Abstract
An Autonomous mobile robot system with a visual sensor for automatic pipe welding was constructed. The robot developed can move along a pipe autonomously and detect a weld line to be welded by means of its visual sensor. The robot can confirm automatically whether the line detected is a weld line to be welded or not. Moreover, the tracking of the weld line at a constant welding speed and butt welding of the pipes are executed automatically. Generally, the recognition of a weld line is difficult in welding because of the brightness of the welding arc. In this system, in order to recognize it stably, a special lighting system and some image-processing methods are applied. The effectiveness of the system constructed was confirmed through experiments on automatic weld line tracking.
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