Recognition of Initial Welding Position Based on Structured-Light for Arc Welding Robot

This paper proposes a recognition of initial welding position for fillet weld. A structured-light vision system is presented. Using a laser scanning method, arc welding robot reciprocates along the end of weld seam with an incremental motion strategy, which makes the recognition of initial welding position fast and accurate. After given the endpoint types of fillet weld, an image processing is described. Firstly, the laser center stripe and the feature point extraction methods are given in detail, and then connected components in the image are extracted by using image segmentation algorithms. Finally, experiments are conducted with calibrated vision system to prove the effectiveness of the proposed method.

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