Systems and methods for seam tracking in pipe welding
The present disclosure provides a method for controlling a robotic welding system to weld pipe sections wherein the pipe sections are held in fixed relation to each other by a plurality of stitches at a seam between the pipe sections. The method comprises rotating the pipe sections so a camera may determine the seam position, moving a torch arm and welding torch so that the torch is over one of the plurality of stitches, adjusting welding parameters and determining stitch start when welding torch is over a stitch and further adjusting welding parameters and determining stitch end when welding torch moves past one of the plurality of stitches.
1. A method for controlling a robotic welding system during automatic welding together of two pipe sections in a spool welding operation wherein the two pipe sections are held in fixed relation to each other by a plurality of stitches at an interface between the two pipe sections, the robotic welding system having a torch arm holding a welding torch, a controller for controlling motion of the torch arm, and a processor operably coupled to the controller and a camera positioned to capture images of an area around a welding arc, and a positioner on which the two pipe sections are mounted for rotating the two pipe sections in relation to the robotic welding system, the method comprising:
receiving, by the processor, an arc on signal from the controller which controls the robotic welding system to start the welding operation and controls the positioner to start rotating the two pipe sections;
rotating the two pipe sections and the robotic welding system in relation to each other while continuously:
capturing and buffering a plurality of frames of an interface between the two pipe sections with the camera while the welding operation is ongoing;
processing the plurality of frames to determine a seam position while the welding operation is ongoing;
controlling the robotic welding system to move the torch arm to track the seam position while the welding operation is ongoing;
processing the plurality of frames to detect whether the welding torch is over one of the plurality of stitches while the welding operation is ongoing;
determining a stitch start in response to detecting the welding torch moving over one of the plurality of stitches while the welding operation is ongoing;
controlling the robotic welding system to adjust welding parameters in response to determining the stitch start while the welding operation is ongoing;
determining a stitch end in response to detecting the welding torch moving past one of the plurality of stitches while the welding operation is ongoing; and
controlling the robotic welding system to adjust welding parameters in response to determining the stitch end while the welding operation is ongoing.
2. The method of claim 1 wherein processing the plurality of frames to determine a seam position comprises detecting an edge of each of the two pipe sections and determining the seam position based on the detected edges.
3. The method of claim 1 comprising processing the plurality of frames to detect a shape of the weld pool and controlling the robotic welding system to adjust welding parameters based on the detected shape of the weld pool.
4. The method of claim 3 wherein controlling the robotic welding system to adjust welding parameters based on the detected shape of the weld pool comprises changing an angle between a weave axis of the torch arm and the two pipe sections.
5. The method of claim 1 comprising processing the plurality of frames to determine a gap size at the interface between the two pipe sections and controlling the robotic welding system to adjust welding parameters in response to the determined gap size.
6. The method of claim 1 comprising:
storing an angular position of each stitch start and stitch end;
monitoring an angular position of the welding arc; and
controlling the robotic welding system to adjust welding parameters when the angular position of the welding arc is over a stitch in one or more subsequent passes.
7. The method of claim 1 wherein controlling the robotic welding system to adjust welding parameters in response to determining the stitch start comprises increasing one or more of voltage trim, wire speed, weave amplitude, weave frequency, and positioner speed.
8. The method of claim 7 wherein controlling the robotic welding system to adjust welding parameters in response to determining the stitch end comprises decreasing one or more of voltage trim, wire speed, weave amplitude, weave frequency, and positioner speed.
9. The method of claim 1 comprising, when the welding arc is over a stitch during a root pass, predicting the seam position by utilizing a filter based on a most recently detected seam position.
10. The method of claim 9 wherein the filter comprises a standard Kalman filter, extended Kalman filter, unscented Kalman filter, fast Kalman filter, unscented particle filter, or SIR particle filter.