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| Recognition of Work-piece and Location of Initial Seam Position for Mobile Welding Robot |
| DENG Yong-Jun-a, WU Ming-Hui-b, CHEN Jin-Yun-a, CHEN Shan-Ben-a |
| (a. Intelligentized Robotic Welding Technology Lab; b. Robotics Institute,Shanghai Jiaotong University， Shanghai 200240, China) |
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Abstract Considering the environmental characters of welding in unstructured space, via vision technology, a twosteps template matching method for workpiece recognition based on circle projection and Zernike moments was presented. An algorithm based on Hough line detection was designed to extract special lines which were used to calculate initial seam position with subpixel precision. Experiment was carried out by mobile welding robot, and series of templates were acquired by snapping workpiece images with different rotation angles. Circle projection results and Zernike moments were calculated, and they could effectively represent features of templates for typical workpiece, meanwhile errors due to rotation could be eliminated. These algorithms were proved to perform satisfied robustness of illumination and camera view. Subpixel location of initial seam position can satisfy the need for visual calculation.
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Received: 15 June 2011
Published: 30 July 2012
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