Narrow Weld Joint Recognition Method Based on Laser Profile Sensor

Intelligent manufacturing technology has recently experienced rapid development, where robot welding systems are an essential component. A laser profile sensor is commonly utilized in intelligent robot welding systems. However, when the laser stripe is projected onto a narrow weld joint, the deformation of the laser stripe is not sufficiently apparent, and the traditional weld joint recognition methods based on the laser profile sensors cannot detect the narrow weld joint position. Meanwhile, the strong arc and spatter noise during welding and the expansion of weld joint width caused by welding thermal expansion are likely to interfere with weld joint recognition. In addition, many common weld seam recognition methods can only recognize certain weld joints and have limited flexibility and robustness for other types of weld joints. This study proposes a wide range of weld joint recognition algorithms based on the laser profile sensor to overcome these challenges. The gray value histogram analysis method, the adaptive threshold method, the internal propulsion center and boundary extraction (IPCBE) method, the coordinate analysis method, and the stripe end center detection method proposed in this study are used primarily in the algorithm. The algorithm solves the problem of identifying narrow weld joints and allows for the identification of larger conventional weld joints. Furthermore, the algorithm has good a anti-spatter and anti-arc interference ability and a fast speed, allowing it to meet the demand for real-time welding identification.