A novel circular laser three-dimensional (3D) scanner is developed instead of a one-dimensional laser spot scanner (1D) and two-dimensional (2D) striped laser light. Using the proposed circular laser scanner, a seam tracking system is constructed, and architecture based on the Visual C++ and RAPID languages which determines the cooperation among image processing modules is carried out. Finally, real seam tracking experiments are investigated and the error analysis is carried out. The results show that: (1) the proposed system can realize seam tracking; (2) the precision of this system is affected by the light scanning system, calibration results, image processing, and the welding seam 3D algorithm—the tracking accuracy is satisfied for robotic arc welding; (3) this system can be used in a welding robot system as a weld seam finder, flatness detector, and weld seam tracker.
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机译：开发了一种新颖的圆形激光三维（3D）扫描仪，而不是一维激光点扫描仪（1D）和二维（2D）条纹激光。使用所提出的圆形激光扫描仪，构造了接缝跟踪系统，并执行了基于Visual C ++和RAPID语言的体系结构，该体系结构决定了图像处理模块之间的协作。最后，对真实的煤层跟踪实验进行了研究，并进行了误差分析。结果表明：（1）该系统可以实现接缝跟踪； （2）该系统的精度受光扫描系统，校准结果，图像处理和焊缝3D算法的影响-机器人电弧焊的跟踪精度已得到满足； （3）该系统可以在焊接机器人系统中用作焊缝查找器，平整度检测器和焊缝跟踪器。
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