Research on height tracking for automatic pipeline welding based on structured light

We have designed and implemented an automatic welding seam height deviation tracking and recognition system for pipeline welding. This system consists of a structured light sensor, a height deviation recognition algorithm, and a Kalman real-time data smoothing algorithm. It can automatically extract feature point data of various weld seam shapes in real-time under different working conditions. By calculating and processing the feature point data, it can obtain realtime height deviation data of the weld seam. The data is then output to the automatic pipeline welding device after Kalman filtering through the real-time smoothing algorithm, ultimately achieving automatic control of the welding torch height tracking. In actual field welding tests, the system can collect real-time weld seam height deviation data and accurately guide the automatic welding torch to track the height of the weld seam, laying a foundation for realizing laser automatic welding.