Multi-sensor unmanned full-automatic large plate welding control system and method

Abstract

The application relates to a multi-sensor full-automatic large plate welding control system without manual participation and a method thereof, and belongs to the technical field of plate processing. In the existing welding method, plate information and welding parameters need to be manually input before welding, the efficiency is low, the error rate is high, the starting and stopping of a welding gun need to be manually controlled, and the degree of automation is low. A controller is used for controlling the starting of the welding gun when it is detected that the distance between the probe of a first infrared distance sensor and the plate is less than a threshold value; the controller is also used for controlling the stopping of the welding gun when it is detected that the distance between the probe of the first infrared distance sensor and the plate exceeds the threshold value and two sensing currents are not received; and the controller is also used for obtaining the plate thickness according to the distance between the probe of a sensing assembly and the top surface of the plate and the distance between the probe of the sensing assembly and a welding platform, and calling corresponding preset welding process parameters in the interior according to the plate thickness, so that the welding gun after starting carries out welding according to the parameters. The application is used for automatically welding plates.

Description

Technical Field

[0001] This invention belongs to the field of sheet metal processing technology. Background Technology

[0002] Laser-assisted composite welding assembly equipment is a highly efficient and high-quality processing technology. Compared with traditional welding methods, it offers advantages such as faster processing speed, reduced process steps, higher product consistency, and significantly reduced workload for production personnel. However, the assembly of large-format, multi-plate laser-arc composite welding plates often involves complex input of various plate information and corresponding welding parameters, especially in the splicing of multiple plates and irregularly shaped plates. The increased amount of parameter input significantly reduces production efficiency and increases the risk of human error due to manual intervention. In standardized production processes, large volumes of plate welding information are imported into the welding system through plate cutting data or design data. This import process involves numerous data conversion and system call steps. After conversion, the system selects each weld seam based on the current working status and matches the corresponding welding process, making the entire welding process extremely cumbersome. Meeting these process requirements forces the entire system to be designed to be very bulky and complex. In actual production, due to various factors, discrepancies often arise between the actual dimensions of the sheet metal and the designed cutting dimensions. Adjusting the welding information in such cases becomes extremely cumbersome and requires manual intervention, involving remeasuring all sheet metal data, searching for corresponding process information, and manually entering it into the welding system. This significantly reduces production efficiency. Furthermore, the large volume of sheet metal data often leads to potential risks due to human error in measurement or data entry. Additionally, the starting and stopping of the welding torch in laser composite welding assembly equipment requires manual control, resulting in low automation. Therefore, existing welding methods require manual entry of sheet metal information and welding parameters before welding, leading to low efficiency, high error rates, and low automation due to the need for manual control of the welding torch's start and stop. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of existing welding methods, which require manual input of plate information and welding parameters before welding, resulting in low efficiency and high error rate, and require manual control of the start or stop of the welding torch, resulting in low automation. The invention proposes a multi-sensor fully automatic large plate welding control system and method.

[0004] A multi-sensor, fully automated large plate welding control system without human intervention is provided. The system is used to control a laser composite welding assembly device. The laser composite welding assembly device includes a welding torch, a fixing device, and a welding platform. The welding torch is set on the fixing device and moves horizontally along the fixing device. Below the fixing device is the welding platform, on which the plate is placed.

[0005] The system includes one first infrared ranging sensor, two first metal proximity sensors, a sensing component, and a controller. The first infrared ranging sensor and two first metal proximity sensors are positioned at the front end of the welding torch's travel direction, with the two first metal proximity sensors arranged sequentially along the welding torch's travel direction. The sensing component is located at the bottom of the fixing device.

[0006] The first infrared ranging sensor is used to collect the distance between the probe of the first infrared ranging sensor and the plate and transmit it to the controller;

[0007] Two first metal proximity sensors are used to detect the presence of a plate. When a plate is present, an induced current is output and fed back to the controller.

[0008] The sensing component is used to collect the distance between the sensor probe and the top surface of the plate, and also to collect the distance between the sensor probe and the welding platform, and then feeds it back to the controller.

[0009] The controller is used to start the welding torch when the distance between the probe of the first infrared ranging sensor and the plate is less than a threshold.

[0010] It is also used to control the welding torch to stop when the distance between the probe of the first infrared ranging sensor and the plate exceeds the threshold and no two induced currents are received.

[0011] It is also used to obtain the plate thickness based on the distance between the sensor probe and the top surface of the plate and the distance between the sensor probe and the welding platform, and to call the corresponding preset welding process parameters according to the plate thickness so that the welding gun after startup can perform welding according to the parameters.

[0012] Preferably, the system further includes an encoder and a second metal proximity sensor.

[0013] The encoder is located at the top tail of the welding torch, and the second metal proximity sensor is located at the rear end in the direction of the welding torch's travel.

[0014] The second metal proximity sensor is used to detect the induced current at the start position and feed it back to the controller;

[0015] The controller is also used to control the welding torch to move to the preset start position after receiving the power-on start signal, and to control the encoder to clear zero after receiving the induced current at the start position.

[0016] Preferably, the sensing component includes a plurality of second infrared ranging sensors or a plurality of contact displacement sensors or a plurality of second infrared ranging sensors and a plurality of contact displacement sensors.

[0017] The second infrared ranging sensor and a contact displacement sensor are both used to collect the distance between the probe of the sensing component and the top surface of the plate, and also to collect the distance between the probe of the sensing component and the welding platform.

[0018] The controller is also used to receive and sort the output data of the sensing components, remove the maximum and minimum values, and take the average value of the remaining data as the final distance between the probe and the top surface of the plate, and the final distance between the probe and the welding platform.

[0019] A multi-sensor, fully automated, unmanned welding control method for large sheet metal, the method comprising the following:

[0020] Step 1: After receiving the power-on signal, the controller controls the welding torch to move to the preset start position. When it receives the induced current at the start position, it controls the encoder to clear to zero.

[0021] Step 2: The controller moves the mobile device. When the controller detects that the distance between the probe of the first infrared ranging sensor and the plate is less than a threshold, it starts the welding torch. At the same time, the controller obtains the plate thickness based on the distance between the probe of the sensing component and the top surface of the plate, and the distance between the probe of the sensing component and the welding platform. Based on the plate thickness, the controller calls the corresponding preset welding process parameters, and the welding torch performs welding according to these parameters after starting.

[0022] Step 3: When the controller detects that the distance between the probe of the first infrared ranging sensor and the plate exceeds the threshold and no two induced currents are received, it controls the welding torch to stop.

[0023] The beneficial effects of this invention are:

[0024] This invention is applied to laser arc composite plate welding equipment. It uses infrared ranging and metal proximity switch sensors to determine the welding start and stop positions based on the detection principle of the effective value signal change according to a specific installation position. Multiple sets of infrared ranging sensors and contact displacement sensors are combined to detect the values ​​when there is welded plate and when there is no welded plate, and the values ​​are subtracted to obtain the plate thickness information.

[0025] This invention achieves fully automated, precise control of the laser-welded composite panels, eliminating the need for manual intervention and enabling automatic parameter matching throughout the entire welding process. This control method automatically detects panel dimensions and matches the welding process, eliminating the need for manual parameter input and achieving fully automated welding. This significantly improves production efficiency and effectively reduces the risk of human error caused by excessive manual intervention, ensuring consistent quality throughout the automated welding process.

[0026] This invention features a simple structure and low cost. It utilizes conventional physical phenomena for detection, making it highly reliable and less susceptible to external influences. Furthermore, it offers high precision, particularly in beveling long plates, avoiding errors caused by human or machine operator mistakes. Attached Figure Description

[0027] Figure 1 A schematic diagram of the overall structure of a multi-sensor, fully automated large-plate welding control system without human intervention;

[0028] Figure 2 A schematic diagram of a design for detecting the start and stop positions of welding plates;

[0029] Figure 3 A schematic diagram of the layout design for a plate thickness detection sensor. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0033] Example 1:

[0034] A multi-sensor, fully automated large plate welding control system without human intervention is provided. The system is used to control a laser composite welding assembly device. The laser composite welding assembly device includes a welding torch 1, a fixing device 2, and a welding platform 3. The welding torch 1 is set on the fixing device 2 and moves horizontally along the fixing device 2. The welding platform 3 is located below the fixing device 2 and is used to place the plate 9 on the welding platform 3.

[0035] The system includes one first infrared ranging sensor 4, two first metal proximity sensors 5, a sensing component 6, and a controller. The first infrared ranging sensor 4 and the two first metal proximity sensors 5 are positioned at the front end of the welding torch 1 along its travel direction. The two first metal proximity sensors 5 are arranged sequentially along the travel direction of the welding torch 1. The sensing component 6 is located at the bottom of the fixing device 2.

[0036] The first infrared ranging sensor 4 is used to collect the distance between the probe of the first infrared ranging sensor 4 and the plate 9 and transmit it to the controller;

[0037] Two first metal proximity sensors 5 are used to detect the presence of plate 9. When plate 9 is present, they output an induced current and feed it back to the controller.

[0038] The sensing component 6 is used to collect the distance between the probe of the sensing component 6 and the top surface of the plate 9, and also to collect the distance between the probe of the sensing component 6 and the welding platform 3, and feed it back to the controller.

[0039] The controller is used to start the welding torch 1 when the distance between the probe of the first infrared ranging sensor 4 and the plate 9 is less than a threshold.

[0040] It is also used to control the welding torch 1 to stop when the distance between the probe of the first infrared ranging sensor 4 and the plate 9 exceeds the threshold and no two induced currents are received.

[0041] It is also used to obtain the thickness of the plate 9 based on the distance between the probe of the sensing component 6 and the top surface of the plate 9 and the distance between the probe of the sensing component 6 and the welding platform 3, and to call the corresponding preset welding process parameters according to the thickness of the plate 9 so that the welding gun 1 after startup can perform welding according to the parameters.

[0042] Specifically, (1) the design of the plate start / stop position detection and judgment method: A high-precision first infrared ranging sensor 4 is installed in front of the welding torch, and a set of two long-distance first metal proximity sensors 5 are added. This function adopts a redundant design to ensure reliability. The welding plate is determined to be below the welding torch head by a comprehensive judgment of these three sensors, thereby determining whether welding should be started. Among them, the first infrared ranging sensor 4 is installed in front of the welding torch as follows: Figure 2 As shown, the distance D between the welding torch head and the upper surface of the workpiece is measured vertically downwards. This distance data is used as the main basis for detecting the position of the workpiece. When the workpiece is positioned, the welding torch starts moving slowly along the welding direction from a fixed position during the welding process. Since the fixed starting position of the welding torch is a fixed area without workpiece, the distance sensor in front of the torch head cannot detect the actual distance between the workpiece and the welding torch. At this time, the value is the sensor's maximum range D1. As the torch head continues to move, when the welding torch moves close to the workpiece, the distance sensor in front of it detects the relative distance D2. When the value of D2 is less than the threshold set by the system, the system records the current valid position of the first infrared distance sensor 4. This valid information will serve as an important basis for the welding start point. At the same time, a set of two first metal proximity sensors 5 are added in front of the welding torch head, with positions as shown in the figure. Figure 2As shown. When the first infrared ranging sensor 4 determines that it is valid, the system will check whether the current detection is valid by one of the first metal sensors. If it is also valid and the other first metal sensor 5 reports that it is invalid, the system will record the current position of the welding torch W1 and proceed to the next step. When the welding torch continues to move and the distance between the two first metal sensors 5 reaches W2, the system will check whether the current detection is valid by the other first metal sensor 5. If the other first metal sensor 5 is invalid, the system will stop welding and display a detection error alarm. If it is valid, the system will determine the welding start point position by adding the current position W2 to the distance D3 from the other first metal sensor 5 to the torch head. When the welding torch head continues to move to the welding start point position and starts welding, the sensors in front of the welding torch head will continue to detect whether the plate in front is valid. During this process, if a sensor accidentally detects that there is no valid plate in front of the welding torch, it will compare the status of the other two sensors to determine whether the current invalid signal is an interference invalid signal. When all three sensors detect invalid signals according to a specific pattern, the system will record the current position of the welding torch and calculate the corresponding stop welding position based on the distance D3 from the other first metal sensor 5 to the torch head.

[0043] (2) Start and stop position information acquisition design: This design uses the pulse data fed back by the position encoder G4 installed in the direction of the welding torch movement axis to calculate the current welding torch movement position information in real time through proportional conversion. At the same time, a second metal proximity sensor 8 is installed at the fixed start position. Each time the equipment is turned on, the welding torch will be moved to the fixed start position through the zeroing operation. At this time, the second metal proximity sensor 8 detects a valid signal. When the second metal proximity sensor 8 is valid, the accumulated feedback data of the encoder 7 is cleared to complete the zeroing operation of the encoder 7 distance calculation. At this time, the fixed start position is the zero point of the accumulated data of the encoder 7. The corresponding start and stop position valid data reference is calculated by accumulating the data from this point.

[0044] (3) Plate thickness detection design: To ensure reliability, this function adopts a redundant design, using multiple sensors to comprehensively determine the thickness of the welded plate. A high-precision second infrared ranging sensor 6-1 is installed at a fixed position above the welding platform. Figure 3 As shown, when there is no plate material on the welding platform, the sensor measures the distance D3 between the sensor and the upper surface of the welding platform vertically downwards. When a welding plate is positioned in the welding area, the sensor measures the distance D4 between the sensor and the upper surface of the welding plate vertically downwards. The plate thickness D is calculated as D = D3 - D4. This thickness D is used as the main basis for detecting the thickness of the welding plate. Simultaneously, a contact displacement sensor 6-2 is installed above the welding platform as an auxiliary basis for plate thickness detection. Figure 3As shown in the diagram, the thickness of the welding plate is determined by measuring the difference between the distance between the contact displacement sensor 6-2 and the upper surface of the welding platform and the upper surface of the welding plate. To ensure reliability, this system uses a combination of multiple infrared ranging sensors and contact displacement sensors to simultaneously measure the plate thickness.

[0045] (4) Automatic matching of welding parameters: In the initial stage of design, different welding process parameters will be entered into the system according to different plate thicknesses of the same material. When the plate thickness detection part detects and calculates the current plate thickness, the system will search for the corresponding process in the internal process parameter library, match all the process parameters required for the current thickness, and import the welding parameters into the system at the appropriate stage to achieve the function of automatic adjustment without manual intervention.

[0046] (5) Design of sensor detection algorithm of control system: Method for determining whether there is a plate under the welding gun: Since the first infrared ranging sensor 4 and one of the first metal proximity sensors 5 are installed in parallel, and the other first metal proximity sensor 5 is installed behind the first infrared ranging sensor 4, when the welding gun moves forward from the fixed position, after the first infrared ranging sensor 4 in front of it judges that it is effective, the system will immediately detect whether the first metal proximity sensor 5 feeds back whether the current detection is effective. If it is also effective, and since the other first metal proximity sensor 5 is installed behind the first infrared ranging sensor, the feedback from the other first metal proximity sensor 5 should be invalid. Then, record that the welding gun has reached the starting position of the welding plate and the welding gun travel position W1 and proceed to the next judgment. When the welding gun continues to move the distance between the two first metal proximity sensors 5, it judges whether the feedback from the first metal proximity sensor 5 is effective. If the first metal proximity sensor 5 is invalid, the welding will stop and a detection error alarm will be displayed. If it is effective, the starting point position is determined by adding the distance D3 from the first infrared ranging sensor 4 to the gun head according to the position W1. As welding continues, the three sensors in front of the welding torch continue to detect whether the plate in front is continuously valid. During this process, if one sensor accidentally detects that there is no valid plate in front of the weld, it will compare the status of the other two sensors to determine whether the current invalid signal is an interference signal. When the first infrared ranging sensor 4 and one of the first metal proximity sensors 5 simultaneously detect an invalid signal, and after passing a fixed distance, the other first metal proximity sensor 5 also detects an invalid signal, then the welding stop position is valid. The corresponding welding stop position is calculated by recording the current movement position of the welding torch and based on the distance D3 from the other first metal proximity sensor 5 to the torch head. Plate thickness detection algorithm implementation: Multiple sets of infrared ranging sensors and contact displacement sensors are combined and installed. The obtained plate thickness information is sorted, and the maximum and minimum values ​​at both ends are removed. The remaining thickness is then subjected to an integral filtering algorithm, and the final calculated data is used as the plate thickness information.

[0047] (6) Control System Design: This control system adopts an industrial automatic control system with a PLC controller as the core. Using standard industrial peripherals, and with the addition of a few sensors from this control method under existing hardware conditions, automatic panel welding can be achieved, making operation simpler and more convenient. Without significantly increasing costs, work efficiency is greatly improved.

[0048] Furthermore, the system also includes an encoder 7 and a second metal proximity sensor 8.

[0049] The encoder 7 is located at the top tail of the welding torch 1, and the second metal proximity sensor 8 is located at the rear end of the welding torch 1 in the direction of travel.

[0050] The second metal proximity sensor 8 is used to detect the induced current at the start position and feed it back to the controller;

[0051] The controller is also used to control the welding torch 1 to move to the preset start position after receiving the power-on start signal, and to control the encoder 7 to clear zero after receiving the induced current at the start position.

[0052] Further specified, the sensing component 6 includes a plurality of second infrared ranging sensors 6-1 or a plurality of contact displacement sensors 6-2 or a plurality of second infrared ranging sensors 6-1 and a plurality of contact displacement sensors 6-2;

[0053] The second infrared ranging sensor 6-1 and a contact displacement sensor 6-2 are both used to collect the distance between the probe of the sensing component 6 and the top surface of the plate 9, and also to collect the distance between the probe of the sensing component 6 and the welding platform 3.

[0054] The controller is also used to receive the output data of the sensing component 6, sort it, remove the maximum and minimum values, and take the average value of the remaining data as the final distance between the probe and the top surface of the plate 9, and the final distance between the probe and the welding platform 3.

[0055] Specifically, after an invalid signal is detected by an infrared ranging sensor and two metal proximity switch sensors according to a specific change pattern, the starting and stopping positions of the welding plate are calculated by recording the current position of the welding torch. At the same time, during the detection process, the presence of signal interference is determined by comparing the three sensors.

[0056] The algorithm combines multiple sets of infrared ranging sensors and contact displacement sensors, sorts the obtained plate thickness information, removes the maximum and minimum values ​​at both ends, and then applies an integral filtering algorithm to the remaining thickness. The final calculated data is used as the plate thickness information control algorithm.

[0057] Example 2:

[0058] A multi-sensor, fully automated, unmanned welding control method for large sheet metal, the method comprising the following:

[0059] Step 1: After receiving the power-on signal, the controller controls the welding torch 1 to move to the preset start position. When the controller receives the induced current at the start position, it controls the encoder 7 to be zeroed.

[0060] Step 2: The controller controls the movement of the mobile device. When the controller detects that the distance between the probe of the first infrared ranging sensor 4 and the plate 9 is less than a threshold, it controls the welding torch 1 to start. At the same time, the controller obtains the thickness of the plate 9 based on the distance between the probe of the sensing component 6 and the top surface of the plate 9 and the distance between the probe of the sensing component 6 and the welding platform 3. Based on the thickness of the plate 9, the controller calls the corresponding preset welding process parameters. After starting, the welding torch 1 performs welding according to these parameters.

[0061] Step 3: When the controller detects that the distance between the probe of the first infrared ranging sensor 4 and the plate 9 exceeds the threshold and no two induced currents are received, it controls the welding torch 1 to stop.

[0062] Specifically, in large-format laser composite welding automatic panel assembly equipment, laser-arc composite welding is performed on large workpieces with long weld seams, requiring high welding consistency. Therefore, the welding quality of the plates also has very high requirements, making this system's role even more crucial. When the equipment starts and there is no plate to be welded on the welding platform, the plate thickness detection second infrared ranging sensor 6-1 and contact displacement sensor 6-2 record the detection values ​​when there is no plate. Simultaneously, the welding torch zeroing operation is initiated, returning the welding torch mechanism to the initial welding position, i.e., stopping after the second metal proximity sensor 8 detects a valid weld. At the same time, the accumulated feedback data of encoder 7 is cleared, completing the encoder 7 distance calculation zeroing operation. The fixed starting position at this time is the zero point of the encoder 7's accumulated data, and this is used as the origin to accumulate and calculate the corresponding valid data reference for the starting and stopping positions. When the plate is delivered to the welding position and clamped, the plate thickness detection second infrared ranging sensor 6-1 and contact displacement sensor 6-2 begin measuring the detection values ​​when there is plate, calculating the current welding plate thickness. Simultaneously, the process library matching algorithm is activated to find the welding process data corresponding to the current plate thickness in the process library. When the welding process begins, the welding torch starts moving slowly along the welding direction from a fixed position. Since the fixed starting position of the welding torch is a fixed area without sheet metal, when all three sensors in front of the torch head—the first infrared ranging sensor 4 and the two metal proximity sensors 5—detect invalid signals, as the torch head continues to move, when the welding torch moves close to the sheet metal, the first infrared ranging sensor 4 detects that the relative distance to the sheet metal is less than the system's set threshold. The system then records the current valid position of the first infrared ranging sensor 4. The system checks whether the current detection is valid from one of the metal proximity sensors 5. If it is also valid and the other metal proximity sensor 5 reports invalid, the system records the current position of the welding torch, W1, and proceeds to the next step. When the welding torch continues to move and the distance between the two metal proximity sensors 5 reaches W2, the system checks whether the current detection is valid from the other metal proximity sensor 5. If the other metal proximity sensor 5 is invalid, welding stops and a detection error alarm is displayed. If it is valid, the welding start point is determined by adding the distance D3 from the other metal proximity sensor 5 to the torch head based on the current position W2. Simultaneously, the current welding process information of the sheet metal is imported into the system, and the movement speed of the welding torch head is adjusted. When the welding torch head reaches the welding start point and begins welding, the sensor in front of the welding torch head continues to detect whether the sheet metal in front is continuously active. During this process, if one sensor accidentally detects no active sheet metal in front of the welding torch, it will compare the status of the other two sensors to determine whether the current invalid signal is interference. When all three sensors detect invalid signals according to a specific pattern, the current welding torch position is recorded, and the corresponding stop welding position is calculated based on the distance D3 from another metal proximity sensor 5 to the torch head. Welding stops when the welding torch reaches the stop position.Then, the direction of the welding torch head's movement is changed and the movement speed is increased, causing the welding torch head mechanism to return to the fixed starting position of the welding torch. This concludes the entire welding process.

[0063] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A multi-sensor, fully automatic large plate welding control system without human intervention, wherein the system is used to control a laser composite welding splicing device, the laser composite welding splicing device includes a welding torch (1), a fixing device (2) and a welding platform (3), the welding torch (1) is set on the fixing device (2) and moves horizontally along the fixing device (2), the welding platform (3) is below the fixing device (2), and the welding platform (3) is used to place the plate (9); Its features are, The system includes one first infrared ranging sensor (4), two first metal proximity sensors (5), a sensing component (6), and a controller; the first infrared ranging sensor (4) and two first metal proximity sensors (5) are set at the front end of the welding torch (1) in the direction of travel, and the two first metal proximity sensors (5) are arranged sequentially along the direction of travel of the welding torch (1); the sensing component (6) is set at the bottom of the fixing device (2). The first infrared ranging sensor (4) is used to collect the distance between the probe of the first infrared ranging sensor (4) and the plate (9) and transmit it to the controller; Two first metal proximity sensors (5) are used to detect the presence of a plate (9). When a plate (9) is present, they output an induced current and feed it back to the controller. The sensing component (6) is used to collect the distance between the probe of the sensing component (6) and the top surface of the plate (9), and also to collect the distance between the probe of the sensing component (6) and the welding platform (3), and feed it back to the controller; The controller is used to start the welding torch (1) when the distance between the probe of the first infrared ranging sensor (4) and the plate (9) is less than a threshold. It is also used to control the welding torch (1) to stop when the distance between the probe of the first infrared ranging sensor (4) and the plate (9) exceeds the threshold and no two induced currents are received. It is also used to obtain the thickness of the plate (9) based on the distance between the probe of the sensing component (6) and the top surface of the plate (9) and the distance between the probe of the sensing component (6) and the welding platform (3), and to call the corresponding preset welding process parameters according to the thickness of the plate (9) so that the welding gun (1) after startup can perform welding according to the parameters. The controller is also used to determine that the welding torch has reached the starting position of the plate when the distance between the probe of the first infrared ranging sensor (4) and the plate is less than the threshold and only one of the two first metal proximity sensors (5) outputs induced current, and to determine that the welding torch has reached the starting point position when the distance between the probe of the first infrared ranging sensor (4) and the plate is less than the threshold and both of the two first metal proximity sensors (5) output induced current.

2. The multi-sensor, fully automated large-plate welding control system without human intervention as described in claim 1, characterized in that, The system also includes an encoder (7) and a second metal proximity sensor (8). The encoder (7) is set at the top tail of the welding torch (1), and the second metal proximity sensor (8) is set at the rear end of the welding torch (1) in the direction of travel. The second metal proximity sensor (8) is used to detect the induced current at the start position and feed it back to the controller; The controller is also used to control the welding torch (1) to move to the preset start position after receiving the power-on start signal, and to control the encoder (7) to be zeroed after receiving the induced current at the start position.

3. The multi-sensor, fully automated large-plate welding control system without human intervention as described in claim 1, characterized in that, The sensing component (6) includes a plurality of second infrared ranging sensors (6-1) or a plurality of contact displacement sensors (6-2) or a plurality of second infrared ranging sensors (6-1) and a plurality of contact displacement sensors (6-2). The second infrared ranging sensor (6-1) and a contact displacement sensor (6-2) are both used to collect the distance between the probe of the sensing component (6) and the top surface of the plate (9), and also to collect the distance between the probe of the sensing component (6) and the welding platform (3). The controller is also used to receive the output data of the sensing component (6), sort it, remove the maximum and minimum values, and take the average value of the remaining data as the final distance between the probe and the top surface of the plate (9), and the final distance between the probe and the welding platform (3).

4. A multi-sensor, fully automated large-plate welding control method without human intervention, the method being implemented based on the multi-sensor, fully automated large-plate welding control system described in claim 2, characterized in that... The method includes the following: Step 1: After receiving the power-on signal, the controller controls the welding torch (1) to move to the preset start position. When the controller receives the induced current at the start position, it controls the encoder (7) to be cleared. Step 2: The controller controls the movement of the mobile device. When the controller detects that the distance between the probe of the first infrared ranging sensor (4) and the plate (9) is less than the threshold, it controls the welding torch (1) to start. At the same time, the controller obtains the thickness of the plate (9) based on the distance between the probe of the sensing component (6) and the top surface of the plate (9) and the distance between the probe of the sensing component (6) and the welding platform (3). Based on the thickness of the plate (9), the controller calls the corresponding preset welding process parameters. After starting, the welding torch (1) performs welding according to these parameters. Step 3: When the controller detects that the distance between the probe of the first infrared ranging sensor (4) and the plate (9) exceeds the threshold and no two induced currents are received, the controller controls the welding torch (1) to stop.

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