1. วิเคราะห์หารูปร่างของรอยเชื่อมและสร้างพื้นผิวสามมิติ
Detecting welding seam and Surface reconstruction from 3D Points
ภาควิชาวิศวกรรมไฟฟ้าและคอมพิวเตอร์
คณะวิศวกรรมศาสตร์
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ

2. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

3. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

4. Introduction
robot
laser rangefinder
plane
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

5. Introduction
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

6. Introduction
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

7. Introduction
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

8. Introduction
path of robot
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

9. Introduction
path of robot
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

10. Introduction
path of robot
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

11. Introduction
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

12. Introduction
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

13. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

14. First layer
second seam
path of robot
first seam
edge detection
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

15. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

16. Second layer
second seam
first seam
edge detection ( first , second )
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

17. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

18. Software Development
• IDE
– Visual Studio 2008 (CSharp)
• Tao framework
– OpenGL
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

19. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

20. Edge detection algorithm
edge left edge right
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

21. Edge detection algorithm
edge left edge right
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

22. Edge detection algorithm
edge left edge right
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

23. Software
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

24. Software
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KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

25. Software
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

26. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

27. Noise
Value : 0.29
Percentage : 1.00
Value : 1.00
Percentage : 0.11
Value : 1.00
Percentage : 1.00
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

28. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

29. Future !!!
edge detection ( first , second )
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

30. Overview
• Introduction
• Sequence of detecting welding seam
– First layer and first seam
– First layer and second seam
– Second layer and first seam
– Second layer and second seam
• Software Development
• Edge detection algorithm
• Noise
• Future !!!
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK

31. Credit by : Microsoft PowerPoint 2010
COMPUTER ENGINEERING
KING MONGKUT’S UNIVERSITY OF TECHNOLOGY NORTH BANGKOK