In recent years

robot welding has replaced artificial welding in more and more fields

and robotic welding has been gradually moving towards the intelligent direction with perception.Welding of standardized workpieces of uniform shape and size

such as tendons

fittings

stampings

castings

etc.

is a type of welding problem frequently encountered in welding constructions.This type of workpiece is characterized by its small size

uniform shape and some geometric features.This paper develops a set of robotic welding positioning system based on two-color light source vision for this kind of workpieces.The image processing algorithm uses two steps of the initial positioning of the welding workpiece and the precise positioning of the welding seam.The two-color light source effectively improves the discrimination between the target and the background

step-by-step image processing algorithm improves the reliability of positioning algorithm.