Multi-pass weld profile detection for spherical tank through "quasi double cameras" stereovision sensor

Filling of weld groove is very important gist for welding parameters programming and regulating during longitude seam welding of spherical tank. According to the weld torch swing characteristic in multipass welding of spherical tank, a "quasi double cameras" stereovision (QDCS) sensor with a moving camera has been set up to detect the weld profile, so as to avoid the conflict between public visual filed with double cameras sensors and the overlap of camera positions. Based above particular algorithm has been developed to detect weld profile which could feature the filling of weld groove. The detection precision is no more than 0.5mm, which could provide the basis for multipass welding control.