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A method of seam recognization based on simulated laser stripe and ICP

Recent years have seen the widespread use of welding robots equipped with a structured light vision sensing system. The extraction of features is crucial for the robot to weld precisely and efficiently. In practical application, however, interference inevitably exists, such as noises and reflection. Common noises include arc, spatter and smoke. Besides, many laser stripes and a flare around the seam would occur due to reflection. Interference would always have a negative effect on the recognization of feature points under these working conditions. A strategy based on the Iterative Closest Point algorithm (ICP) and simulation is presented to recognize the target stripe and the seam position with interference. The method consists of three steps. Firstly, register the simulated stripe to get the target point set. Secondly, calculate the source point set at the position far away from the seam position. Finally, register these two point sets to extract the target stripe and recognize the seam position. Experimental results show that the method is capable of recognizing the seam position successfully under interference.