The Detection And Tracking Of The Discontinuity Fillet Seam Based On The Laser Vision Sensor

In order to strengthen the ship hull, there are some gridiron frame constructions are at the bottom of hall in shipbuilding. Because some Semicircular or sector drainage holes are at the bottom of frame constructions, seams are discontinuous. During the welding, the arc of welding torch extinguished when the systern detected the startpoint of the drainage holes, and arc striked when the welding torch was at the endpoint of drainage holes. In order to realize the discontinuous seam tracking, detected the feature points, and to prevent the change of the distance of the torch and the workpiece controlled the pose of the robot when the arc extinguished. Researched the feature and Tracking of the discontinuity welding seam at the basis of the a wheeled mobile robotic arc welding seam tracking system.First, the paper introduced the structure and the principle of system and recognized the feature of the discontinuous seam used by different kinds of sensors. seleceted the rational arc sensor and the laser vision sensor finally. At the same time, make sure the Selection and the installation of the vision sensor.Second, the system could detect the feature of the discontinuous seam by a series of the image processing of two kinds seams. Because the control system could not extract the current signal to control the pose of the robot real-timely after the arc extinguishing, so analyzed the relationship between the pose robot and the feature points of image. It provided a feasible plan to control the pose of the robot.At last, designed a practical scheme to control the pose of the robot by the rational arc sensor and the laser vision sensor.