, Central Midfielders (CM) = 544, External Midfielders (EM) = 233, and Forwards (F) = 278). Match performance data were collected using a computerized multiple-camera tracking system (Amisco Pro®, Nice, France). A repeated measures analysis of variance (ANOVA) was performed for distances covered at different intensities (sprinting (>24.0 km/h) and high-speed running (21.1-24.0 km/h) and the number of sprints (21.1-24.0 km/h and >24.0 km/h) during games for each player sectioned under their positional roles. Players from Real Madrid covered shorter distances in high-speed running and sprint than players from the opposing team (p < 0.01). While ED did not show differences in their physical performance, CD (p < 0.05), CM (p < 0.01), EM (p < 0.01) and F (p > 0.01) from Real Madrid covered shorter distances in high-intensity running and sprint and performed less sprints than their counterparts. Finally, no differences were found in the high-intensity running and sprint distances performed by players from Real Madrid depending on the quality of the opposition.

Design of High Accuracy Robot Welding Machine for a Cone Bottom

2014 ◽  
Vol 496-500 ◽  
pp. 1289-1292
Author(s):  
De Huan Tang ◽  
De Yang Luo
Keyword(s):  
Real Time ◽  
Tracking System ◽  
High Accuracy ◽  
Welding Robot ◽  
Robotic Welding ◽  
High Quality ◽  
The Real ◽  
Laser Tracking ◽  
Welding Machine

This paper designed a special welding machine for an aluminum cone bottom workpiece. This machine contains highly accurate positioner system, laser tracking system, and robotic welding devices. It is used to weld the transverse seams and the longitudinal seams of the workpiece. The interaction of welding robot with positioner and the real-time seam correcting can ensure high quality of welding.

Research on ROI Image Processing Technology of Teleoperation Construction Robot Based on Trinocular Stereo Vision

2011 ◽  
Vol 130-134 ◽  
pp. 2581-2584
Author(s):  
Ming De Gong ◽  
Bo Tian ◽  
Yue Ning ◽  
Wei Wei Li
Keyword(s):  
Image Processing ◽  
Real Time ◽  
Three Dimensional ◽  
Image Data ◽  
Robot System ◽  
The Real ◽  
Human Eye ◽  
Long Time ◽  
Calibration Algorithm

Digital image has a large quantity of image data and long time for transmitting. It affects the real-time of the teleoperation robot system. According to the basic principle of human eye identifying objects and image blurry processing, a new image processing method of simulating human eye range of interest (ROI) is proposed. The method uses the calibration algorithm of three-dimensional stereo target and the Gauss blurred principle. The non-ROI region is blurred to hierarchy for extracting the feature and measurement to finish the image processing tasks. The experimental results showed that the quality of the images was assured and the transmission time was shorted. The real-time of the teleoperation robot system was also guaranteed.

Robotic Curve-Shaped Seam Tracking System Using Vision Sensor

2013 ◽  
Vol 397-400 ◽  
pp. 1486-1489
Author(s):  
Feng Xin Gao
Keyword(s):  
Image Processing ◽  
Fuzzy Controller ◽  
Tracking System ◽  
Processing Method ◽  
Seam Tracking ◽  
Feature Points ◽  
Vision Sensor ◽  
End Effector ◽  
Tuning Mechanism ◽  
Self Tuning

This paper presents a vision-based curve-shaped seam tracking system. The measurement of the curve trajectory is based on a camera that is installed ahead of the end effector of the robot. Effective image processing method is designed to extract the feature points of the curve. Then a fuzzy controller is proposed to control the position of the robot to track the curve. To improve the performance of the controller, a self-tuning mechanism is added to the controller. Finally, experiments are fully conducted to verify the effectiveness of the proposed method.

A Study on Modified Hough Algorithm for Image Processing in Weld Seam Tracking System

2015 ◽  
Vol 1088 ◽  
pp. 824-828 ◽  
Author(s):  
Jong Pyo Lee ◽  
Qian Qian Wu ◽  
Min Ho Park ◽  
Cheol Kyun Park ◽  
Ill Soo Kim
Keyword(s):  
Image Processing ◽  
Weld Seam ◽  
Gma Welding ◽  
Vision System ◽  
Tracking System ◽  
Computing Time ◽  
Weld Line ◽  
Welding Process ◽  
Seam Tracking ◽  
Weld Seam Tracking

In modern market, achieving mechanical and automatic arc welding process is the key issue to be solved in welding industries. Because of the high complexity of the welding environment, manual detection of the weld line information is hard to be successful and time consuming. Therefore, this study aim at developing a new image processing algorithm for seam tracking system in Gas Metal Arc (GMA) welding by modified Hough algorithm based on the laser vision system. Firstly, noises in the captured weld seam images by CCD camera were effectively removed by noise filtering algorithm and then weld joint position were detected by the modified Hough algorithm to realize the automatic weld seam tracking. To verify the efficiency of the developed image processing model, a common image processing method was employed and the processed results were compared with the proposed algorithm. Statistical results proved that the modified Hough algorithm was able to acquire the weld information precisely with less computing time and memory cost, which also capable for industrial application.

Robot Based Laser Welding Technology

2008 ◽  
Vol 580-582 ◽  
pp. 565-568 ◽  
Author(s):  
Hee Shin Kang ◽  
Jeong Suh ◽  
Taik Dong Cho
Keyword(s):  
Laser Welding ◽  
Tracking System ◽  
Welding Process ◽  
Seam Tracking ◽  
Welding Quality ◽  
Monitoring Method ◽  
Welding Technology ◽  
Non Linear ◽  
Tailored Blank ◽  
Welding System

In order to obtain a good result in the laser welding process, the laser welding technology for manufacturing an automobile body is studied in this research. The monitoring of the welding quality and the seam tracking are studied to improve the productivity. The robot, the seam tracking system and CW Nd:YAG laser are used for the robot laser welding system. The laser system is 4kW Nd:YAG laser_(HL4006D) of Trumpf and the robot system is IRB6400R of ABB. The robot laser welding system is equipped with the seam tracker and plasma sensor. The seam tracking system is composed of SMART-20LS and RAPAL of Servo-Robot and MVS-5 sensor of MVS. The precise positioning of the laser beam on the joint to be assembled is obtained by seam tracker. The welding joints of steel plate are butt and lap joint. The three dimensional welding for non-linear tailored blank is performed after the fundamental experiments of bead-on-plate. Finally, the welding process for non-linear tailored blank and front side member is studied. The monitoring method of welding quality and seam tracking along the butt-joint are studied. The artificial defects in joint are well observed by the plasma intensity signal from the plasma sensor of UV and IR. The robot based laser welding system is developed for the precision seam tracking and the real-time monitoring of welding quality.

A Study on Image Processing Algorithms for Seam Tracking System in GMA Welding

2015 ◽  
Vol 1088 ◽  
pp. 819-823
Author(s):  
Min Ho Park ◽  
Qian Qian Wu ◽  
Cheol Kyun Park ◽  
Jong Pyo Lee ◽  
Ill Soo Kim
Keyword(s):  
Image Processing ◽  
Gma Welding ◽  
Tracking System ◽  
Ccd Camera ◽  
Cost Effective ◽  
Seam Tracking ◽  
Image Process ◽  
Laser Vision Sensor ◽  
Laser Vision ◽  
Welded Seam

With the development of economy, the seam tracking technology for arc welding becomes one of the major research tasks in the manufacturing area with robots. In this study, the objectives aim to develop an intelligent and cost-effective algorithm based on the laser vision sensor for image processing in Gas Metal Arc (GMA) welding. Images of welded seam were captured from the CCD camera. These images were then processed by the algorithms in the proposed image processing. To optimize the effective image process, popular algorithms in use were verified, compared and finally selected for every step in the image processing. Moreover, owing to the simple interactive environment and abundant toolboxes, MATLAB was employed to realize those algorithms, which offer a sample for engineers to achieve the goal of algorithm developed by this new but easier approach. Finally, weld seam images obtained with different welding environments were processed to enhance the proposal validity, and it’s proved to have significant effect of getting rid of the variable noises to extract the feature points and centerline for seam tracking in GMA welding and is capable for industrial application.

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