precise 3d lug pose detection sensor for automatic robot welding using a structured-light vision system精确的3 d耳造成检测传感器自动机器人焊接用结构光视觉系统.pdf

Sensors 2009, 9, 7550-7565; doi:10.3390/ OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System Jae Byung Park 1, Seung Hun Lee 1 and Il Jae Lee 2,* 1 Division of Electrical, Electronic and Computer Engineering, Chonbuk National University, Jeonju 561-756, Korea; E-mail: jbpark@chonbuk.ac.kr (J.B.P.); fallenstyner@ (S.H.L.) 2 Department of Mechanical Engineering, Chonbuk National University, Jeonju 561-756, Korea * Author to whom correspondence should be addressed; E-Mail: leeij@chonbuk.ac.kr; Tel.: +82-63-270-4283; Fax: +82-63-270-2394. Received: 21 July 2009; in revised form: 9 September 2009 / Accepted: 22 September 2009 / Published: 23 September 2009 Abstract: In this study, we propose a precise 3D lug pose detection sensor for automatic robot welding of a lug to a huge steel plate used in shipbuilding, where the lug is a handle to carry the huge steel plate. The proposed sensor consists of a camera and four laser line diodes, and its design parameters are determined by analyzing its detectable range and resolution. For the lug pose acquisition, four laser lines are projected on both lug and plate, and the projected lines are detected by the camera. For robust detection of the projected lines against the illumination change, the vertical threshold, thinning, Hough transform and separated Hough transform algorit