CN109514042B - PID-based weld joint position tracking control method and device - Google Patents
PID-based weld joint position tracking control method and device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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Abstract
The embodiment of the invention relates to the technical field of welding, in particular to a welding seam position tracking control method and device based on PID (proportion integration differentiation).
Description
Technical Field
The embodiment of the invention relates to the technical field of welding, in particular to a weld joint position tracking control method and device based on PID.
Background
In recent years, laser tracking is widely applied to the technical field of robot welding tracking, and a welding gun tracks a welding seam by detecting relevant information of the welding seam, but the existing welding tracking technology easily causes error tracking, causes accumulation of tracking errors and causes serious economic loss.
Disclosure of Invention
In view of this, the invention provides a weld position tracking control method and device based on PID.
The embodiment of the invention provides a welding seam position tracking control method based on PID, which is applied to a control end, wherein the control end is in communication connection with a welding device, the welding device is provided with an electric pushing cylinder and a laser sensor, the control end is in communication connection with the electric pushing cylinder and the laser sensor, and the method comprises the following steps:
when the welding device is started, acquiring an initial midpoint coordinate value of a welding seam and a first real-time midpoint coordinate value of the welding seam acquired by the laser sensor;
calculating the difference value between the initial midpoint coordinate value and the first real-time midpoint coordinate value, and judging whether the difference value is zero or not; if the difference is not zero, calculating to obtain an analog voltage value according to the difference, and controlling the electric pushing cylinder to move according to the analog voltage value so as to realize the movement of the laser sensor.
Optionally, the method further comprises:
acquiring a second real-time midpoint coordinate value of the welding line acquired by the laser sensor in the movement process;
calculating the difference value between the initial midpoint coordinate value and the second real-time midpoint coordinate value, and judging whether the difference value is zero or not; and if the difference value is zero, controlling the electric pushing cylinder to stop moving.
Optionally, the analog voltage value is calculated by the following formula:
u(k)＝Kp[e(k)+Ki∑e(k)+Kd(e(k)-e(k-1))]
wherein u (K) is a voltage value calculated by the K samplingpIs a coefficient of proportionality that is,
as an integral coefficient, TiIs the integration time constant, T is the sampling period,
is a differential coefficient, TdAnd e (k) is the difference calculated for the k sample, and e (k-1) is the difference calculated for the k-1 sample.
Optionally, the step of controlling the electric cylinder to move according to the analog voltage value includes:
calculating to obtain a rotating speed value of the electric pushing cylinder according to the analog voltage value;
and controlling the electric pushing cylinder to move according to the rotating speed value.
Optionally, the rotation speed value is calculated by the following formula:
wherein n is a rotation speed value.
The embodiment of the invention also provides a welding seam position tracking control device based on PID, which is applied to a control end, wherein the control end is in communication connection with a welding device, the welding device is provided with an electric pushing cylinder and a laser sensor, the control end is in communication connection with the electric pushing cylinder and the laser sensor, and the welding seam position tracking control device based on PID comprises:
the welding seam midpoint coordinate value acquisition module is used for acquiring an initial midpoint coordinate value of a welding seam and a first real-time midpoint coordinate value of the welding seam acquired by the laser sensor when the welding device is started;
the first judgment module is used for calculating the difference value between the initial midpoint coordinate value and the first real-time midpoint coordinate value and judging whether the difference value is zero or not;
if the difference is not zero, calculating to obtain an analog voltage value according to the difference, and controlling the electric pushing cylinder to move according to the analog voltage value so as to realize the movement of the laser sensor.
Optionally, the PID-based weld position tracking control apparatus further includes:
the second judgment module is used for acquiring a second real-time midpoint coordinate value of the welding line acquired by the laser sensor in the movement process; calculating the difference value between the initial midpoint coordinate value and the second real-time midpoint coordinate value, and judging whether the difference value is zero or not; and if the difference value is zero, controlling the electric pushing cylinder to stop moving.
Optionally, the analog voltage value is calculated by the following formula:
u(k)＝Kp[e(k)+Ki∑e(k)+Kd(e(k)-e(k-1))]
wherein u (K) is a voltage value calculated by the K samplingpIs a coefficient of proportionality that is,
as an integral coefficient, TiIs the integration time constant, T is the sampling period,
is a differential coefficient, TdAnd e (k) is the difference calculated for the k sample, and e (k-1) is the difference calculated for the k-1 sample.
Optionally, the first determining module controls the electric cylinder to move according to the analog voltage value by:
calculating to obtain a rotating speed value of the electric pushing cylinder according to the analog voltage value;
and controlling the electric pushing cylinder to move according to the rotating speed value.
Optionally, the rotation speed value is calculated by the following formula:
wherein n is a rotation speed value.
The embodiment of the invention also provides a control end, which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein the processor executes the computer program to realize the PID-based weld joint position tracking control method.
The embodiment of the invention also provides a computer-readable storage medium, which comprises a computer program, and the computer program controls the control end of the readable storage medium to execute the PID-based weld joint position tracking control method when running.
Advantageous effects
According to the PID-based weld joint position tracking control method and device provided by the embodiment of the invention, the control end can calculate the difference value according to the initial midpoint coordinate value of the weld joint acquired by the control end and the first real-time midpoint value acquired by the laser sensor, and judge whether the electric push cylinder needs to be started to adjust the position of the laser sensor according to the difference value, so that the accurate tracking of the weld joint position can be realized, the condition that the difference between the weld joint position acquired by the control end and the weld joint position acquired by the laser sensor is larger is avoided, the accumulation of tracking errors is further reduced, and the economic loss is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a block diagram of a control terminal 10 according to an embodiment of the present invention.
FIG. 2 is a flowchart of a PID-based weld joint position tracking control method according to an embodiment of the present invention.
Fig. 3 is a signal flow diagram of a weld position tracking control method based on PID according to an embodiment of the present invention.
Fig. 4 is a block diagram of a PID-based weld seam location tracking control device 20 according to an embodiment of the present invention.
Icon:
10-a control end; 11-a memory; 12-a processor; 13-a network module; 14-PID algorithm model;
20-a weld position tracking control device based on PID; 21-a welding seam midpoint coordinate value acquisition module; 22-a first judgment module; 23-a second judgment module;
31-an electric pushing cylinder; 32-laser sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The inventor finds that the existing welding tracking technology is easy to cause wrong tracking, so that the tracking error is accumulated, and serious economic loss is caused. The inventor discovers through further analysis that the laser sensor can only detect the position in front of the welding position at present, and the interference of strong arc light during welding can not directly detect the welding seam information of the welding position, so that a certain distance is formed between the laser sensor and the welding gun position, and if the welding seam information currently detected by the laser sensor is taken as the welding seam information of the welding gun position, the wrong tracking and the accumulated tracking error of the welding gun are easily caused.
The above prior art solutions have shortcomings which are the results of practical and careful study of the inventor, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present invention to the above problems should be the contribution of the inventor to the present invention in the course of the present invention.
Based on the research, the embodiment of the invention provides a weld joint position tracking control method and device based on PID.
Fig. 1 shows a block diagram of a control terminal 10 according to an embodiment of the present invention. The control end 10 in the embodiment of the present invention has data storage, transmission, and processing functions, and as shown in fig. 1, the control end 10 includes: memory 11, processor 12, network module 13 and PID-based weld position tracking control 20.
The memory 11, the processor 12 and the network module 13 are electrically connected directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 11 stores a PID-based weld position tracking control device 20, the PID-based weld position tracking control device 20 includes at least one software function module which can be stored in the memory 11 in the form of software or firmware (firmware), and the processor 12 executes various function applications and data processing by running software programs and modules stored in the memory 11, such as the PID-based weld position tracking control device 20 in the embodiment of the present invention, so as to implement the PID-based weld position tracking control method in the embodiment of the present invention.
The Memory 11 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 11 is used for storing a program, and the processor 12 executes the program after receiving an execution instruction.
The processor 12 may be an integrated circuit chip having data processing capabilities. The Processor 12 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like. The various methods, steps and logic blocks disclosed in embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The network module 13 is used for establishing communication connection between the control terminal 10 and other communication terminal devices through a network, and implementing transceiving operation of network signals and data. The network signal may include a wireless signal or a wired signal.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative and that the control terminal 10 may include more or fewer components than shown in fig. 1 or may have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
An embodiment of the present invention also provides a computer-readable storage medium, which includes a computer program. The computer program controls the control terminal 10 where the readable storage medium is located to execute the following PID-based weld position tracking control method.
FIG. 2 is a flow chart illustrating a PID-based weld seam location tracking control method according to an embodiment of the invention. The method steps defined by the flow related to the method are applied to the control terminal 10 and can be implemented by the processor 12.
In this embodiment, the control terminal 10 may be a PC, and the PC is connected to the welding device and the electric pushing cylinder and the laser sensor of the welding device in a communication manner. The PC machine is used for controlling the welding device, the electric pushing cylinder and the laser sensor so as to realize accurate tracking of the welding seam position.
The specific process shown in FIG. 2 will be described in detail below:
step S21, when the welding device is started, acquiring the initial midpoint coordinate value of the welding seam and the first real-time midpoint coordinate value of the welding seam acquired by the laser sensor.
Referring to fig. 3, in the present embodiment, the laser sensor 32 is a Charge-coupled device (CCD) laser sensor.
The control end 10 may generate and acquire an initial midpoint coordinate value of the weld through image processing software.
Step S22, calculating a difference between the initial midpoint coordinate value and the first real-time midpoint coordinate value.
Referring to fig. 3, the initial midpoint coordinate value is r (t), the first real-time midpoint coordinate value is c (t), and the difference is e (t) ═ r (t) -c (t).
In step S23, it is determined whether the difference is zero.
If the difference value is zero, it indicates that there is no deviation between the weld position acquired by the control end 10 and the weld position acquired by the laser sensor, and the electric push cylinder does not need to be controlled.
If the difference is not zero, it indicates that there is a deviation between the weld position acquired by the control end 10 and the weld position acquired by the laser sensor, and the process goes to step S24.
And step S24, calculating an analog voltage value according to the difference value, and controlling the electric pushing cylinder to move according to the analog voltage value so as to realize the movement of the laser sensor.
In this embodiment, the analog voltage value is calculated according to the PID algorithm, please refer to fig. 3, where the calculation formula of the analog voltage value is:
because the PID algorithm integrates and differentiates based on time, the control of the time period is easily realized in programming, but the differentiation and integration cannot be directly calculated, and at this time, the PID algorithm needs to be discretized, in this embodiment, the sampling period is set as T, each sampling period is calculated once, and for the kth sampling, the above formula can be discretized as:
u(k)＝Kp[e(k)+Ki∑e(k)+Kd(e(k)-e(k-1))]
wherein u (K) is a voltage value calculated by the K samplingpIs a coefficient of proportionality that is,
as an integral coefficient, TiIs the integration time constant, T is the sampling period,
is a differential coefficient, TdAnd e (k) is the difference calculated for the k sample, and e (k-1) is the difference calculated for the k-1 sample.
In this embodiment, T is 0.1s, Kp＝2.68，Ki＝0.15，KdUnder the condition of the parameter, the requirement of quick response and zero drift can be achieved.
Further, the rotating speed value of the electric pushing cylinder is calculated according to the analog voltage value, and then the electric pushing cylinder 31 is controlled to move according to the rotating speed value so as to drive the laser sensor 32 to move.
In this embodiment, the driving motor of the electric pushing cylinder 31 is a servo motor, the servo motor adopts a speed control mode, and the input signal in this mode adopts an analog voltage of ± 10V, for example, the rotation speed corresponding to the servo motor-10V is 3000r/min in reverse rotation, the rotation speed corresponding to 0V is 0r/min, and the rotation speed corresponding to 10V is 3000r/min in forward rotation.
Alternatively, the rotation speed value is calculated by the following formula:
wherein n is a rotation speed value.
And step S25, acquiring a second real-time midpoint coordinate value of the welding seam acquired by the laser sensor in the movement process, and calculating the difference value between the initial midpoint coordinate value and the second real-time midpoint coordinate value.
It can be understood that, when the laser sensor 32 moves, the control end 10 may obtain the second real-time midpoint coordinate value acquired by the laser sensor 32, further, the control end 10 may continue to calculate the difference value between the initial midpoint coordinate value and the second real-time midpoint coordinate value, and then return to step S23 to continue to determine the difference value, so as to form a closed-loop system shown in fig. 3, so that the correspondence between the weld position acquired by the control end 10 and the weld position acquired by the laser sensor 32 can be ensured. For example, if the weld position acquired by the control end 10 at a certain time is inconsistent with the weld position acquired by the laser sensor 32, the control end 10 controls the electric push cylinder 31 to move until the analog voltage value is 0V.
On the basis of the above, as shown in fig. 4, an embodiment of the present invention provides a PID-based weld position tracking control apparatus 20, where the PID-based weld position tracking control apparatus 20 includes: the device comprises an acquisition module 21, a first judgment module 22 and a second judgment module 23.
The welding seam midpoint coordinate value obtaining module 21 is configured to obtain an initial midpoint coordinate value of a welding seam and a first real-time midpoint coordinate value of the welding seam acquired by the laser sensor when the welding device is started.
Since the weld midpoint coordinate value obtaining module 21 is similar to the implementation principle of step S21 in fig. 2, it will not be further described here.
A first determining module 22, configured to calculate a difference between the initial midpoint coordinate value and the first real-time midpoint coordinate value, and determine whether the difference is zero; if the difference is not zero, calculating to obtain an analog voltage value according to the difference, and controlling the electric pushing cylinder to move according to the analog voltage value so as to realize the movement of the laser sensor.
Since the first judging module 22 is similar to the implementation principle of the steps S22, S23 and S24 in fig. 2, it will not be further described here.
The second judging module 23 is configured to acquire a second real-time midpoint coordinate value of the weld joint, which is acquired by the laser sensor in the motion process; calculating the difference value between the initial midpoint coordinate value and the second real-time midpoint coordinate value, and judging whether the difference value is zero or not; and if the difference value is zero, controlling the electric pushing cylinder to stop moving. .
Since the second determination module 23 is similar to the implementation principle of step S23 and step S25 in fig. 2, it will not be further described here.
In summary, the welding seam position tracking control method and device based on the PID provided by the embodiment of the present invention can realize accurate tracking of the welding seam position, and avoid a large difference between the welding seam position acquired by the control end and the welding seam position acquired by the laser sensor, thereby reducing accumulation of tracking errors and avoiding economic loss.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a control terminal 10, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A welding seam position tracking control method based on PID is characterized by being applied to a control end, wherein the control end is in communication connection with a welding device, the welding device is provided with an electric pushing cylinder and a laser sensor, the control end is in communication connection with the electric pushing cylinder and the laser sensor, and the method comprises the following steps:
when the welding device is started, acquiring an initial midpoint coordinate value of a welding seam and a first real-time midpoint coordinate value of the welding seam acquired by the laser sensor, wherein the initial midpoint coordinate value is generated by image processing software and acquired by a controller;
calculating the difference value between the initial midpoint coordinate value and the first real-time midpoint coordinate value, and judging whether the difference value is zero or not; if the difference value is not zero, calculating to obtain an analog voltage value according to the difference value, and controlling the electric pushing cylinder to move according to the analog voltage value so as to realize the movement of the laser sensor;
the analog voltage value is calculated by the following formula:
u(k)＝Kp[e(k)+Ki∑e(k)+Kd(e(k)-e(k-1))]
wherein u (K) is a voltage value calculated by the K samplingpIs a coefficient of proportionality that is,
as an integral coefficient, TiIs the integration time constant, T is the sampling period,
is a differential coefficient, TdAnd e (k) is the difference calculated for the k sample, and e (k-1) is the difference calculated for the k-1 sample.
2. The weld seam position tracking control method according to claim 1, further comprising:
acquiring a second real-time midpoint coordinate value of the welding line acquired by the laser sensor in the movement process;
calculating the difference value between the initial midpoint coordinate value and the second real-time midpoint coordinate value, and judging whether the difference value is zero or not; and if the difference value is zero, controlling the electric pushing cylinder to stop moving.
3. The weld joint position tracking control method according to claim 1, wherein the step of controlling the movement of the electric push cylinder according to the analog voltage value comprises:
calculating to obtain a rotating speed value of the electric pushing cylinder according to the analog voltage value;
and controlling the electric pushing cylinder to move according to the rotating speed value.
4. The weld joint position tracking control method according to claim 3, wherein the rotation speed value is calculated by the following formula:
wherein n is a rotation speed value.
5. The utility model provides a welding seam position tracking controlling means based on PID which characterized in that is applied to the control end, the control end and welding set communication connection, welding set is provided with electric push cylinder and laser sensor, the control end with electric push cylinder with laser sensor communication connection, welding seam position tracking controlling means based on PID includes:
the welding seam midpoint coordinate value acquisition module is used for acquiring an initial midpoint coordinate value of a welding seam and a first real-time midpoint coordinate value of the welding seam acquired by the laser sensor when the welding device is started, wherein the initial midpoint coordinate value is generated by image processing software and acquired by a controller;
the first judgment module is used for calculating the difference value between the initial midpoint coordinate value and the first real-time midpoint coordinate value and judging whether the difference value is zero or not; if the difference value is not zero, calculating to obtain an analog voltage value according to the difference value, and controlling the electric pushing cylinder to move according to the analog voltage value so as to realize the movement of the laser sensor;
the analog voltage value is calculated by the following formula:
u(k)＝Kp[e(k)+Ki∑e(k)+Kd(e(k)-e(k-1))]
wherein u (K) is a voltage value calculated by the K samplingpIs a coefficient of proportionality that is,
as an integral coefficient, TiIs the integration time constant, T is the sampling period,
is a differential coefficient, TdAnd e (k) is the difference calculated for the k sample, and e (k-1) is the difference calculated for the k-1 sample.
6. The weld seam position tracking control device according to claim 5, further comprising:
the second judgment module is used for acquiring a second real-time midpoint coordinate value of the welding line acquired by the laser sensor in the movement process; calculating the difference value between the initial midpoint coordinate value and the second real-time midpoint coordinate value, and judging whether the difference value is zero or not; and if the difference value is zero, controlling the electric pushing cylinder to stop moving.
7. The weld joint position tracking control device according to claim 5, wherein the first judgment module controls the electric push cylinder to move according to the analog voltage value by:
calculating to obtain a rotating speed value of the electric pushing cylinder according to the analog voltage value;
and controlling the electric pushing cylinder to move according to the rotating speed value.
8. The weld seam position tracking control device according to claim 7, wherein the rotation speed value is calculated by the following formula:
wherein n is a rotation speed value.
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| CN109967834B (en) * | 2019-05-09 | 2021-06-01 | 湘潭大学 | Welding seam tracking method based on point laser distance sensor |
| CN111168196B (en) * | 2020-01-07 | 2021-11-05 | 北京博清科技有限公司 | Control method for crawling welding robot, robot and storage medium |
| CN111376271B (en) * | 2020-03-31 | 2021-10-29 | 北京博清科技有限公司 | Method and device for controlling welding robot, welding robot and storage medium |
| CN111451676A (en) * | 2020-04-14 | 2020-07-28 | 北京博清科技有限公司 | Weld joint tracking method, weld joint tracking device, storage medium and processor |
| CN114713966B (en) * | 2022-05-10 | 2024-04-05 | 苏州大学 | Welding method for identifying welding seam |
| CN115722803A (en) * | 2022-12-08 | 2023-03-03 | 广州松兴电气股份有限公司 | Laser directional paint removing method based on PID control |
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| CN102179598B (en) * | 2011-03-31 | 2013-05-01 | 中国科学院自动化研究所 | Method and device for centering initial welding positions of flat narrow welding lines and tracking welding lines |
| CN103801825A (en) * | 2014-01-27 | 2014-05-21 | 华中科技大学 | Double-beam welding seam tracking control system |
| CN104493336B (en) * | 2014-12-25 | 2017-03-22 | 重庆天量电子科技有限公司 | Welded joint detecting and tracking method based on video analysis |
| CN106392267B (en) * | 2016-11-28 | 2018-09-14 | 华南理工大学 | A kind of real-time welding seam tracking method of six degree of freedom welding robot line laser |
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| CN107186319B (en) * | 2017-07-03 | 2019-02-22 | 江苏科技大学 | A kind of online tracking of welding robot cosmetic welding based on laser sensor |
| CN107414253B (en) * | 2017-08-21 | 2022-09-06 | 河北工业大学 | Welding seam tracking control device and method based on cross laser |
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