CN1600488A - Method for autonomous tracking welding line - Google Patents
Method for autonomous tracking welding line Download PDFInfo
- Publication number
- CN1600488A CN1600488A CN 200410067327 CN200410067327A CN1600488A CN 1600488 A CN1600488 A CN 1600488A CN 200410067327 CN200410067327 CN 200410067327 CN 200410067327 A CN200410067327 A CN 200410067327A CN 1600488 A CN1600488 A CN 1600488A
- Authority
- CN
- China
- Prior art keywords
- weld seam
- robot
- angle
- image
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 200410067327 CN1289252C (en) | 2004-10-21 | 2004-10-21 | Method for autonomous tracking welding line |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 200410067327 CN1289252C (en) | 2004-10-21 | 2004-10-21 | Method for autonomous tracking welding line |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1600488A true CN1600488A (en) | 2005-03-30 |
CN1289252C CN1289252C (en) | 2006-12-13 |
Family
ID=34666579
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN 200410067327 Expired - Fee Related CN1289252C (en) | 2004-10-21 | 2004-10-21 | Method for autonomous tracking welding line |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN1289252C (en) |
Cited By (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100407222C (en) * | 2006-09-14 | 2008-07-30 | 上海交通大学 | Partial image processing based butt type welding seam recognition method |
CN101274386B (en) * | 2007-03-28 | 2010-12-22 | 株式会社神户制钢所 | One side welding device and one side welding method |
CN102003955A (en) * | 2010-09-17 | 2011-04-06 | 江门市蒙德电气有限公司 | Position detecting and sensing device based on image analysis and position detection method thereof |
CN102059435A (en) * | 2010-12-14 | 2011-05-18 | 东南大学 | Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof |
CN101474733B (en) * | 2009-01-16 | 2011-07-13 | 山东科技大学 | Method for welding shipping container top reinforcing plate and welding robot |
CN102284769A (en) * | 2011-08-05 | 2011-12-21 | 上海交通大学 | System and method for initial welding position identification of robot based on monocular vision sensing |
CN101690989B (en) * | 2009-09-28 | 2012-07-04 | 昆山华恒工程技术中心有限公司 | Welding seam tracking method of arc oscillation welding seam tracking robot |
CN102922094A (en) * | 2012-10-09 | 2013-02-13 | 上海工程技术大学 | Ultra-small size welding seam tracking method based on heat input |
CN102950365A (en) * | 2011-08-30 | 2013-03-06 | 昆山工研院工业机器人研究所有限公司 | Compensation method of hand-eye relation between laser vision sensing head and welding gun |
CN103252560A (en) * | 2013-03-22 | 2013-08-21 | 广西机电职业技术学院 | Automatic weld tracking method based on laser vision sensing |
CN103747926A (en) * | 2011-08-10 | 2014-04-23 | 株式会社安川电机 | Robotic system |
CN104002021A (en) * | 2014-06-06 | 2014-08-27 | 哈尔滨工业大学 | Device for automatically identifying and tracking multi-layer and multi-pass welding beads |
CN104057202A (en) * | 2014-07-11 | 2014-09-24 | 华南理工大学 | System and method for remotely monitoring automatic welding of mobile robot based on FPGA |
CN104209629A (en) * | 2013-06-05 | 2014-12-17 | 中国石油天然气集团公司 | Pipeline multi-point synchronous automatic welding rotating arc fuzzy control tracking method |
CN104625311A (en) * | 2015-01-24 | 2015-05-20 | 无锡桑尼安科技有限公司 | Welding torch displacement control method tracking welding joint position |
CN104985289A (en) * | 2015-07-31 | 2015-10-21 | 华南理工大学 | Laser sensor-based welding seam automatic tracking test device and test method thereof |
CN105241375A (en) * | 2014-07-04 | 2016-01-13 | 乔治费希尔管路***公开股份有限公司 | Contactless inspection for butt welding |
CN105798431A (en) * | 2016-05-27 | 2016-07-27 | 天津智通机器人有限公司 | Online welding line tracking method of welding curved line of arc welding robot |
CN106392304A (en) * | 2016-12-22 | 2017-02-15 | 河北省自动化研究所 | Laser-assisted intelligent trailing system and method for welding line |
CN106735749A (en) * | 2016-12-22 | 2017-05-31 | 河北省自动化研究所 | A kind of laser assisted weld seam Intelligent tracing system |
CN107175406A (en) * | 2017-05-19 | 2017-09-19 | 大族激光科技产业集团股份有限公司 | The control method and system of welding track |
CN107442900A (en) * | 2017-08-04 | 2017-12-08 | 淮安信息职业技术学院 | A kind of laser vision welding seam tracking method |
CN107964585A (en) * | 2016-08-09 | 2018-04-27 | 南通大学 | Robot trajectory control system |
CN109243284A (en) * | 2018-10-31 | 2019-01-18 | 西安长峰机电研究所 | A kind of aluminium alloy sheet welding weld seam teaching type autotracker |
CN109483017A (en) * | 2018-10-23 | 2019-03-19 | 东莞理工学院 | A kind of seam tracking system and its optimization method based on image recognition |
CN110315249A (en) * | 2019-06-28 | 2019-10-11 | 中国地质大学(武汉) | Space right-angle weld seams shaped zigzag line based on line laser structured light is fitted system |
CN110328432A (en) * | 2019-04-03 | 2019-10-15 | 广州文冲船厂有限责任公司 | For realizing the weld inspection method of D type hanging ring automatic welding |
CN111375945A (en) * | 2020-01-15 | 2020-07-07 | 吉林大学 | Gantry type triaxial welding device and method for automatically identifying welding seam track |
CN112746812A (en) * | 2021-01-22 | 2021-05-04 | 安百拓(南京)建筑矿山设备有限公司 | Illumination and camera shooting follow-up system and control method of drill jumbo and drill jumbo |
CN114101851A (en) * | 2021-12-30 | 2022-03-01 | 华中科技大学 | Multi-weld filling self-adjusting method, system and device for valve body part |
CN114669935A (en) * | 2022-04-28 | 2022-06-28 | 西门子(中国)有限公司 | Method, device and computer readable medium for welding materials |
-
2004
- 2004-10-21 CN CN 200410067327 patent/CN1289252C/en not_active Expired - Fee Related
Cited By (40)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100407222C (en) * | 2006-09-14 | 2008-07-30 | 上海交通大学 | Partial image processing based butt type welding seam recognition method |
CN101274386B (en) * | 2007-03-28 | 2010-12-22 | 株式会社神户制钢所 | One side welding device and one side welding method |
CN101474733B (en) * | 2009-01-16 | 2011-07-13 | 山东科技大学 | Method for welding shipping container top reinforcing plate and welding robot |
CN101690989B (en) * | 2009-09-28 | 2012-07-04 | 昆山华恒工程技术中心有限公司 | Welding seam tracking method of arc oscillation welding seam tracking robot |
CN102003955A (en) * | 2010-09-17 | 2011-04-06 | 江门市蒙德电气有限公司 | Position detecting and sensing device based on image analysis and position detection method thereof |
CN102059435A (en) * | 2010-12-14 | 2011-05-18 | 东南大学 | Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof |
CN102284769A (en) * | 2011-08-05 | 2011-12-21 | 上海交通大学 | System and method for initial welding position identification of robot based on monocular vision sensing |
CN103747926A (en) * | 2011-08-10 | 2014-04-23 | 株式会社安川电机 | Robotic system |
CN102950365A (en) * | 2011-08-30 | 2013-03-06 | 昆山工研院工业机器人研究所有限公司 | Compensation method of hand-eye relation between laser vision sensing head and welding gun |
CN102922094A (en) * | 2012-10-09 | 2013-02-13 | 上海工程技术大学 | Ultra-small size welding seam tracking method based on heat input |
CN103252560B (en) * | 2013-03-22 | 2016-01-06 | 广西机电职业技术学院 | Based on the automatic seam tracking method of laser-vision sensing |
CN103252560A (en) * | 2013-03-22 | 2013-08-21 | 广西机电职业技术学院 | Automatic weld tracking method based on laser vision sensing |
CN104209629B (en) * | 2013-06-05 | 2016-02-10 | 中国石油天然气集团公司 | A kind of pipeline Multipoint synchronous automatic welding rotation electric arc fuzzy control tracking |
CN104209629A (en) * | 2013-06-05 | 2014-12-17 | 中国石油天然气集团公司 | Pipeline multi-point synchronous automatic welding rotating arc fuzzy control tracking method |
CN104002021A (en) * | 2014-06-06 | 2014-08-27 | 哈尔滨工业大学 | Device for automatically identifying and tracking multi-layer and multi-pass welding beads |
CN105241375A (en) * | 2014-07-04 | 2016-01-13 | 乔治费希尔管路***公开股份有限公司 | Contactless inspection for butt welding |
CN105241375B (en) * | 2014-07-04 | 2020-02-14 | 乔治费希尔管路***公开股份有限公司 | Contactless inspection of butt welds |
CN104057202A (en) * | 2014-07-11 | 2014-09-24 | 华南理工大学 | System and method for remotely monitoring automatic welding of mobile robot based on FPGA |
CN104057202B (en) * | 2014-07-11 | 2016-04-13 | 华南理工大学 | Based on the autonomous welding system of remote monitoring mobile robot and the method for FPGA |
CN104625311A (en) * | 2015-01-24 | 2015-05-20 | 无锡桑尼安科技有限公司 | Welding torch displacement control method tracking welding joint position |
CN104985289A (en) * | 2015-07-31 | 2015-10-21 | 华南理工大学 | Laser sensor-based welding seam automatic tracking test device and test method thereof |
CN105798431A (en) * | 2016-05-27 | 2016-07-27 | 天津智通机器人有限公司 | Online welding line tracking method of welding curved line of arc welding robot |
CN105798431B (en) * | 2016-05-27 | 2018-09-21 | 天津智通机器人有限公司 | The online welding seam tracking method of curve of arc welding robot welding |
CN107964585A (en) * | 2016-08-09 | 2018-04-27 | 南通大学 | Robot trajectory control system |
CN106392304A (en) * | 2016-12-22 | 2017-02-15 | 河北省自动化研究所 | Laser-assisted intelligent trailing system and method for welding line |
CN106392304B (en) * | 2016-12-22 | 2019-02-15 | 河北省自动化研究所 | A kind of laser assisted weld seam Intelligent tracing system and method |
CN106735749A (en) * | 2016-12-22 | 2017-05-31 | 河北省自动化研究所 | A kind of laser assisted weld seam Intelligent tracing system |
CN106735749B (en) * | 2016-12-22 | 2019-10-11 | 河北省自动化研究所 | A kind of laser assisted weld seam Intelligent tracing system |
CN107175406A (en) * | 2017-05-19 | 2017-09-19 | 大族激光科技产业集团股份有限公司 | The control method and system of welding track |
CN107442900A (en) * | 2017-08-04 | 2017-12-08 | 淮安信息职业技术学院 | A kind of laser vision welding seam tracking method |
CN109483017A (en) * | 2018-10-23 | 2019-03-19 | 东莞理工学院 | A kind of seam tracking system and its optimization method based on image recognition |
CN109243284A (en) * | 2018-10-31 | 2019-01-18 | 西安长峰机电研究所 | A kind of aluminium alloy sheet welding weld seam teaching type autotracker |
CN110328432A (en) * | 2019-04-03 | 2019-10-15 | 广州文冲船厂有限责任公司 | For realizing the weld inspection method of D type hanging ring automatic welding |
CN110315249A (en) * | 2019-06-28 | 2019-10-11 | 中国地质大学(武汉) | Space right-angle weld seams shaped zigzag line based on line laser structured light is fitted system |
CN111375945A (en) * | 2020-01-15 | 2020-07-07 | 吉林大学 | Gantry type triaxial welding device and method for automatically identifying welding seam track |
CN111375945B (en) * | 2020-01-15 | 2023-07-21 | 吉林大学 | Gantry type triaxial welding device and welding method capable of automatically identifying weld track |
CN112746812A (en) * | 2021-01-22 | 2021-05-04 | 安百拓(南京)建筑矿山设备有限公司 | Illumination and camera shooting follow-up system and control method of drill jumbo and drill jumbo |
CN114101851A (en) * | 2021-12-30 | 2022-03-01 | 华中科技大学 | Multi-weld filling self-adjusting method, system and device for valve body part |
CN114669935A (en) * | 2022-04-28 | 2022-06-28 | 西门子(中国)有限公司 | Method, device and computer readable medium for welding materials |
CN114669935B (en) * | 2022-04-28 | 2024-02-06 | 西门子(中国)有限公司 | Method, apparatus and computer readable medium for welding materials |
Also Published As
Publication number | Publication date |
---|---|
CN1289252C (en) | 2006-12-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1289252C (en) | Method for autonomous tracking welding line | |
CN112959329B (en) | Intelligent control welding system based on vision measurement | |
CN105033419B (en) | Movable welding robot device based on weld pool image weld seam tracking | |
CN206263418U (en) | A kind of real-time seam tracking system of six degree of freedom welding robot line laser | |
CN202278307U (en) | An adjustable double line structured light weld tracking visual sensing system | |
WO2020010844A1 (en) | Laser-tracking-based welding system | |
CN103273171B (en) | Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding | |
CN110919134A (en) | Tube plate positioning welding method | |
CN1319704C (en) | Servo binocular vision sensors on welding robot | |
CN103480991B (en) | Thin steel plate narrow welding joint online visual inspection and control device | |
CN203330563U (en) | Broken line fillet weld automatic welding apparatus based on visual guiding | |
CN105562975B (en) | Monitoring and control system based on self-adaptive binocular vision sensing, for corrugated plate welding seam tracking | |
CN111390351B (en) | Automatic welding device and welding method for real-time change of welding gun pose | |
CN203791807U (en) | Welding robot | |
CN104588838A (en) | Automatic tracking control and online correction system with welding gun and control method thereof | |
CN102029463A (en) | Device for controlling deflection correction of MIG/MAG backing weld joint of pipe based on visual sensor | |
CN101797665A (en) | Visual detection sensing unit | |
Zhou et al. | Autonomous acquisition of seam coordinates for arc welding robot based on visual servoing | |
CN114473153B (en) | Oil-gas long-distance pipeline welding system and method | |
CN111168288B (en) | Double-ring welding seam laser visual tracking system and tracking method | |
CN111451607B (en) | Welding process optimization method and welding device | |
CN201748902U (en) | Visual detection sensor | |
CN109822194A (en) | A kind of weld tracker and welding method | |
CN214558126U (en) | Multilayer multi-channel visual imaging automatic welding system for medium plate | |
CN108817614A (en) | A kind of arc welding robot weld joint tracking attitude adjusting method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Yizheng Shendi Industry Development Co., Ltd Assignor: Shanghai Jiao Tong University Contract fulfillment period: 2009.6.30 to 2014.6.30 contract change Contract record no.: 2009320001356 Denomination of invention: Method for autonomous tracking welding line Granted publication date: 20061213 License type: Exclusive license Record date: 2009.8.4 |
|
LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.6.30 TO 2014.6.30; CHANGE OF CONTRACT Name of requester: YIZHENG SHENDI INDUSTRY DEVELOPMENT CO., LTD. Effective date: 20090804 |
|
C17 | Cessation of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20061213 Termination date: 20121021 |