THE METHOD AND SYSTEM FOR TRACKING WELDING LINE AND DETECTING END-POINT USING ARC-SENSOR AND LASER VISION SENSOR

摘要

A method and a system for tracking a welding line and detecting an end part of the welding line using an arc sensor and a laser vision sensor are provided to improve welding quality and improve reliabilities of the system and a product by moving a robot to a point at which the distance difference is minimized and performing a welding operation while reducing a distance error if there is a distance difference between points respectively measured by the laser vision sensor and the arc sensor. A method for tracking a welding line and detecting an end part of the welding line using an arc sensor and a laser vision sensor comprises the steps of: recognizing a starting point of the welding line using the laser vision sensor(S101); measuring a current and a voltage between a tip of a welding torch and members using the arc sensor if the welding operation starts from the starting point(S103); tracking the welding line and measuring a gap between the welding members based on data recognized using the laser vision sensor and data measured using the arc sensor(S104); performing the welding operation by the tracked welding line if the measured gap is smaller than a reference value(S106); and completing the welding operation if the end part of the welding line is detected by the laser vision sensor(S107).