BQ Leonardo, CR Steffens, SC Silva Fil., JL Mór, V Hüttner, EA Leivas, VS Rosa and SSC Botelho Center of Computer Science, Federal University of Rio Grande, Brazil

1. Vision-Based System for
Welding Groove Measurements
for Robotic Welding Applications
BQ Leonardo, CR Steffens, SC Silva Fil., JL Mór, V Hüttner, EA Leivas, VS
Rosa and SSC Botelho
cristianosteffens@furg.br
Center of Computer Science, Federal University of Rio Grande, Brazil

2. Source: worldoceanreview.com

3. Welding is easy! Isn’t it?
• Manual process affects the quality of the weld
• Rework
• Material waste
• Weak and breakable final product
• Reproducibility and regularity
• The human side
• Welding is unhealthy – ergonomy, heat and fumes
• Laborious and repetitive task

4. Typical Setup of a Linear Welding System

5. Typical Setup of a Linear Welding System

6. Typical Setup of a Linear Welding System

7. Proposed Solution
• Contrast Enhancement
• Noise reduction (Gaussian,
Mean, Median filters)
• Edge and line detection
(Canny + Hough, PPHT,
LSWMS, EDLines, Fast LSD)
• Heuristics and Non-Maxima
Suppression
• Pixel to metric unit
conversion

8. Embedded Visual Welding System

9. Conclusion
• Modular Vision-Based Measurement for linear welding robots
• Machine Vision can be used on reflective metallic surfaces
• Avoided complicated hardware setup
• State of the art algorithms offer better cost-benefit ratio
• Developed a complete solution, featuring illumination, image
acquisition and processing, robot operation and welding equipment
setup