In recent years, laser vision sensors have been widely used to track the weld seam. However, they could make errors when the camera rotating around the welding torch. A trilines (triple laser lines) laser vision sensor (TLVS) was used in this work to overcome the problem. Three laser lines, which were made by an as-pheric lens with a point laser source, provided important information to find the weld seam lines. Clearer images were obtained through the medium filter, a thinning transformation, fitting straight lines, and hence, the enhanced range data were obtained by the extraction method. Through the proposed method, 10 images per second could be processed. Experiments were performed with the TLVS attached to a robot. It was found that this TLVS was very reliable for tracking the weld interface.
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