Modeling groove recognition characteristic of welding mobile robot with the function of auto-searching weld line

This paper proposes the model of groove recognition characteristic of welding mobile robot during auto-searching weld line. During auto-searching weld line, there exists many uncertain factors on the trajectory of sensor action and between drive wheels and the surface of workpiece, so only to build accurate model of groove characteristic, welding mobile robot can accurately recognize and find weld groove. This paper firstly analyzes various disturb factor that may be encountered during weld groove recognition, and how to effect on measure displacement of sensor, and then the weld groove recognition model is built according to characteristic signal of workpiece and weld groove. Welding mobile robot can arrive at the edge of groove and accurately recognize it while welding mobile robot automatically searches for weld line at random angle of less than 90 degree. The experiment results are shown that the built characteristic model of groove recognition is accurate and reliable.