Pipe parts are generally made of circular tubes, and intersecting lines are formed at the junction of two circular tube parts. This article uses 3D vision to identify the weld seam and then guides the welding robot to complete the welding. Firstly, a welding system including welding robots, robot control cabinets, welding machines, surface structured light vision sensors, industrial computers, teaching devices, etc. was built according to production needs. Based on the system configuration, the hand eye calibration of the Eye- to -Hand vision system structure was completed. Then, for the extraction of pipe welds, the first step is to complete the extraction of weld seam features. The second step is to denoise the noise in the feature image. The third step is to fit the denoised image into a three-dimensional welding trajectory. Optimal, based on the fitted welding trajectory, the planning of the weld seam path and the optimization of the industrial robot welding path were completed. Welding simulation experiments were designed and completed for the intersecting line trajectory of pipe welding, verifying the effectiveness of the method proposed in this paper.
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