An initial point alignment method of narrow weld using laser vision sensor

  • Junfeng FanEmail author
  • Fengshui Jing
  • Lei Yang
  • Teng Long
  • Min Tan


In this paper, an initial point alignment method of narrow weld using laser vision sensor is presented on the basis of the relationship between the feature point of laser stripe and initial point. The whole initial point alignment process contains two stages. At the first stage, the initial point image is captured, and the image coordinates of the feature point of laser stripe and initial point are obtained. At the second stage, according to the relationship between the feature point of laser stripe and initial point, the three-dimensional (3D) coordinates of initial point could be determined to achieve initial point alignment. The initial point alignment method mainly includes vision sensing and motion control two parts. Firstly, a new laser vision sensor with a uniform LED surface light source is developed to capture the high signal-to-noise ratio (SNR) image including narrow weld, and the feature point of laser stripe and initial point are detected using the image processing method. Secondly, initial point alignment control system including feature verification and controller is designed to achieve initial point alignment control. Finally, a series of initial point alignment experiments of straight and curve narrow weld are conducted to test the performance of the proposed method. Experimental results indicate the alignment error is less than previous methods, which could be used in automatic welding process.


Initial point alignment Image processing Laser vision sensor Narrow weld Welding robot 


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Funding information

This work was supported by the National Natural Science Foundation of China under Grant 61573358.


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Copyright information

© Springer-Verlag London Ltd., part of Springer Nature 2019

Authors and Affiliations

  • Junfeng Fan
    • 1
    • 2
    Email author
  • Fengshui Jing
    • 1
    • 2
  • Lei Yang
    • 1
    • 2
  • Teng Long
    • 1
    • 2
  • Min Tan
    • 1
    • 2
  1. 1.The State Key Laboratory of Management and Control for Complex Systems, Institute of AutomationChinese Academy of SciencesBeijingChina
  2. 2.University of Chinese Academy of SciencesBeijingChina

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