Structural laser sensor system for seam tracking

A precise and compact structural laser visual sensor system for arc welding robot to track seam is designed and manufactured with consideration of practicability and possible lower cost compared with dominating imported devices in domestic market. The involved image processing programs are also developed. Further, the chief methods of calibration and related parameters for the sensor system are presented, which would lead to figuring out the conversion between the image coordinate and that of the arc welding robot. In the procession of the structural laser stripe image the Gravity Center method is introduced, which provides a result of single-pixel stripe center and the coordinates of the needed feature points. Consequently, it is possible for the arc welding robot to track the seams.