A novel multifunctional visual sensor based on combined laser structured lights and its anti-jamming detection algorithms

Based on the combined laser structured lights, a novel multifunctional monocular visual sensor was proposed. Firstly, a mathematical model of the proposed visual sensor was established based on the optical triangulation measurement principle. The imaging characteristics of the visual sensor and the influence of structure parameters of the designed visual sensor on the detection errors were studied. Then, the new algorithms were derived for the accurate detection of the welding groove cross-sectional dimensions and the welding torch height even under the circumstances with existing of the installation and robot motion errors, which use only one photograph in monocular vision. Finally, the experiments designed for the detection were carried out. The experimental results show that the proposed visual sensor has high feasibility and anti-jamming capability in the detection, and the errors can also be detected by the sensor simultaneously. Therefore, this novel visual sensor could be applied for the improvement of precision and intelligence in the robotic welding manufacturing.