Some drainage holes at the bottom of hall in shipbuilding form discontinuity welding seams

which directly influence welding speed.In order to extract the characteristic signal of drainage holes

the welding current signal is extracted by the rotating arc sensor

the image of the welding seam information is extracted by the laser sensor.The experimental results show that the two sensors can meet the demand.The startpoint of the drainage holes were detected by the the rotating arc sensor and the endpoint by the vision sensor which controlled the pose of the robot simultaneously.