Active Laser Vision Robust Weld Tracking System and Weld Position Detection Method

摘要

An active laser vision robust weld tracking system, a weld position detection method, and a robust weld tracking algorithm are disclosed in the present invention. The active laser vision robust weld tracking system comprises a laser source, a laser vision sensor, an image processing system, an industrial robot, and an electrical control system. A laser stripe associated with weld profile information is recognized by the laser vision sensor through projecting structured light onto the surface of a weld, the weld feature information is extracted using an image processing method, the position of the weld is detected from the central line of the laser stripe, and then the intelligent tracking of the weld is achieved with a variety of control methods.