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To overcome the problems resulting from weldment trimming and assemble errors, thermal deformation, arc blow, etc., a set of new tracking system of fillet seam for automatic corrugated plate welding was put forward based on machine vision technology. The tracking system included two cameras: the precursor was set in front of the welding torch (a corrugation cycle far away), for capturing the linear laser projected on the side plate and the base plate; the another one was installed over the melting pool for capturing the image of welding torch tip and the seam. The processed image information from the precursor camera was used to track the fillet seam three-dimensional trajectory and the seam width, according to the information the welding motion controller and the welding power made preplanning; the processed torch tip and seam image information was sent to the motion controller and the welding power so that they could make real-time motion and welding parameter adjustment. Computer simulation proved that this new tracking system could work efficiently.

In the guiding system for fillet welding of corrugated sheet based on laser line projection, the Laser Lines Projected on the Corrugated Sheet and Plane (abbreviated as LLP_CS_P) are interfered by the irregular width of Assemble Gap to be Welded (abbreviated as AG-W), the Scratches of the Metal Surface (abbreviated as S_MSS), the Laser Line Projected on the Welding Point (abbreviated as LLP_WP) an so on. As a solution of these problems, an algorithm and on-line processing system based on morphology are proposed to stably and accurately locate the endpoints of LLP_CS_P. First, the interferences are separated from the laser line projection. Second, the interferences are eliminated by morphology filter. Third, the locations of laser line projection at AG-W are obtained through connected component labeling and extreme theory. Image acquiring and processing on line indicate that this algorithm and system can perform stably and effectively under the condition of irregular width of fillet welding seam of corrugated sheet, scratches, welding points. The trajectory and width of welding seam are monitored on line to guide the torch to track the AG-W and adjust welding parameters adaptively.