A real-time method for detecting weld deviation of corrugated plate fillet weld by laser vision sensor

Abstract

In the process of arc welding of the corrugated plate fillet weld, both the modification of weld position and the change of welding torch attitude are required. In general, it is difficult to accurately detect the weld position with the advanced weld detection method, and there is short of real-time in advanced weld detection. In this paper, a unique new sensor and detection method were proposed. The laser vision sensor mainly includes a camera and two circular spot laser light sources. The two laser light sources are separately fixed at two sides of the welding torch clamping piece. The axes of the two laser sources and the axis of the welding torch are parallel and coplanar, and the laser spots on both sides of corrugated plate fillet weld are symmetrically distributed on both sides of welding point. When the welding torch moves horizontally or vertically, the image position of the two laser spots in the video camera will change. Through analysis and calculation, the direction of the welding torch migration was determined, and the offset was calculated to realize the real-time detection of the position of the corrugated plate fillet weld. The experimental results showed that when the welding torch moved ±4.5 mm horizontally or vertically, the detection accuracy of the weld was 0.5 mm.