A cross structured light sensor for weld line detection on wall-climbing robot

Abstract

In this paper, we design a cross structured light (CSL) sensor for weld line detection on wall-climbing robot platform. The detection and measurement results can navigate robot to move along weld lines. CSL sensor consists of a CSL projector and a camera. The captured cross laser stripe represents the convexities of horizontal and vertical weld lines simultaneously. The sensor is calibrated by a planar target. The experiment results show that the sensor can accurately obtain 3D information of weld line with very low measurement errors.