Arc-Light Based Real-Time Seam Tracking System in Welding Robot

Vision-based seam tracking without auxiliary light is a popular topic concerning the intelligent welding robot. The Gordian Knot of the issue is image processing with much time spending in the welding course. Firstly, according to the principle of paraboloid of revolution reflecting, this paper puts forward a structure that can see long visual seam through the reflected light shines on the area where the CCD camera can see. Secondly, that the theory of robot difference-move was applied to delete the image noise since the velocity of a splash in melted bath is very fast. An algorithm used to erase the noise was put forward. Then a means was discussed to obtain the centerline of the seam. It can get hold of the perfect precision to apply the mathematical statistics and curve characteristic. A welding robot system with single camera fixed on the weld torch end-effector has been established for the robot to identify the welded seam by the reflected light. The simulation and real application results have proved the validity of the above-mentioned method.