Welding inflation trolley and control method thereof
By using image recognition and sensor control technology in the welding gas-filled carriage, precise gas supply during the welding process was achieved, solving the problem of unstable protective gas delivery and improving welding quality and automation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA NUCLEAR IND MAINTENANCE
- Filing Date
- 2026-06-02
- Publication Date
- 2026-07-21
AI Technical Summary
During welding, the delivery of shielding gas directly affects the stability of the welding process and the welding quality. Existing technologies make it difficult to achieve precise supply and automated control of shielding gas, resulting in unstable welding quality.
Design a welding gas-filled trolley equipped with an image acquisition device and a control device. By recognizing the welding torch and welding point through images, control the movement of the trolley and spray protective gas. Combined with infrared sensors and heat sensors, adjust the spray volume in real time to achieve precise tracking and automatic gas supply during the welding process.
It improves the intelligence and automation of welding gas supply, reduces the intensity of manual operation, ensures that the protective gas is accurately aligned with the welding point throughout the process, and improves the quality of weld formation.
Smart Images
Figure CN122425300A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of welding equipment technology, and in particular to a welding air-filled trolley and its control method. Background Technology
[0002] In welding processes, especially in high-precision welding methods such as TIG welding, the role of shielding gas is crucial. Shielding gas not only isolates the welding zone from air, preventing contamination of the weld joint by impurities such as oxygen and water vapor, but also effectively lowers the welding temperature, preventing oxidation or decarburization of the metal during welding, thereby ensuring the strength, stability, and surface finish of the weld joint. However, the delivery of shielding gas directly affects the stability of the welding process and the welding quality. Developing a coordinated gas supply and shielding system based on welding operations is a pressing technical challenge for the welding industry. Summary of the Invention
[0003] This application aims to address at least one of the technical problems existing in the prior art or related technologies.
[0004] The first aspect of this application proposes a welding gas-filled trolley, which includes: a trolley body, an image acquisition unit, and a control device. The trolley body is equipped with a nozzle for spraying protective gas. The image acquisition unit is located on the trolley body and is used to acquire images of the welding area. The control device is used to control the trolley body to move to an initial coordinate based on the welding torch identified in the captured image. The control device is also used to control the trolley body to follow the welding point and spray protective gas onto the welding point based on the welding point identified in the captured image.
[0005] In some of the technical solutions provided in this application, the control device is also used to control the driving speed of the vehicle body to be proportional to the welding distance, where the welding distance is the distance between the vehicle body and the weld point.
[0006] In some of the technical solutions provided in this application, the welding gas-filled carriage further includes: an infrared sensor and a heat sensor. The infrared sensor is used to acquire the weld point temperature during the welding process, and the control device is used to control the spray volume of the nozzle in response to the weld point temperature. The heat sensor is used to acquire the heat distribution in the welding area during the welding process.
[0007] In some of the technical solutions provided in this application, the welding inflatable trolley also includes: a magnetic component, which is disposed on the trolley body, and a magnetic attraction is generated between the magnetic component and the driving surface on which the trolley body is located.
[0008] In some of the technical solutions provided in this application, the welding inflatable trolley further includes: a battery module, which has a built-in power monitoring circuit, and a control device that sends an alarm signal when it detects that the battery module's power level is below a safety threshold. The battery module includes at least two independent battery compartments, any one of which is connected to the power supply switching circuit of the control device.
[0009] The second aspect of this application provides a control method for a welding gas-filling carriage, which is used to control the welding gas-filling carriage provided by any of the above-mentioned technical solutions. The control method includes: Before receiving the start signal of the welding torch, control the image acquisition device to acquire images of the welding area; Based on the welding torch identified in the captured images, the coordinates of the welding torch and the initial coordinates of the vehicle body are determined. Control the vehicle to move to the initial coordinates; After receiving the start signal of the welding gun, the coordinates of the welding point are determined based on the welding point identified in the captured image; The vehicle body is controlled to move to the welding area based on the coordinates of the weld points; Control the nozzles on the vehicle body to spray protective gas toward the weld points; Update the weld point coordinates, and based on the updated weld point coordinates, control the vehicle body to move to the updated welding area.
[0010] In some of the technical solutions provided in this application, the step of controlling the vehicle body to move to the welding area based on the weld point coordinates specifically includes: Based on the coordinates of the weld point, the welding distance and steering angle between the vehicle body and the weld point are determined, and the vehicle speed is determined based on the welding distance, so that the speed is proportional to the welding distance. Control the vehicle's rotation and steering angle; Control the vehicle to move to the welding area at a driving speed.
[0011] In some of the technical solutions provided in this application, the steps for controlling the vehicle body's rotation and steering angle specifically include: The control angle for vehicle body rotation is determined based on the steering angle and steering coefficient. Control the vehicle body to rotate sequentially by the control angle until the sum of the vehicle body rotation angles reaches the steering angle.
[0012] In some of the technical solutions provided in this application, the step of controlling the vehicle body to move to the welding area at a driving speed specifically includes: Determine the vehicle's coordinates during operation; Calculate the remaining distance between the vehicle body and the weld point based on the vehicle body coordinates; Determine if the remaining distance is greater than the parking threshold. If the remaining distance is less than the parking threshold, control the vehicle to stop moving.
[0013] In some of the technical solutions provided in this application, the step of controlling the nozzles on the vehicle body to spray protective gas toward the weld point specifically includes: Receives solder joint temperature data collected by an infrared sensor; The spray volume of the nozzle is controlled based on the solder joint temperature, so that the spray volume is proportional to the solder joint temperature.
[0014] Compared with related technologies, the present invention has at least the following beneficial effects: The control device recognizes the welding torch and weld point through welding image recognition, enabling the trolley to perform initial preparations before welding and synchronous movement to follow the weld point during welding. This allows the trolley to accurately follow the welding trajectory and respond to dynamic changes in the welding operation, ensuring that the shielding gas is accurately aligned with the welding point throughout the process. This improves the intelligence and automation of welding gas supply, reduces the intensity of manual operation, makes the welding gas supply operation more precise and stable, and significantly improves the quality of weld formation. Attached Figure Description
[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of some embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 One of the structural schematic diagrams of a welding air-filled trolley provided in this application; Figure 2 A second schematic diagram of the structure of a welding air-filled trolley provided in this application; Figure 3 A schematic diagram of the position of a welding air-filled carriage according to one embodiment of this application; Figure 4 A connection diagram of a welding air-filled trolley according to an embodiment of this application; Figure 5 This is a flowchart illustrating a control method for a welding gas-filled trolley according to an embodiment of this application.
[0016] in, Figures 1 to 4 The correspondence between the reference numerals and component names in the attached drawings is as follows: 10. Welding inflatable trolley; 100. Car body; 110. Nozzle; 120. Roller; 130. Motor; 140. Jet control module; 200. Image acquisition device; 300. Infrared sensor; 400. Heat sensor; 500. Control device; 600. Battery module. Detailed Implementation
[0017] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.
[0018] The first aspect of this application provides a welding pneumatic trolley 10, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the welding gas-filled trolley 10 includes: a trolley body 100, an image acquisition unit 200, and a control device 500. The trolley body 100 is equipped with a nozzle 110 for spraying protective gas. The image acquisition unit 200 is located on the trolley body 100 and is used to acquire images of the welding area. The control device 500 is used to control the trolley body 100 to move to the initial coordinates based on the welding torch identified in the captured image. The control device 500 is also used to control the trolley body 100 to follow the weld point and spray protective gas onto the weld point based on the weld point identified in the captured image.
[0019] In this embodiment, the front end of the vehicle body 100 is equipped with a nozzle 110 capable of spraying a protective gas, which can be argon. The protective gas is used to provide isolation and cooling protection for the welding operation. The vehicle body 100 is also equipped with an image acquisition device 200 capable of capturing images of the welding area to obtain images of the welding process. The image acquisition device 200 can be a high-resolution camera. The welding torch typically maintains a certain trajectory during the welding process. The image acquisition device 200 captures real-time video of the welding area to capture the dynamic changes of the welding torch. The control device 500 is communicatively connected to the image acquisition device 200 to receive the images acquired by the image acquisition device 200. For example, the control device 500 can be an MCU (Microcontroller Unit). The control device 500 uses image recognition technology to identify the welding torch information and weld point position in the captured images in real time. The welding torch information includes the distance, position, direction, and angle of the welding torch. The control device 500 controls the movement of the vehicle body 100 and the operation of the nozzle 110 based on the welding torch position and weld point position, so that the vehicle body 100 follows the weld point and provides protective gas. For example, the bottom of the vehicle body 100 is provided with a roller 120, which is connected to a high-performance motor 130. The control device 500 drives the roller 120 to roll by controlling the operation of the motor 130, thereby controlling the vehicle body 100 to move smoothly.
[0020] Before receiving the start signal from the welding torch, the control device 500 is in the welding preparation stage. The control device 500 activates the image acquisition unit 200 to acquire images of the welding area. At this time, the images only include the welding torch; no weld points have been formed. The control device 500 identifies the welding torch in the captured image based on its shape or nozzle characteristics, and calculates its distance, position, direction, and angle. The control device 500 establishes a reference coordinate system, determines the welding torch coordinates in the reference coordinate system based on the welding torch information, and determines the initial coordinates of the vehicle body 100 based on the welding torch coordinates. The initial coordinates serve as the starting position of the vehicle body 100 before welding and are adapted to the welding torch coordinates. For example, the distance between the initial coordinates and the welding torch coordinates is a preset preparation distance. The control device 500 controls the vehicle body 100 to move to the initial coordinates, enabling the welding inflation trolley 10 to complete its preparation in advance and perform inflation operations promptly at the start of welding.
[0021] After receiving the start signal from the welding torch, the control device 500 enters the welding operation stage. At this time, the captured image includes both the welding torch and the weld point. The control device 500 identifies the weld point in the captured image based on its characteristics and calculates its position and distance in the image, determining the weld point coordinates in the reference coordinate system. The control device 500 controls the vehicle body 100 to move towards the weld point coordinates. When the vehicle body 100 reaches the welding area, the nozzle 110 sprays protective gas towards the weld point, providing gas protection for the welding operation and enabling the automatic following and gas supply of the welding gas-filling carriage 10.
[0022] The control device 500 dynamically updates the weld point coordinates in real time during the welding process, and controls the vehicle body 100 to move to the updated welding area based on the updated weld point coordinates. It continuously follows the welding movement trajectory and adjusts the position of the vehicle body 100, and synchronously follows the welding process throughout the entire process to achieve continuous and precise gas supply protection throughout the welding process.
[0023] The control device 500 recognizes the welding torch and welding point through welding image recognition, enabling the trolley to perform initial preparations before welding and synchronous movement following the welding point during the welding process. This allows the trolley to accurately follow the welding trajectory and respond to dynamic changes in the welding operation, ensuring that the shielding gas is accurately aligned with the welding point throughout the process. This improves the intelligence and automation of welding gas supply, reduces the intensity of manual operation, makes the welding gas supply operation more precise and stable, and significantly improves the quality of the weld formation.
[0024] In some embodiments provided in this application, the control device 500 is also used to control the driving speed of the vehicle body 100 to be proportional to the welding distance, where the welding distance is the distance between the vehicle body 100 and the weld point.
[0025] In this embodiment, the control device 500 adjusts the travel speed of the vehicle body 100 by controlling the rotational speed of the roller 120. The control device 500 determines the travel speed of the vehicle body 100 based on the welding distance, making the travel speed of the vehicle body 100 proportional to the welding distance. Since the following method of the vehicle body 100 follows the control logic that the farther the distance, the faster the vehicle speed, the following speed of the vehicle body 100 matches the rhythm of welding, improving the following accuracy of the vehicle body 100, realizing dual precise control of orientation and speed, and ensuring the accuracy of the gas supply point.
[0026] In some embodiments provided in this application, such as Figure 1 and Figure 4 As shown, the welding air-filled carriage 10 also includes an infrared sensor 300 and a heat sensor 400. The infrared sensor 300 is used to acquire the weld point temperature during the welding process, and the control device 500 is used to control the spray volume of the nozzle 110 in response to the weld point temperature. The heat sensor 400 is used to acquire the heat distribution in the welding area during the welding process.
[0027] In this embodiment, during the welding process, the high temperature generated by the welding torch causes temperature changes in the welding area. The vehicle body 100 is equipped with an infrared sensor 300 and a heat sensor 400 to monitor the heat status of the welding area. The infrared sensor 300 is used to collect the weld point temperature and accurately monitor the temperature status of the core welding point. The control device 500 receives the weld point temperature collected by the infrared sensor 300 and controls the spray volume of the nozzle 110 based on the weld point temperature, making the spray volume of the protective gas proportional to the weld point temperature. This establishes a proportional control logic between the weld point temperature and the amount of protective gas sprayed. During the high-temperature stage, the gas volume is increased to enhance protection and cooling, while during the low-temperature stage, the gas volume is reduced to save gas resources and effectively reduce gas usage costs. Through the coordinated operation of the control device 500 and the infrared sensor 300, the gas supply intensity is matched with the welding heat state in real time, balancing the protective effect and gas energy consumption, and further optimizing the weld formation effect. Furthermore, the infrared sensor 300 and the thermal sensor 400 can assist the image acquisition unit 200 in determining the location of the solder joint. The control device 500 can identify the location of the solder joint by combining image processing and thermal imaging technology. The control device 500 performs fusion analysis on the captured images and temperature data, and uses algorithms to calculate the coordinates of the solder joint, thereby improving the accuracy of the solder joint coordinates. This is especially suitable for low-light or strong-light environments.
[0028] For example, the vehicle body 100 is provided with a jet control module 140 for controlling the nozzle 110, and the jet control module 140 and the motor 130 form an execution unit. The image acquisition unit 200, the infrared sensor 300 and the heat sensor 400 form an information acquisition unit. The data of the information acquisition unit is transmitted to the control device 500 through communication methods such as serial port or I2C, and the control device 500 performs data processing and fusion.
[0029] The heat sensor 400 can be a dual-color colorimetric pyrometer or an ultraviolet arc sensor. The heat sensor 400 comprehensively monitors the overall heat distribution of the welding area, including temperature information of the weld point and its surrounding area. It provides complete data on heat changes during the welding process, promptly reflecting welding temperature conditions to meet the heat requirements of the welding process and prevent abnormal temperatures from affecting welding quality. For example, the heat sensor 400 is communicatively connected to the control device 500. The control device 500 controls the welding temperature of the welding torch in response to the heat distribution. When a high-temperature area appears in the heat distribution, the control device 500 promptly reduces the welding temperature to minimize deformation caused by excessively high welding temperatures.
[0030] In some embodiments provided in this application, the welding inflatable trolley 10 further includes a magnetic component, which is disposed on the vehicle body 100, and a magnetic attraction is generated between the magnetic component and the driving surface of the vehicle body 100.
[0031] In this embodiment, the vehicle body 100 moves on a driving surface, which can be a metal surface. The bottom of the vehicle body 100 is provided with a magnetic component that can generate a magnetic attraction to the driving surface, so that the vehicle body 100 can move stably on the driving surface by magnetic adsorption. This allows it to adapt to unconventional horizontal welding work surfaces such as vertical surfaces, inclined surfaces, and top surfaces, avoiding the impact of temperature changes on the driving surface during the welding process on the stability of the vehicle body 100's movement, and improving the stability and versatility of the vehicle body 100's movement.
[0032] In some embodiments provided in this application, the welding inflatable trolley 10 further includes a battery module 600, which has a built-in power monitoring circuit. The control device 500 sends an alarm signal when it detects that the power level of the battery module 600 is below a safety threshold. The battery module 600 includes at least two independent battery compartments, each of which is connected to the power supply switching circuit of the control device 500.
[0033] In this embodiment, the battery module 600 provides the necessary power for the operation of the welding inflatable trolley 10. The battery module 600 has a built-in power monitoring circuit for detecting battery level. The control device 500 receives the battery level data from the battery module 600 and sends an alarm signal when the battery level falls below a safety threshold. The alarm signal can be an audible or visual signal. For example, the safety threshold can be 15% of the rated battery level. The LED alarm light flashes in response to the alarm signal to remind the operator to replace the battery module 600 in a timely manner, thus solving the problem of insufficient battery life during long welding sessions and meeting the needs of industrial production.
[0034] The battery module 600 adopts an independent dual-backup battery compartment that supports hot-swapping, which allows the battery module 600 to be quickly and manually replaced without interrupting the control logic of the control device 500, ensuring the continuous and stable operation of welding protection operations and guaranteeing the continuity of welding operations.
[0035] A second aspect of this application provides a control method for a welding gas-filled trolley, such as... Figure 5 As shown, this control method is used to control the welding gas-filling trolley provided in any of the above embodiments. The control method includes: Step 1: Before receiving the start signal of the welding torch, control the image acquisition device to acquire images of the welding area; Step 2: Based on the welding torch identified in the captured image, determine the coordinates of the welding torch and the initial coordinates of the vehicle body; Step 3: Control the vehicle to move to the initial coordinates; Step 4: After receiving the start signal of the welding gun, determine the coordinates of the welding point based on the welding point identified in the captured image; Step 5: Control the vehicle body to move to the welding area based on the weld point coordinates; Step 6: Control the nozzles on the vehicle body to spray protective gas toward the weld point; Step 7: Update the weld point coordinates, and based on the updated weld point coordinates, control the vehicle body to move to the updated welding area.
[0036] In this embodiment, the welding torch start signal can be sent via manual input or automatic image recognition. Before receiving the welding torch start signal, the control device is in the welding preparation stage. The control device activates the image acquisition device to capture images of the welding area. At this time, the captured images only include the welding torch and no weld points have been generated. The control device identifies the welding torch in the captured images based on its shape and contour features, and calculates the distance, position, direction, and angle of the welding torch in the image. The control device establishes a reference coordinate system, determines the welding torch coordinates in the reference coordinate system based on the welding torch information, and determines the initial coordinates of the vehicle body based on the welding torch coordinates. The initial coordinates serve as the starting position of the vehicle body before welding and are adapted to the welding torch coordinates. For example, the distance between the initial coordinates and the welding torch coordinates is a preset preparation distance. The control device controls the vehicle body to move to the initial coordinates, enabling the welding inflation trolley to complete the work preparation in advance and to perform the inflation operation in a timely manner when welding begins.
[0037] Upon receiving the welding torch start signal, the control device enters the welding operation phase. At this time, the captured image includes both the welding torch and the weld point. The control device identifies the weld point in the captured image based on its characteristics and calculates its position and distance in the image, determining the weld point coordinates in the reference coordinate system. The control device then moves the vehicle towards the weld point coordinates. Once the vehicle reaches the welding area, the nozzle sprays shielding gas towards the weld point, providing gas protection for the welding operation and enabling automatic following and gas supply for the welding gas-filling carriage.
[0038] The control device dynamically updates the weld point coordinates in real time during the welding process, and controls the vehicle to move to the updated welding area based on the updated weld point coordinates. It continuously follows the welding movement trajectory to adjust the vehicle position, and synchronously follows the welding process throughout the entire process to achieve continuous and precise gas supply protection throughout the welding process.
[0039] The control device recognizes the welding torch and weld point through welding image recognition, enabling the trolley to perform initial preparations before welding and synchronous movement to follow the weld point during welding. This allows the trolley to accurately follow the welding trajectory and respond to dynamic changes in the welding operation, ensuring that the shielding gas is accurately aligned with the welding point throughout the process. This improves the intelligence and automation of welding gas supply, reduces the intensity of manual operation, makes the welding gas supply operation more precise and stable, and significantly improves the quality of weld formation.
[0040] In some embodiments provided in this application, step 5, which controls the vehicle body to move to the welding area based on the weld point coordinates, specifically includes: Step 51: Based on the weld point coordinates, determine the welding distance and steering angle between the vehicle body and the weld point, and determine the vehicle speed based on the welding distance, so that the driving speed is proportional to the welding distance; Step 52: Control the vehicle body to rotate and turn the steering angle; Step 53: Control the vehicle to move to the welding area at a driving speed.
[0041] In this embodiment, the specific method by which the control device drives the vehicle body to the welding area is specified. Figure 3 In the diagram, point C is the welding gun position, point B is the welding point position, and the vehicle body uses center point A as the positioning reference. The welding gun coordinates are (x...). gun y gun The coordinates of the solder joint are (x welding y welding The vehicle's coordinates are (x car y car The control device determines the welding distance d2 between the vehicle body and the weld point based on the weld point coordinates and the vehicle body coordinates.
[0042] The control device determines the target turning angle θ of the vehicle body based on the coordinates of the weld points and the vehicle body. target :
[0043] The control device determines the current angle θ of the vehicle body. current Angle θ with the target target The difference is the steering angle Δθ, that is: Δθ=θ target -θ current ; The control device calculates the angle between the weld point direction and the vehicle body to determine the specific angle that the vehicle body needs to be adjusted.
[0044] The control device determines the vehicle's speed v based on the welding distance d2: ; Where, k v It is the speed adjustment ratio coefficient, used to control the sensitivity of the vehicle's response distance difference.
[0045] After the control device controls the vehicle body to rotate and turn, the nozzle at the front of the vehicle body faces the welding point. The vehicle body moves towards the welding point at a driving speed and moves to the welding area. The driving speed v of the vehicle body is proportional to the welding distance d2. Since the vehicle body's following method follows the control logic that the farther the distance, the faster the vehicle speed, the vehicle body's following speed matches the rhythm of welding, improving the vehicle body's following accuracy and realizing dual precise control of orientation and speed, ensuring the accuracy of the air supply point.
[0046] In some embodiments provided in this application, step 52, which controls the vehicle body's rotation and steering angle, specifically includes: Step 521: Determine the control angle for vehicle body rotation based on the steering angle and steering coefficient; Step 522: Control the vehicle body to rotate sequentially by the control angle until the sum of the vehicle body rotation angles reaches the steering angle.
[0047] In this embodiment, the specific method of vehicle steering is defined. The control device determines the steering angle Δθ and the steering coefficient k. θ The product of these is the control angle θ for the vehicle body rotation. control : θ control =k θ Δθ; k θ Sensitivity used to adjust the vehicle body response angle difference, for example, k θ It is 0.5.
[0048] The control device controls the vehicle body to rotate sequentially by the control angle, continuously adjusting the vehicle body's posture and orientation until the sum of the vehicle body's rotation angles reaches the steering angle, meaning the vehicle body's orientation meets the target angle requirements of the welding point. By breaking down the overall steering angle into multiple small, single rotation angles, the vehicle body achieves gradual and smooth steering, avoiding problems such as vehicle body swaying and deviation that occur during a large-angle turn in one go, resulting in a smoother and more gentle steering action.
[0049] In some embodiments provided in this application, step 53, which controls the vehicle body to travel at a driving speed to the welding area, specifically includes: Step 531: Determine the vehicle's coordinates during operation; Step 532: Calculate the remaining distance between the vehicle body and the weld point based on the vehicle body coordinates; Step 533: Determine if the remaining distance is greater than the parking threshold. If the remaining distance is less than the parking threshold, control the vehicle to stop moving.
[0050] In this embodiment, the specific method of moving the vehicle body to support the welding area is clarified. As the vehicle body moves towards the welding point at its travel speed, the control device determines the vehicle body's coordinates in real time and calculates the distance between the vehicle body and the welding point during movement, i.e., the remaining distance, based on the dynamic vehicle body coordinates. The control device compares the remaining distance with a stopping threshold. When the remaining distance exceeds the stopping threshold, the vehicle body continues to move until the remaining distance is less than the stopping threshold, at which point the vehicle body reaches the welding area and stops moving. The entire process is controlled in a closed loop, precisely stopping at the optimal gas supply position to avoid collisions with the welding point workpiece due to excessive proximity.
[0051] For example, as the vehicle moves, the control device updates the dynamic vehicle coordinates in real time using encoder data from the vehicle motor. Simultaneously, the control device calculates the relative offset of the weld point in the current frame based on the real-time acquired images, and uses a coordinate system transformation algorithm to superimpose the relative offset onto a reference coordinate system, thereby dynamically calculating the weld point coordinates.
[0052] In some embodiments provided in this application, step 6, in which the nozzle on the vehicle body sprays protective gas toward the weld point, specifically includes: Step 61: Receive the solder joint temperature collected by the infrared sensor; Step 62: Control the spray volume of the nozzle based on the solder joint temperature, so that the spray volume is proportional to the solder joint temperature.
[0053] In this embodiment, the control device receives the weld joint temperature collected by the infrared sensor and controls the spray volume of the nozzle based on the weld joint temperature, making the spray volume of the protective gas proportional to the weld joint temperature. This establishes a proportional control logic between weld joint temperature and protective gas spray volume. During high-temperature stages, the gas volume is increased to enhance protection and cooling, while during low-temperature stages, the gas volume is reduced to save gas resources, effectively lowering gas usage costs. Through the coordinated operation of the control device and the infrared sensor, the gas supply intensity is matched to the welding heat state in real time, balancing protective effect and gas energy consumption, further optimizing the weld formation effect.
[0054] For example, upon receiving the termination command, the control device controls the nozzle to continue spraying cooling gas for a specified time. After the welding torch stops, the shielding gas provides continuous cooling protection to the newly formed high-temperature weld, preventing oxidation or decarburization of the metal due to contact with air at high temperatures. After the set cooling delay has elapsed, the jet control module cuts off the supply of shielding gas, completing the welding protection process.
[0055] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0056] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0057] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0058] The above are merely some embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A welding pneumatic trolley, characterized in that, include: The vehicle body is equipped with nozzles for spraying protective gas. An image acquisition device is installed on the vehicle body, and the image acquisition device is used to acquire images of the welding area. The control device is used to control the vehicle body to move to an initial coordinate based on the welding torch identified in the captured image. The control device is also used to control the vehicle body to follow the welding point identified in the captured image and to spray protective gas onto the welding point.
2. The welding pneumatic trolley according to claim 1, characterized in that, The control device is also used to control the vehicle body's driving speed to be proportional to the welding distance, where the welding distance is the distance between the vehicle body and the weld point.
3. The welding pneumatic trolley according to claim 1 or 2, characterized in that, Also includes: An infrared sensor is used to acquire the temperature of the weld point during the welding process, and the control device is used to control the spray volume of the nozzle in response to the temperature of the weld point. A heat sensor is used to acquire the heat distribution in the welding area during the welding process.
4. The welding pneumatic trolley according to claim 1 or 2, characterized in that, Also includes: A magnetic component is provided on the vehicle body, and the magnetic component generates a magnetic attraction between itself and the driving surface of the vehicle body.
5. The welding pneumatic trolley according to claim 1 or 2, characterized in that, Also includes: The battery module has a built-in power monitoring circuit, and the control device sends an alarm signal when it detects that the power of the battery module is lower than a safety threshold. The battery module includes at least two independent battery compartments, and any one of the battery compartments is connected to the power supply switching circuit of the control device.
6. A control method for a welding pneumatic trolley, characterized in that, The control method for controlling the welding gas-filling trolley according to any one of claims 1 to 5 includes: Before receiving the start signal of the welding torch, the image acquisition device is controlled to acquire images of the welding area; Based on the welding torch identified in the captured image, the coordinates of the welding torch and the initial coordinates of the vehicle body are determined. Control the vehicle body to move to the initial coordinates; Upon receiving the start signal of the welding torch, the coordinates of the welding point are determined based on the welding point identified in the captured image; The vehicle body is controlled to move to the welding area based on the coordinates of the weld points; Control the nozzles on the vehicle body to spray protective gas toward the weld point; The weld point coordinates are updated, and based on the updated weld point coordinates, the vehicle body is controlled to move to the updated welding area.
7. The control method for the welding gas-filled trolley according to claim 6, characterized in that, The step of controlling the vehicle body to move to the welding area based on the weld point coordinates specifically includes: Based on the coordinates of the weld point, the welding distance and steering angle between the vehicle body and the weld point are determined, and the driving speed of the vehicle body is determined based on the welding distance, so that the driving speed is proportional to the welding distance; Control the vehicle body to rotate at the steering angle; The vehicle body is controlled to travel to the welding area at the stated speed.
8. The control method for the welding gas-filled trolley according to claim 7, characterized in that, The steps of controlling the vehicle body to rotate at the steering angle specifically include: Based on the steering angle and steering coefficient, the control angle for the vehicle body rotation is determined; The vehicle body is controlled to rotate sequentially by the control angles until the sum of the rotation angles of the vehicle body reaches the steering angle.
9. The control method for the welding gas-filled trolley according to claim 7, characterized in that, The step of controlling the vehicle body to travel to the welding area at the stated speed specifically includes: Determine the vehicle body coordinates during operation; Calculate the remaining distance between the vehicle body and the weld point based on the vehicle body coordinates; Determine whether the remaining distance is greater than the parking threshold. If the remaining distance is less than the parking threshold, control the vehicle to stop moving.
10. The control method for the welding gas-filling trolley according to any one of claims 6 to 9, characterized in that, The step of controlling the nozzles on the vehicle body to spray protective gas toward the weld joint specifically includes: Receives solder joint temperature data collected by an infrared sensor; The spray volume of the nozzle is controlled based on the temperature of the solder joint, so that the spray volume is proportional to the temperature of the solder joint.