VISUAL SENSOR SYSTEM AND ENVIRONMENT MODELING METHOD FOR AUTONOMOUS MOBILE WELDING ROBOTS

摘要

PURPOSE: A sensor system for an auto-travel welding robot and an environment modeling method are provided to remove difficulties that operators work at a dark work environment with welding gas in manually welding closed blocks by detecting a weld line with recognizing a closed block welding environment of a ship by the robot and securing an environment modeling of the robot with a laser band. CONSTITUTION: A sensor system for an auto-travel welding robot for tracing a weld line in a closed block is composed of at least one laser diode for scanning laser slit-rays(36,37) to a specific object and cameras(31,32) for obtaining an image of the specific object scanned with the laser slit-ray. The sensor system recognizes a welding environment from the image obtained by the camera and includes a neural network filter for learning the distribution and the center of a laser band existing in the image obtained by the camera and extracting and separating a central line.