A cross structured light sensor for weld line detection on wall-climbing robot

Author

Liguo Zhang ; Wei Ke ; Zhenjun Han ; Jianbin Jiao

Author_Institution

Sch. of Electron., Electr. & Commun. Eng., Grad. Univ. of Chinese Acad. of Sci., Beijing, China

fYear

2013

fDate

4-7 Aug. 2013

Firstpage

1179

Lastpage

1184

Abstract

In this paper, we design a cross structured light (CSL) sensor for weld line detection on wall-climbing robot platform. The detection and measurement results can navigate robot to move along weld lines. CSL sensor consists of a CSL projector and a camera. The captured cross laser stripe represents the convexities of horizontal and vertical weld lines simultaneously. The sensor is calibrated by a planar target. The experiment results show that the sensor can accurately obtain 3D information of weld line with very low measurement errors.

Keywords

cameras; edge detection; mobile robots; motion control; navigation; nondestructive testing; optical sensors; robot vision; welding; welds; 3D information; CSL projector; CSL sensor; camera; convexity; cross laser stripe; cross structured light sensor; horizontal weld lines; measurement error; robot movement; robot navigation; sensor calibration; vertical weld lines; wall-climbing robot platform; weld line detection; Calibration; Cameras; Lasers; Measurement by laser beam; Robot sensing systems; Welding; Cross structured light; Sensor calibration; Weld line detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2013 IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4673-5557-5

Type

conf

DOI

10.1109/ICMA.2013.6618081

Filename

6618081