Application of ultrasonic and CCD dual sensor technology in the underwater welding seam tracking

摘要

Because of the complexity of the underwater environment, it is difficult to realize the automatic control of underwater welding, and the selection of welding sensor also has been a problem. According to the special situation of underwater welding, this paper designed underwater welding seam automatic tracking system which based on a set of ultrasonic and CCD sensors. This system combines ultrasonic ranging and graphic positioning function, so it would lay the foundation for the further research on automatic seam tracking of underwater welding.