Location of initial welding position based on structured-light and fixed in workspace vision

According to the characteristic of welding container reinforced plate and structured-light measurement theory, this paper designs an initial position locating system for container welding robot, which uses a calibration method of one CCD and lasers based on fixed in workspace vision and a sub-pixel feature extraction method of welding seam. This system with fixed image resolution can acquire the image information of robot arm and workspace at the same time. Meanwhile, it integrates the vision system and the robot control system easily, avoiding no light of sight. In addition, the difficulty of image processing is reduced with the feature of structured-light in welding. The experiment result shows that the locating system has the characteristic of simple algorithm, strong anti-jamming and practical.