The Weld Extraction Algorithm for Robotic Arc Welding Based on 3D Laser Sensor

A weld extraction algorithm combining 2D image and 3D point cloud data is proposed in this paper, based on 3D laser sensor and a six-DOF industrial robot. Firstly, 3D point cloud data and 2D depth image can be obtained through the 3D laser sensor. Secondly, the weld feature points can be extracted while the weld can be accurately positioned, using 2D image processing method. Thirdly, the 3D weld information can be extracted by 2D weld mapping to 3D space through certain rules. Finally, the feasibility of the proposed algorithm is verified by experiments. The results strongly prove that the algorithm can be used to obtain the 3D weld information of type 1 weld in the bicycle frame, which completely meets the needs of industrial production.