Method to determine weld puddle area and width from vision measu

Details Method to determine weld puddle area and width from vision measu Method to determine weld puddle area and width from vision measu

1985-01-22

1986-09-09

Shaw, Clifford C.

Electric heating

Metal heating

By arc

21913021, 901 42, 901 47, B23K 912

Patent

active

046111115

ABSTRACT:
A computationally efficient technique to determine weld puddle area and maximum width in real time from noisy measurements of the puddle trailing edge. Using the torch electrode as the origin, image intensities are sampled in radial directions, and potential pool edge points are extracted. The boundary data is prefiltered to remove extraneous points, and a least-squares algorithm is used to estimate the area and width of the elliptical puddle. The values are sent to a vision-based arc welding robot control system which regulates these pool parameters to assure full penetration welds. Angular orientation of the weld puddle is estimated in an analogous manner.

REFERENCES:
patent: 4488032 (1984-12-01), Case et al.
R. W. Richardson et al., "A Vision Based System for Arc Weld Pool Size Control", Measurement and Control for Batch Manufacturing, ed. D. E. Hardt, ASME, Nov. 1982, pp. 65-75.
R. D. Richardson et al., "The Measurement of Two-Dimensional Arc Weld Pool Geometry by Image Analysis", Control of Manufacturing Processes & Robotic Systems, ed. D. E. Hardt and W. J. Book, ASME, Nov. 1983, pp. 137-148.
R. S. Baheti et al., "Operational Performance of Vision-Based Arc Welding Robot Control System", Sensors and Controls for Automated Manufacturing and Robotics, eds. K. Stelson and L. W. Sweet, ASME, Dec. 1984, pp. 93-105.
N. R. Corby, Jr., "Machine Vision Algorithms for Vision Guided Robotic Welding", 4th Int. Conf. on Robot Vision and Sensory Controls, London, Oct. 1984.

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