The laser-vision sensor has been widely utilized to automate the arc welding process. The existing laser-vision sensor was developed for weld-seam tracking with the fixed range of measurement. In this work, the laservision sensor is developed for automatic teaching and weld-seam tracking. The laser -vision sensor has two measurement ranges, the wide range for automatic teaching and the narrow range for weld-seam tracking by rotating of the mirror using an electromagnet. Calibration is efficiently accomplished with a calibration module and calibration plates. The center of the laser-slit-light is searched by the Gaussian filter to reduce the effects of the noise. Weld-seam is found using the slop angle and offset information. The gap size and tag-weld area are also detected. The results show that the proposed laser vision sensor and image processing successfully perform automatic teaching and weld-seam tracking.
