Application of circular laser vision sensor (CLVS) on welded seam tracking

Area-array CCD vision sensor based on circular laser trajectory used for weld seam location and seam tracking was developed. In order to meet the requirement of 3D recovery, order-statistic filtering method based on one-third value instead of mean value was presented to make the circular laser trajectory perfect. Two-step segmentation (TSS) technique under GTAW (gas tungsten arc welding) arc condition or without welding arc condition was investigated. Using proposed 3D calculation algorithm, seam tracking for ramp welded seam was studied. The results showed, this vision sensor could measure the 3D change of welded seams at the same time, and 3D seam tracking could be realized. Proposed vision sensor manifested a promising result with high precision and high efficiency.