วิเคราะห์หารูปร่างของรอยเชื่อมและสร้างพื้นผิวสามมิติ

ภาควิชาวิศวกรรมไฟฟ้าและคอมพิวเตอร์ คณะวิศวกรรมศาสตร์

มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ

Detecting welding seam and Surface reconstruction from 3D Points

• 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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Overview

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

laser rangefinder

plane

robot

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

path of robot

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

path of robot

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

path of robot

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Introduction

• 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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Overview

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

First layer

path of robot

edge detection

first seam

second seam

• 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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Overview

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Second layer

second seam

first seam

edge detection ( first , second )

• 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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Overview

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Software Development

• IDE

– Visual Studio 2008 (CSharp)

• Tao framework

– OpenGL

• 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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Overview

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Edge detection algorithm

edge left edge right

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Edge detection algorithm

edge left edge right

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Edge detection algorithm

edge left edge right

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Software

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Software

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Software

• 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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Overview

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Noise Value : 0.29 Percentage : 1.00

Value : 1.00 Percentage : 0.11

Value : 1.00 Percentage : 1.00

• 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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Overview

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Future !!!

edge detection ( first , second )

• 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 !!!

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Overview

C O M P U T E R E N G I N E E R I N G

K I N G M O N G K U T ’ S U N I V E R S I T Y O F T E C H N O L O G Y N O R T H B A N G K O K

Credit by : Microsoft PowerPoint 2010