Active Laser Vision Robust Weld Tracking System and Weld Position Detection Method

An active laser vision weld tracking system, comprising:

• an industrial robot comprising a base, a robotic arm, and a driving mechanism, wherein the robotic arm comprises a lower arm and a forearm, the base is provided with a mount for mounting the lower arm, a lower portion of the lower arm is movably connected to the mount, the forearm is mounted on the top of the lower arm via a movable connection, and the forearm of the industrial robot is provided with a laser-arc hybrid welding joint having a wire-feeding mechanism on one side thereof;
• an active laser vision system comprising a laser source, a laser vision sensor for recognizing a laser stripe, and an image processing system for extracting weld feature information and detecting the position of a weld, wherein the image processing system is electrically connected to the laser vision sensor;
• and
• an electrical control system comprising a robot controller configured to control the actions of the industrial robot and the robotic arm thereof,
• wherein there is a two-way communication connection between the image processing system and the robot controller.