Development of Automatic Visual Inspection Sensor in Robotic Tailored Blank Welding

This paper describes the development of a vision inspection sensor system for the automation of laser welding processes in heavy industries. The system consists of PC based vision camera and stripe type laser diode. Its structure, basic principle of this system and the mathematic model and error analysis are also deascribed. A mathematic model is established in order to analyse the influence on sensor error from the geometric parameters. The simulation results are shown the relationship between error and coordinate of image points. Finally, the experiments results illustrate the mismatch size, weld slope, convexity , concavity, overthickness. Undercut and the bead width of the weld for the butt joint. And the feasibility and effectiveness of automatic visual inspection sensor are proved.