CN104107973B - Identifying method and device for welding joints of corrugated plates of containers and welding control system - Google Patents

Abstract

The invention relates to an identifying method and device for welding joints of corrugated plates of containers and a welding control system. The identifying method for the welding joints of the corrugated plates of containers includes steps of firstly, projecting at least one beam of surface lasers, and forming two channels of deflected laser lights arranged on two sides of the welding joints by each beam of surface layer at the welding joints; secondly, acquiring deflected laser light information generated by the surface layer by an industrial image sensor; thirdly, calculating the size and the position of the welding joints; fourthly, moving the surface laser along the welding joints to change the projection position of the surface laser on the welding joints, and repeating the first step to the second step. When the surface layer moves out of the welding joints, a discrete welding joint position coordinate curve of the welding joints and the size of the welding joint corresponding to each point on the curve are obtained. The identifying method and device can accurately identify the positions and the size of the welding joints, control accuracy of welding positions is improved, and welding quality is guaranteed.

Description

Recognition method, recognition device and welding control system of container corrugated plate weld seam

technical field

The invention relates to a welding technology, in particular to a method for identifying weld seams of container corrugated plates.

Background technique

The production process of the container is dominated by arc welding. A lot of smoke, dust, strong light and noise surround the workstations where the arc welding operations are relatively concentrated, which can easily cause fatigue and cause relatively great harm to the human body. It is important to reduce the exposure of personnel to harsh environments. It is one of the motivations to seek the improvement of production methods, especially in today's rising labor costs. The container corrugated plate is a plate with a wavy cross-section. Due to the complexity of the welding model of the container corrugated plate and the actual welding conditions, it is constantly changing with various unpredictable interference factors, such as strong arc light, high temperature, Splash, mechanical vibration, weld bevel condition, workpiece processing error, fixture accuracy, medium uniformity of workpiece and thermal deformation in the welding production process will cause the trajectory of the welding torch to deviate from the actual weld, making it difficult to control the welding quality or Can not realize automatic welding at all.

In order to realize the automatic welding of container corrugated plates, the first step is to solve the problem of weld identification, so as to provide a basis for tracking control of welding trajectory and tracking selection of welding specifications. At present, the automatic identification of weld seam is mainly realized by sensors, and the common weld seam identification sensors mainly include: contact sensor, arc sensor and optical sensor. The contact sensor converts the change of the welding seam into the position change of the guide rod or guide wheel, and converts it into an electrical signal. Due to its stable performance and low cost, the sensor has been widely used in production, but due to the limitation of tracking accuracy and speed , is no longer suitable for high-precision, high-speed welding fields. The arc sensor uses the parameters of the arc itself as the tracking target, and can respond to changes in the weld seam in real time, but the detection accuracy is easily affected by the droplet transfer form and spatter during the welding process, especially in the welding of butt joints and lap joints of thin plate weldments , the application method is difficult to master. In contrast, the optical sensor has the characteristics of rich information, high precision, and wide detection range, which has gradually attracted people's attention, and has been widely used in the field of welding production, which provides favorable conditions for the realization of welding automation , but the existing optical sensor is mainly based on the laser ranging method to identify the weld, the laser used is a line laser, which can only obtain the position information of a certain point of the weld, but cannot accurately obtain the spatial position change of the weld, such as : The trajectory of the weld and the size of the weld, etc. Therefore, it is necessary to further improve it to accurately identify the weld information.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the above-mentioned deficiencies in the prior art, and propose a method and device for identifying weld seams of container corrugated plates, which can accurately identify the position and size of weld seams and improve the control of welding positions precision.

The technical problem to be solved by the present invention is to overcome the deficiencies of the above-mentioned prior art, and propose a welding control system for corrugated plates of containers, which can not only realize high-precision weld seam tracking, but also can, according to the position and size of the weld seam, Adjust the welding specifications to achieve smooth conversion of welding specifications and ensure the overall welding quality.

In order to solve the above-mentioned first technical problem, the present invention proposes a method for identifying weld seams of corrugated plates of containers, which includes the following steps: Step 1, projecting at least one beam of surface laser on the weld seam, and each beam of surface laser beams is on the weld seam Deflection occurs at the position to form two deflected laser lines located on both sides of the weld; step 2, obtain the deflected laser line information generated by all surface lasers in step 1 through the industrial image sensor; step 3, calculate the deflection of each segment The end point coordinates of the laser line near the weld seam, the position coordinates of the weld seam are calculated according to the end point coordinates of each deflected laser line near the weld seam on the same side of the weld seam, and the two deflections generated by the same beam surface laser Subtract the coordinates of the end points of the laser line near the end of the weld to obtain the offset of the surface laser, and convert the size of the weld in proportion to the offset; step 4, move the surface laser along the weld to make The projection position of the surface laser on the weld seam is changed, and the above steps 1 to 3 are repeated.

Preferably, the method for identifying welds of container corrugated plates further includes step 5: drawing a weld coordinate curve, and judging whether the change trend of a certain coordinate point on the weld coordinate curve is relative to the change trend of its previous coordinate points If it changes, it is judged that the weld seam position corresponding to the changed coordinate point is the weld seam inflection point.

Preferably, the method for identifying welds of container corrugated plates further includes step 6: drawing a weld coordinate curve, and judging the uphill section, horizontal section, and downhill section of the weld, if the Y axis of a certain section of the weld coordinate curve If the coordinate increases with the increase of the X-axis coordinate, it is judged that the weld curve of this section is an uphill section; if the Y-axis coordinate of a certain section of the weld coordinate curve remains unchanged with the increase of the X-axis coordinate, then it is judged A segment of the weld curve is a horizontal segment; if the Y-axis coordinate of a certain segment of the weld coordinate curve decreases as the X-axis coordinate increases, it is judged that the segment of the weld curve is a downhill segment.

Preferably, the number of surface laser beams in the step 1 of the method for identifying welds of corrugated plates of containers is at least two.

In order to solve the first technical problem above, the present invention also proposes a weld recognition device for container corrugated plates, which includes the following components: at least one side of the laser generator, used to project at least one beam of surface laser on the weld, each beam The surface laser is deflected at the weld to form two deflected laser lines respectively located on both sides of the weld; an industrial image sensor is used to obtain the information of the deflected laser line generated by the surface laser; a first processing unit is used to To calculate the end point coordinates of each deflected laser line near the end of the weld seam, calculate the position coordinates of the weld seam according to the end point coordinates of each deflected laser line on the same side of the weld seam near the end point of the weld seam, and laser the same beam surface Subtract the coordinates of the end points of the two deflected laser lines near the end of the weld to obtain the offset of the laser on the surface, and convert the size of the weld according to the offset in proportion; and an execution unit to drive The surface laser generator moves along the weld seam.

Preferably, the weld recognition device for corrugated plates of containers further includes a second processing unit, which is used to determine the change trend of a certain coordinate point on the weld coordinate curve relative to its previous coordinates Whether the change trend of the point changes, and if it changes, it is determined that the welding seam position corresponding to the changed coordinate point is the welding seam inflection point.

Preferably, the weld seam recognition device for corrugated plates of containers further includes a third processing unit, the third processing unit is used to draw a weld seam coordinate curve according to the weld seam position coordinates to determine whether the weld seam is uphill or downhill. segment and horizontal segment, if the Y-axis coordinate of a certain segment of the weld coordinate curve increases with the increase of the X-axis coordinate, it is judged that the segment of the weld curve is an uphill segment; if the Y-axis coordinate of a certain segment of the weld coordinate curve As the X-axis coordinate increases and remains unchanged, it is judged that the weld curve of this section is a horizontal section; The seam curve is a downhill section.

Preferably, the number of the surface laser generators is two.

In order to solve the second technical problem above, the present invention also provides a welding control system for container corrugated plates, including: at least one surface laser generator, an image sensor, an industrial computer, a welding machine parameter adjustment unit and a welding torch movement Control unit; the laser generators on each surface respectively emit a beam of surface laser and project it on the weld, and each beam of surface laser is deflected at the weld to form two sections of deflected laser lines located on both sides of the weld; The image sensor is used to obtain the deflection laser line information generated by the surface laser; the industrial computer is used to calculate the position and size of the weld according to the information obtained by the image sensor, and judge the inflection point of the weld and the slope section where the weld is located. The calculation and judgment results send out the welding machine parameter adjustment command and the welding torch motion control signal; the welding machine parameter adjustment unit adjusts the parameters of the welding machine according to the welding machine parameter adjustment command sent by the industrial computer; the welding torch motion control unit according to the welding torch motion control signal sent by the industrial computer Control the movement of the welding gun so that the welding gun can accurately track the weld seam.

Compared with the prior art, the present invention has the following beneficial effects: the present invention indirectly reflects the position and size of the weld seam by using the surface laser to generate an offset at the weld seam position, and obtains the offset laser line information through an industrial image sensor And indirectly calculate the position and size of the weld, so as to realize the accurate detection and identification of the weld, and ensure the control accuracy of the welding position of the corrugated plate; in addition, the present invention also judges the inflection point according to the weld information while detecting the weld Different welding specifications are used in the horizontal section, uphill section and downhill section of the weld to realize the smooth transition of the welding specification and ensure the overall welding quality of the weld.

Description of drawings

Fig. 1 is a schematic diagram of the principle of the weld seam identification method for container corrugated plates.

Fig. 2 is an enlarged view of part F in Fig. 1 .

Figure 3 is a schematic diagram of the weld curve.

Fig. 4 is a schematic block diagram of a welding control system for corrugated plates of a container.

detailed description

In order to further illustrate the principle and structure of the present invention, preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

Weld identification method

The welding seam identification method of the container corrugated plate of the present invention mainly utilizes the surface laser generator to generate the surface laser, which is projected on the welding seam, so that the laser line is offset at the welding seam, and the offset can indirectly reflect the trajectory and the welding seam. Size, through the industrial image sensor to obtain the offset laser line information to calculate the trajectory and size of the weld.

The weld seam identification method of the container corrugated plate will be described in detail below in conjunction with FIG. 1 and FIG. 2. In the figure, a weld seam 15 is formed at the joint between the corrugated plate 12 and the weldment bottom beam or upper beam 11. For this weld seam, the present embodiment The welding seam recognition method includes the following steps.

Step 1: Project two surface laser beams 13 and 14 on different positions of the weld seam 15 , and each beam of surface laser beams is deflected at the weld seam 15 to form two sections of deflected laser lines located on both sides of the weld seam 15 .

In the figure, the surface laser 13 is deflected at the weld 15 to form a deflected laser line 131 and the deflected laser line 132, and the surface laser 14 is deflected at the weld 15 to form a deflected laser line 141 and a deflected laser Line 142.

Step 2: Obtain the deflected laser line information generated by all surface lasers in step 1 through an industrial image sensor;

Step 3: Use the three-dimensional rectangular coordinate system to calculate the end point coordinates of each deflected laser line near the end of the weld, and calculate the position coordinates of the weld according to the end point coordinates of each deflected laser line on the same side of the weld near the end of the weld , and subtract the end point coordinates of the two deflected laser lines near the end of the weld produced by the same beam of surface laser to obtain the offset of the surface laser, and convert the size of the weld in proportion to the offset.

In the figure, the coordinate of the end point of the deflected laser line 131 close to the weld seam 15 is marked as a1, the coordinate of the end point of the deflected laser line 132 close to the weld seam 15 is marked as a2, and the coordinate of the end point of the deflected laser line 132 close to the weld seam 15 is marked as a2. Marked as b1, the coordinates of the end point of the deflected laser line 142 near the end of the weld seam 15 are marked as b2. Subtract a2 from a2 to get the offset of the surface laser 13. The size of the offset is proportional to the size of the weld seam at the projection position of the surface laser 13. Through proportional conversion, the surface laser 13 can be obtained. The size of the weld seam at the projection position of 13; similarly, subtracting b2 and b2, the offset of the surface laser 14 can be obtained, and the size of the offset is proportional to the size of the weld seam at the projection position of the surface laser 14 Relationship, through proportional conversion, the size of the weld seam at the projection position where the surface laser 14 is located can be obtained. The coordinates of the weld seam at the projected position where the surface laser 13 is located can be calculated by the end point coordinate a2 of the deflected laser line 132, or calculated by the end point coordinate a1 of the deflected laser line 131, the weld seam coordinates of the projected position where the surface laser beam 14 is located It can be calculated by the coordinate b2 of the end point of the deflected laser line 142, or calculated by the coordinate b1 of the end point of the deflected laser line 141. It should be noted that if one of the positions (such as: the projection position of the surface laser 13) The coordinates of the weld seam are calculated from the coordinates of the end point of the deflected laser line on one side of the weld seam (such as: the upper side), and the coordinates of the weld seam at other positions (such as: the projected position of the surface laser 14) also need to be on the same side ( For example: the end point coordinates of the deflected laser line on the upper side) are calculated, that is to say, if the weld seam coordinates at the projected position of the surface laser 13 are calculated based on the end point coordinate a2, then the weld seam at the projected position of the surface laser 14 The coordinates also need to be calculated based on the coordinates b2 of the endpoint on the same side as a2.

Step 4: Move the two surface laser beams 13 and 14 along the weld seam 15 to change the projection positions of the two surface laser beams 13 and 14 on the weld seam 15, and repeat the above steps 1 to 3 until the two surface laser beams 13 and 14 are finished. The full length of the weld seam, when the surface laser travels the entire length of the weld seam, we can obtain a discrete weld seam position coordinate curve of the weld seam and the size of the weld seam corresponding to each point of the curve.

Since the weld seam of the corrugated plate is composed of multiple sections of wavy undulations, each section of crest and trough includes: an uphill section 151, a horizontal section 152 and a downhill section 153, therefore, the welding torch has flat welding during the welding process. , Upslope welding and downslope welding, the liquid metal in the molten pool is subjected to different forces in different spatial positions, which will cause different fluidity (upslope welding and downslope welding have obvious effects on penetration depth), so that the weld is formed in Different sections change significantly (especially the uphill section). Therefore, in order to keep the molten pool stable and the weld shape consistent during the welding process, the self-weight of the molten pool must be balanced with the arc blowing force and the surface tension of the liquid molten pool. In order to solve the above problems, it is necessary to judge the position of the inflection point (the junction position between any of the uphill section 151, the horizontal section 152 and the downhill section 153) according to the weld seam information while detecting the weld seam position, and then judge the Horizontal section, uphill section and downhill section, and then adopt different welding specifications (welding speed, welding voltage, welding current, etc.) according to different slope sections to realize smooth conversion of welding specifications, so as to ensure the overall welding quality.

Therefore, as a preferred embodiment, the method for identifying the weld seam of the above-mentioned container corrugated plate may also include step five: drawing a weld coordinate curve, and judging the change trend of a certain coordinate point on the weld coordinate curve relative to its previous coordinate point Whether the change trend of the change is changed, and if it is changed, it is determined that the welding seam position corresponding to the changed coordinate point is the welding seam inflection point. For example: as shown in Figure 3, it is a weld curve in the X-Y coordinate plane, and there are four continuous weld points on the curve: a2, b2, c2 and d2, among which, the change of d2 relative to its previous coordinate point c2 The trend is: the X-axis coordinate increases, and the Y-axis coordinate remains unchanged; the change trend of c2 relative to its previous coordinate point b2 is: the X-axis coordinate increases, and the Y-axis coordinate increases; b2 relative to its previous coordinate point The change trend of a2 is as follows: the X-axis coordinates increase, and the Y-axis coordinates increase; it can be seen that the change trend of the coordinate point d2 is changed relative to the change trend of the previous coordinate points, and d2 is judged to be an inflection point.

As a preferred embodiment, the above-mentioned weld recognition method for container corrugated plates may also include step 6: drawing a weld coordinate curve, judging the horizontal section, uphill section and downhill section of the weld, if a certain section of the weld coordinate curve The Y-axis coordinate increases with the increase of the X-axis coordinate, then it is judged that the weld curve of this section is an uphill section; if the Y-axis coordinate of a certain section of the weld coordinate curve remains unchanged as the X-axis coordinate increases, then It is judged that the weld curve of this section is a horizontal section; if the Y-axis coordinate of a certain section of the weld coordinate curve decreases with the increase of the X-axis coordinate, it is judged that the weld curve of this section is a downhill section. As shown in Fig. 3, the slope section indicated by label 31 is a downhill section, the slope section indicated by label 32 is a horizontal section, and the slope section indicated by label 33 is an uphill section.

It should be noted that the purpose of using two beams of surface lasers to collect weld seams in this embodiment is, on the one hand, to enable the image sensor to capture the information of two different solder joints at the same time and improve the working efficiency of the image sensor. On the one hand, it can also increase the density of weld seam collection, thereby improving the accuracy of weld seam recognition. In addition, it is also helpful to predict the inflection point information in advance when performing weld seam trend prediction and judgment, so as to adjust the welding process parameters in the first time. welding quality. Of course, in occasions where welding precision is not high, two surface lasers can also be replaced by one surface laser, or, in occasions where welding precision is required to be higher, two surface lasers can be replaced by three or more surface lasers .

Seam identification device

From the above method for identifying welds of corrugated plates in containers, we obtain a device for identifying welds in corrugated containers, which includes: at least one side of the laser generator, an industrial image sensor, a first processing unit, a second processing unit, A third processing unit and an execution unit.

The surface laser generator is used to project at least one beam of surface laser on the weld, and each beam of surface laser is deflected at the weld to form two sections of deflected laser lines located on both sides of the weld.

The industrial image sensor is used to obtain the deflected laser line information generated by the surface laser.

The first processing unit is used to calculate the end point coordinates of each deflected laser line near the end of the weld seam, and use the end point coordinates of each deflected laser line on the same side of the weld seam near the end point of the weld seam as the position coordinates of the weld seam, The offset of the surface laser is obtained by subtracting the end point coordinates of the two deflected laser lines close to the end of the weld seam generated by the same beam of surface laser, and the size of the weld seam is converted proportionally according to the offset.

The second processing unit is used to draw a weld seam coordinate curve according to the weld seam position coordinates, and determine whether the change trend of a certain coordinate point on the weld seam coordinate curve has changed relative to the change trend of the previous coordinate point, and if it changes, determine The welding seam position corresponding to the changed coordinate point is the welding seam inflection point.

The third processing unit is used to determine the uphill section, horizontal section and downhill section of the weld according to the weld coordinate curve, if the Y-axis coordinate of a certain section of the weld coordinate curve increases with the increase of the X-axis coordinate, then It is judged that the weld curve of this section is an uphill section; if the Y-axis coordinate of a certain section of the weld coordinate curve remains unchanged as the X-axis coordinate increases, it is judged that the weld curve of this section is a horizontal section; If the Y-axis coordinate of the coordinate curve decreases as the X-axis coordinate increases, it is judged that the weld curve of this section is a downhill section.

The execution unit is used to drive the surface laser generator to move along the welding seam.

Welding Control System

From the above-mentioned weld recognition device for container corrugated plates, we also obtain a welding control system for container corrugated plates, as shown in Figure 4, which includes: at least one surface laser generator 22, an image sensor 23, and an industrial computer 21 , a welding machine parameter adjustment unit 26 and a welding torch motion control unit 27, the surface laser generator 22 is connected with the industrial computer 21 by the power supply 24, the image sensor 23 is connected with the industrial computer 21 by the image acquisition card 25, the welding machine parameter adjustment unit 26 And the welding torch motion control unit 27 is connected with the industrial computer 21 respectively.

The surface laser generators 22 respectively emit a beam of surface lasers and project them on the weld seam. Each beam of surface laser light is deflected at the weld seam to form two sections of deflected laser lines respectively located on both sides of the weld seam.

The image sensor 23 is used to acquire the deflected laser line information generated by the surface laser.

The industrial computer 21 is used to calculate the position and size of the weld seam according to the information obtained by the image sensor 22, judge the inflection point of the weld seam and the slope section (uphill section, horizontal section or downhill section) of the weld seam, and send out the welding seam. Machine parameter adjustment commands and welding torch motion control signals.

The welding machine parameter adjustment unit 26 adjusts the parameters of the welding machine according to the welding machine parameter adjustment command issued by the industrial computer 21, and adopts different welding speeds, welding voltages and welding currents in the horizontal section, uphill section, downhill section, and inflection point positions. , and realize the smooth conversion of welding specifications to ensure the overall welding quality.

The welding torch movement control unit 27 controls the movement of the welding torch according to the welding torch movement control signal sent by the industrial computer 21, so that the welding torch can accurately track the welding seam.

The above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. All equivalent structural changes made by using the description and drawings of the present invention are included in the protection scope of the present invention.

Claims (7)

1. A weld seam identification method of container corrugated plate, is characterized in that, comprises the steps: Step 1, projecting at least one beam of surface laser on the weld seam, and each beam of surface laser is deflected at the weld seam to form two sections of deflected laser lines respectively located on both sides of the weld seam; Step 2, obtaining deflected laser line information generated by all surface lasers in step 1 through an industrial image sensor; Step 3, calculate the end point coordinates of each deflected laser line near the end of the weld seam, calculate the position coordinates of the weld seam according to the end point coordinates of each deflected laser line on the same side of the weld seam near the end point of the weld seam, and combine the same beam surface Subtract the coordinates of the end points of the two deflected laser lines near the end of the weld to obtain the offset of the laser on the surface, and convert the size of the weld in proportion to the offset; Step 4, moving the surface laser along the weld to change the projection position of the surface laser on the weld, repeating the above steps 1 to 3; Step 5: Draw the weld coordinate curve and judge whether the change trend of a certain coordinate point on the weld coordinate curve has changed relative to the change trend of the previous coordinate point. If it changes, determine the weld position corresponding to the changed coordinate point is the inflection point of the weld. 2. The weld seam identification method of container corrugated plate as claimed in claim 1, is characterized in that, also comprises step 6: drawing weld seam coordinate curve, judges the upslope section, the horizontal section and the downslope section of weld seam, if certain If the Y-axis coordinate of a segment of the weld coordinate curve increases with the increase of the X-axis coordinate, it is judged that the segment of the weld curve is an uphill segment; if the Y-axis coordinate of a certain segment of the weld coordinate curve increases with the X-axis coordinate If it remains unchanged, it is judged that the weld curve of this section is a horizontal section; if the Y-axis coordinate of a certain section of the weld coordinate curve decreases with the increase of the X-axis coordinate, it is judged that the weld curve of this section is a downhill section. 3. The method for identifying weld seams of container corrugated plates according to claim 1, characterized in that the number of surface laser beams in said step 1 is at least two. 4. A weld recognition device for container corrugated plates, characterized in that it comprises the following components: At least one laser generator is used to project at least one beam of surface laser on the weld, and each beam of surface laser is deflected at the weld to form two sections of deflected laser lines respectively located on both sides of the weld; An industrial image sensor, used to obtain the deflected laser line information generated by the surface laser; A first processing unit, used to calculate the end point coordinates of each deflected laser line near the end of the weld seam, and calculate the position coordinates of the weld seam according to the end point coordinates of each deflected laser line on the same side of the weld seam near the end point of the weld seam, And subtract the end point coordinates of the two deflected laser lines near the end of the weld seam generated by the same beam of surface laser to obtain the offset of the surface laser, and convert the size of the weld according to the offset in proportion; an execution unit for driving the surface laser generator to move along the weld seam; and, A second processing unit, the second processing unit is used to determine whether the change trend of a certain coordinate point on the weld coordinate curve has changed relative to the change trend of the previous coordinate point, and if it changes, determine the changed coordinate point The corresponding weld position is the weld inflection point. 5. The weld seam recognition device for container corrugated plates according to claim 4, characterized in that, the weld seam recognition device further comprises a third processing unit, and the third processing unit is used to draw The weld coordinate curve judges the uphill section, downhill section and horizontal section of the weld. If the Y-axis coordinate of a certain section of the weld coordinate curve increases with the increase of the X-axis coordinate, it is judged that the weld curve of this section is uphill. slope section; if the Y-axis coordinate of a certain section of the weld coordinate curve remains unchanged as the X-axis coordinate increases, it is judged that the section of the weld curve is a horizontal section; if the Y-axis coordinate of a certain section of the weld coordinate curve increases If the X-axis coordinate increases and decreases, it is judged that the weld curve of this section is a downhill section. 6 . The weld identification device for container corrugated plates according to claim 5 , wherein the number of the surface laser generators is two. 7 . 7. A welding control system for container corrugated plates, characterized in that it comprises: At least one surface laser generator, each surface laser generator respectively emits a beam of surface laser light and projects it on the weld seam. folding laser line; An image sensor, used to acquire the deflected laser line information generated by the surface laser; An industrial computer, which is used to calculate the position and size of the weld seam based on the information obtained by the image sensor, and judge the inflection point of the weld seam and the slope section where the weld seam is located, and issue welding machine parameter adjustment commands and welding torch movement according to the calculation and judgment results control signal; A welding machine parameter adjustment unit, which adjusts the parameters of the welding machine according to the welding machine parameter adjustment command issued by the industrial computer, and according to the welding specification corresponding to the inflection point of the welding seam and the slope section where the welding seam is located. The welding specification includes welding speed and welding voltage and welding current; and, A welding torch motion control unit controls the movement of the welding torch according to the welding torch motion control signal sent by the industrial computer, so that the welding torch can accurately track the welding seam.