CN105728972A - Concave-convex angle-variable welding joint self-adaptive tracking control device and method - Google Patents
Concave-convex angle-variable welding joint self-adaptive tracking control device and method Download PDFInfo
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- CN105728972A CN105728972A CN201610268835.4A CN201610268835A CN105728972A CN 105728972 A CN105728972 A CN 105728972A CN 201610268835 A CN201610268835 A CN 201610268835A CN 105728972 A CN105728972 A CN 105728972A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
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Abstract
Disclosed is a concave-convex angle-variable welding joint self-adaptive tracking control device and method. The device is composed of a three-degree-of-freedom robot, a visual sensor and a control system, the three-degree-of-freedom robot comprises a base, an x-axis-direction moving module, a y-axis-direction moving module and a z-axis-direction moving module, the x-axis-direction moving module, the y-axis-direction moving module and the z-axis-direction moving module are mutually perpendicular in moving direction, a y-axis-direction guide rail of the y-axis-direction moving module is mounted on one side of a working platform, the z-axis-direction moving module is mounted on a y-axis sliding platform of the y-axis-direction moving module, the x-axis-direction moving module is mounted on a z-axis sliding platform of the z-axis-direction moving module, and an x-axis sliding platform of the x-axis-direction moving module is used for mounting a welding gun; the visual sensor comprises a a camera and a linear laser which are mounted side by side and can synchronously move along y axis, the control system comprises an upper computer, a lower computer and a motor driver, a camera in the visual sensor is connected with the upper computer which is connected with the lower computer, and the lower computer is further connected with the motor driver.
Description
Technical field
The present invention relates to a kind of concave-convex angle weld seam adaptive Gaussian filtering device, specifically a kind of visual identity carried out for concave-convex angle weld seam and it is realized fast intelligent teaching and device that real-time adaptive is followed the tracks of.
Background technology
Along with current science and technology develops rapidly, modernization welding production is more and more higher to the requirement of product quality and production efficiency, and welding manufacture pattern is progressively upgraded from traditional-handwork Type of Welding to the unmanned Type of Welding of automatization.How to ensure welding quality, improve Automation of Welding level and become a pendulum key subjects in face of people.Instantly, China sea, land transportation Developing Logistics are rapid, consequently leads to China sea, Land containers demand strengthens rapidly.And the side plate of container, door-plate position are all made up of corrugated plating, between its with underbeam on container when welding, owing to the fusion length of corrugated plating is longer, in the process of processing corrugated plating, through the position of punch forming corrugated plating weld seam meeting change at random, which results in corrugated plating weld seam and be absent from concordance.The welding robot tackling problem above domestic is generally adopted two ways: 1. the mode of manual teaching, and the position of butt welded seam carries out manual teaching, but its welding efficiency is very low, and percent defective is high；2. contact type mechanical metering system, design frame for movement controls welding gun and tackles the change of position while welding.But this mode complicated in mechanical structure, precision are not high, operating difficulties, and it is difficulty with the effective welding gun in weld gap change at random situation is controlled.Therefore, even if container demand continues to increase, but owing to above reason causes that present inland container corrugated plating welding portion has still been welded by traditional-handwork.But, structured light vision detection method has the advantages such as wide range, noncontact, big visual field and system flexibility are good, is in recent years widely used in industrial environment especially welding field.Utilize vision sensor that the three-dimensional position of concave-convex angle weld seam is carried out vision measurement, the fast intelligent teaching to target weld seam can be realized, and then can complete the real-time adaptive of target weld seam three-dimensional position is accurately positioned by Three Degree Of Freedom robot control welding gun.
Summary of the invention
It is an object of the invention to: a set of Three Degree Of Freedom welding equipment being core with vision detection system is provided.Carry out automatic welding for the weld seam with concave-convex angle that container corrugated plate is representative, accurately obtaining on the basis of weld seam three dimensional local information, it is achieved welding gun is followed the tracks of and weave control for the high-accuracy self-adaptation of weld seam.
The technical scheme is that, it is provided that a kind of concave-convex angle weld seam adaptive Gaussian filtering device, it is characterized in that described device is made up of Three Degree Of Freedom robot, vision sensor and control system；
Described Three Degree Of Freedom robot includes base and module is moved in the mutually perpendicular x-axis direction of moving direction, module is moved in y-axis direction and module is moved in z-axis direction, described mobile module is the stepper motor driven ball screw type straight line module of employing, described base upper surface is the work platforms for placing workpiece 1 to be welded, and y-axis and x-axis are parallel to the working face of work platforms；Y-axis direction is moved the y-axis traversing guide of module and is arranged on work platforms side, z-axis direction is moved module and is arranged on y-axis direction and moves on the y-axis slide unit of module, x-axis direction is moved module and is arranged on z-axis direction and moves on the z-axis slide unit of module, and the x-axis slide unit of module is moved for installing welding gun in described x-axis direction；
Described vision sensor includes being mounted side by side and the video camera that can be synchronized with the movement along y-axis and a word line laser device, with the initiating terminal of welding gun movement locus on the y axis and end respectively forward and backward side, one word line laser device is positioned at welding gun front in the y-axis direction, is positioned at the laser rays that a word line laser device sends and can be radiated at the to be welded of the workpiece to be welded being placed on work platforms and sew on and shot by video camera；
Described control system includes host computer, slave computer and motor driver, and the video camera in described vision sensor is connected with host computer, and host computer is connected with slave computer, and slave computer is also connected with motor driver.
Described a kind of concave-convex angle weld seam adaptive Gaussian filtering device, the workpiece to be welded being placed on work platforms described in it is characterized in that treat the concave-convex angle weld seam that weld seam is bottom surface and facade is crossed to form, bottom surface is parallel with work platforms (x/y plane), and facade is curved surface or the broken line face that relative yz plane has concavo-convex deformation.Described concave-convex angle is 100 °～120.
Described a kind of concave-convex angle weld seam adaptive Gaussian filtering device, it is characterized in that described host computer be industrial panel computer, slave computer is PLC, host computer, slave computer and motor driver are installed in Integral control cabinet, Integral control cabinet and y-axis slide unit are relatively fixed installation, described video camera is industrial CCD camera, and host computer is connected with usb line with the industrial CCD camera in vision sensor.
Present invention also offers the control method of a kind of concave-convex angle weld seam adaptive Gaussian filtering device, it is characterised in that comprise the following steps
1) workpiece to be welded is fixed on work platforms, sets up robot tool coordinate system with x, y, z axle, and determine the work origin of welding gun；
2) laser rays is irradiated to be welded sewing on by the word line laser device in vision sensor, and it is irradiated to the image sewed on and formed to be welded by camera acquisition laser rays, by host computer, the image gathered is processed, slave computer control signal is produced according to result, being controlled motor driver drive stepping motor by slave computer, manipulation robot has moved and has treated weld seam Scan orientation and treat that weld seam implements adaptive tracing.
Described step 2) specifically include
2.1) laser rays collected is irradiated to image on bottom surface and facade as bottom surface streak line and facade streak line, through adaptive thresholding, bottom surface streak line is extracted centrage and hough convert matching and obtain straight line section as bottom surface straight line, using bottom surface straight line close to treating that the distal point of weld seam is as fisrt feature point p1, its image coordinate isOpposite streak line extracts centrage and hough through adaptive thresholding and converts matching and obtain straight line section as facade straight line, with facade straight line close to treating that the distal point of weld seam is for second feature point p2, its image coordinateIn camera review coordinate system three-dimensional coordinate forSome p3For weld bead feature points, by the weld bead feature points p in the camera review coordinate system that obtains3It is converted into the position coordinates p under robot tool coordinate system4；
2.2) weld seam Scan orientation is treated, motor controller controls step motor drive y-axis slide unit forwards moves with scanning speed H, in moving process, vision sensor scanning treats weld seam and the image collected is carried out step 2.1) process obtain any weld bead feature points position coordinates under robot tool coordinate system；
2.3) treat that weld seam real-time adaptive is followed the tracks of:
Motor controller controls step motor drive y-axis slide unit forwards moves with welding speed V, owing to vision sensor relative position with welding gun on robot y-axis direction remains unchanged, and one the laser stripe that formed on workpiece of word line laser device to arrive the distance of welding gun in y-direction be D, in y-axis slide unit moving process when vision sensor scanning treat weld seam and the image collected carried out step 2.1) process, obtain initial weld bead feature points position coordinates under robot tool coordinate system, the position of now welding gun is calculated according to distance D, and make welding gun overlapping to this coordinate points；When welding gun arrives after weld seam initial characteristics point, the position coordinates of the next weld bead feature points obtained to vision sensor by welding gun is overlapping；It is sequentially carried out, until completing the whole real-time adaptive treating weld seam is followed the tracks of.
The invention has the beneficial effects as follows:
A kind of concave-convex angle weld seam adaptive Gaussian filtering device provided by the invention adopts visible sensation method identification and measures concave-convex angle weld seam, contactless nondestructive measurement.Achieve two big functions.Function 1: by quickly scanning target weldment, acquisition target weld seam that can be efficient, accurate, the stable three-dimensional space position information under robot coordinate system.Poor efficiency can be replaced completely, the manual teaching process that coarse, concordance is poor.Function 2: target weld seam can be carried out adaptive tracing in real time by Three Degree Of Freedom robot in motor process, significantly improves welding quality and welding efficiency.Include specifically following some
(1) present invention designs vision sensor butt welded seam and carries out visual identity and measurement, it is achieved that the three dimensional local information of concave-convex angle weld seam is accurately obtained.
(2) present invention devises Three Degree Of Freedom robot concave-convex angle weld seam is carried out fast intelligent scanning, achieve the high accuracy to target weld seam, teaching at high speed, achieve the quick obtaining of butt welded seam three dimensional local information, then can realize precision welding on the basis of positional information.
(3) present invention devises Three Degree Of Freedom robot and concave-convex angle weld seam is achieved real-time adaptive three-dimensional position is accurately positioned, it is possible to simultaneously completes weld seam three-dimensional information in a walking process and obtains and welding job, improves work efficiency.
(4) one aspect of the present invention avoids the contact measurement method that the frame for movement butt welded seam of the manual teaching of general welding robot, the loaded down with trivial details time-consuming process of memory type study and heaviness is inefficient, enhances whole welding robot human reriability, stability, high efficiency on the other hand.
To sum up, a kind of concave-convex angle weld seam adaptive Gaussian filtering device provided by the invention, adopt visible sensation method identification concave-convex angle weld image positional information, contactless nondestructive measurement, achieve the fast intelligent teaching to target weld seam, and achieve the robot real-time adaptive to target weld seam on this basis and follow the tracks of, equipment is simple to operate, and automaticity is high.Save human resources, significantly improve welding quality and welding efficiency.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of concave-convex angle weld seam a kind of embodiment of adaptive Gaussian filtering device of the present invention；
Fig. 2 is the ultimate principle structural representation of concave-convex angle weld seam a kind of embodiment of adaptive Gaussian filtering device of the present invention；
In figure, 1, workpiece to be welded；2, Three Degree Of Freedom robot, 20, work platforms, 21, x-axis direction move module, 211, x-axis slide unit, 22, y-axis direction move module, 221, y-axis slide unit, 23, z-axis direction move module, 231, z-axis slide unit；3, welding gun fixture；5, welding gun；7, vision sensor, 71, video camera, 72, one word line laser device；8, Integral control cabinet, 81, host computer, 82, slave computer.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing thereof, the present invention is described in further details.Embodiment is to be carried out under premised on technical solution of the present invention, gives detailed embodiment and concrete operating process, but the application scope of the claims is not limited to following embodiment.
Concave-convex angle weld seam adaptive Gaussian filtering device provided by the invention, is characterized in that described device is made up of Three Degree Of Freedom robot 2, vision sensor 7 and control system
Described Three Degree Of Freedom robot includes base and module 21 is moved in the mutually perpendicular x-axis direction of moving direction, module 22 is moved in y-axis direction and module 23 is moved in z-axis direction, described mobile module is the stepper motor driven ball screw type straight line module of employing, described base upper surface is the work platforms 20 for placing workpiece 1 to be welded, and y-axis and x-axis are parallel to the working face of work platforms；Y-axis direction is moved the y-axis traversing guide of module and is arranged on work platforms side, z-axis direction is moved module and is arranged on y-axis direction and moves on the y-axis slide unit of module 221, x-axis direction is moved module and is arranged on z-axis direction and moves on the z-axis slide unit 231 of module, and the x-axis slide unit 211 of module is moved for installing welding gun 5 in described x-axis direction；
Described vision sensor includes being mounted side by side and the video camera 71 that can be synchronized with the movement along y-axis and a word line laser device 72, with the initiating terminal of welding gun movement locus on the y axis and end respectively forward and backward side, one word line laser device is positioned at welding gun front in the y-axis direction, is positioned at the laser rays that a word line laser device sends and can be radiated at the to be welded of the workpiece to be welded being placed on work platforms and sew on and shot by video camera；
Described control system includes host computer 81, slave computer 82 and motor driver, and the video camera in described vision sensor is connected with host computer, and host computer is connected with slave computer, and slave computer is also connected with motor driver.
The described workpiece to be welded being placed on work platforms treat the concave-convex angle weld seam that weld seam is bottom surface and facade is crossed to form, bottom surface is parallel with work platforms (x/y plane), and facade is curved surface or the broken line face that relative yz plane has concavo-convex deformation.
In the present embodiment
Welding gun is arranged on the end of x-axis slide unit by welding gun fixture 3, and video camera is industrial CCD camera,
Host computer is industrial panel computer, and slave computer is PLC, and host computer, slave computer and motor driver are installed in Integral control cabinet 8, and Integral control cabinet and y-axis slide unit are relatively fixed installation,
Host computer is connected with usb line with the industrial CCD camera in vision sensor；
Described concave-convex angle is 100 °～120 °, and the concavo-convex degree of depth of facade is 15cm～35mm (the described concavo-convex degree of depth and the ultimate range between concave bottom and convex surface top).
Wherein a word line laser device is 10cm～15cm with the distance in the y-axis of industrial CCD camera, welding gun rifle head with treat that weld seam angle is 45 °～50 °, one word line laser device is positioned at welding gun front 15cm～25cm, the optical axis included angle about 35 ° of one word line laser device and video camera, the angle of camera optical axis and x/y plane is at 10 °～30 °, and the video camera distance from workpiece is between 30cm～50cm.
In the present embodiment provide concave-convex angle weld seam adaptive Gaussian filtering device overall structure schematic diagram as it is shown in figure 1, ultimate principle structural representation as shown in Figure 2.
The work process of concave-convex angle weld seam adaptive Gaussian filtering device provided by the invention is as follows
1) workpiece to be welded is fixed on work platforms, sets up robot tool coordinate system with x, y, z axle, and determine the work origin of welding gun.
2) laser rays is irradiated to be welded sewing on by the word line laser device in vision sensor, and it is irradiated to the image sewed on and formed to be welded by camera acquisition laser rays, by host computer, the image gathered is processed, slave computer control signal is produced according to result, motor driver drive stepping motor is controlled by slave computer, manipulation robot has moved and has treated weld seam scanning and treat that weld seam implements adaptive tracing, specifically includes
2.1) laser rays collected is irradiated to image on bottom surface and facade as bottom surface streak line and facade streak line, through adaptive thresholding, bottom surface streak line is extracted centrage and hough convert matching and obtain straight line section as bottom surface straight line, using bottom surface straight line close to treating that the distal point of weld seam is as fisrt feature point p1, its image coordinate isOpposite streak line extracts centrage and hough through adaptive thresholding and converts matching and obtain straight line section as facade straight line, with facade straight line close to treating that the distal point of weld seam is for second feature point p2, its image coordinateIn camera review coordinate system three-dimensional coordinate forSome p3For weld bead feature points.The scaling method (as shown in Chinese patent literature CN105043251A) of the line structure optical sensor according to mechanical movement.By the weld bead feature points p in the camera review coordinate system that obtains3It is converted under robot tool coordinate system position coordinates p4。
2.2) weld seam Scan orientation is treated, motor controller controls step motor drive y-axis slide unit forwards moves with scanning speed H, in moving process, vision sensor scanning treats weld seam and the image collected is carried out step 2.1) process obtain any weld bead feature points position coordinates under robot tool coordinate system.Complete Three Degree Of Freedom robot (hereinafter referred to as robot) after weld seam scans to reset, then motor controller controls step motor drive y-axis slide unit is along forwards moving with welding speed V, according to weld bead feature points position coordinates under robot tool coordinate system, adopt absolute position control mode to control welding gun and start along treating that weld seam is walked from work origin.
2.3): treat that weld seam real-time adaptive is followed the tracks of:
Motor controller controls step motor drive y-axis slide unit forwards moves with welding speed V, owing to vision sensor relative position with welding gun on robot y-axis direction remains unchanged, and one the laser stripe that formed on workpiece of word line laser device to arrive the distance of welding gun in y-direction be D, in y-axis slide unit moving process when vision sensor scanning treat weld seam and the image collected carried out step 2.1) process, obtain initial weld bead feature points position coordinates under robot tool coordinate system), the position of now welding gun is calculated according to distance D, and make welding gun overlapping to this coordinate points.Treat weld seam initial characteristics point when welding gun arrives, and encoded device feedback errorless after, the position coordinates of the next weld bead feature points obtained to vision sensor by welding gun is overlapping.It is sequentially carried out, until completing the whole real-time adaptive treating weld seam is followed the tracks of.
Error analysis result shows, the present invention is adopted to provide concave-convex angle weld seam adaptive Gaussian filtering device when carrying out until weld seam Scan orientation, the axial positioning precision of x, y, z all can be controlled in ± 0.2mm within, and when carrying out following the tracks of until weld seam real-time adaptive, the precision of welding gun real-time tracking also is able to control at ± 0.3mm.
Claims (6)
1. a concave-convex angle weld seam adaptive Gaussian filtering device, is characterized in that described device is made up of Three Degree Of Freedom robot, vision sensor and control system；
Described Three Degree Of Freedom robot includes base and module is moved in the mutually perpendicular x-axis direction of moving direction, module is moved in y-axis direction and module is moved in z-axis direction, described base upper surface is the work platforms for placing workpiece to be welded, and y-axis and x-axis are parallel to the working face of work platforms；Y-axis direction is moved the y-axis traversing guide of module and is arranged on work platforms side, z-axis direction is moved module and is arranged on y-axis direction and moves on the y-axis slide unit of module, x-axis direction is moved module and is arranged on z-axis direction and moves on the z-axis slide unit of module, and the x-axis slide unit of module is moved for installing welding gun in described x-axis direction；
Described vision sensor includes being mounted side by side and the video camera that can be synchronized with the movement along y-axis and a word line laser device, with the initiating terminal of welding gun movement locus on the y axis and end respectively forward and backward side, one word line laser device is positioned at welding gun front in the y-axis direction, is positioned at the laser rays that a word line laser device sends and can be radiated at the to be welded of the workpiece to be welded being placed on work platforms and sew on and shot by video camera；
Described control system includes host computer, slave computer and motor driver, and the video camera in described vision sensor is connected with host computer, and host computer is connected with slave computer, and slave computer is also connected with motor driver.
2. a kind of concave-convex angle weld seam adaptive Gaussian filtering device as claimed in claim 1, the workpiece to be welded being placed on work platforms described in it is characterized in that treat the concave-convex angle weld seam that weld seam is bottom surface and facade is crossed to form, bottom surface is parallel with x/y plane, and facade is curved surface or the broken line face that relative yz plane has concavo-convex deformation.
3. a kind of concave-convex angle weld seam adaptive Gaussian filtering device as claimed in claim 2, is characterized in that described concave-convex angle is 100 °～120.
4. a kind of concave-convex angle weld seam adaptive Gaussian filtering device as described in as arbitrary in claims 1 to 3, it is characterized in that described host computer be industrial panel computer, slave computer is PLC, host computer, slave computer and motor driver are installed in Integral control cabinet, Integral control cabinet and y-axis slide unit are relatively fixed installation, video camera in vision sensor is industrial CCD camera, and host computer is connected with usb line with industrial CCD camera.
5. the control method of a kind of concave-convex angle weld seam adaptive Gaussian filtering device as described in as arbitrary in Claims 1 to 4, it is characterised in that comprise the following steps
1) workpiece to be welded is fixed on work platforms, sets up robot tool coordinate system with x, y, z axle, and determine the work origin of welding gun；
2) laser rays is irradiated to be welded sewing on by the word line laser device in vision sensor, and it is irradiated to the image sewed on and formed to be welded by camera acquisition laser rays, by host computer, the image gathered is processed, slave computer control signal is produced according to result, being controlled motor driver drive stepping motor by slave computer, manipulation robot has moved and has treated weld seam Scan orientation and treat that weld seam implements adaptive tracing.
6. the control method of a kind of concave-convex angle weld seam adaptive Gaussian filtering device as claimed in claim 5, is characterized in that described step 2) specifically include
2.1) laser rays collected is irradiated to image on bottom surface and facade as bottom surface streak line and facade streak line, through adaptive thresholding, bottom surface streak line is extracted centrage and hough convert matching and obtain straight line section as bottom surface straight line, using bottom surface straight line close to treating that the distal point of weld seam is as fisrt feature point p1, its image coordinate isOpposite streak line extracts centrage and hough through adaptive thresholding and converts matching and obtain straight line section as facade straight line, with facade straight line close to treating that the distal point of weld seam is for second feature point p2, its image coordinateIn camera review coordinate system three-dimensional coordinate forSome p3For weld bead feature points, by the weld bead feature points p in the camera review coordinate system that obtains3It is converted into the position coordinates p under robot tool coordinate system4。
2.2) weld seam Scan orientation is treated, motor controller controls step motor drive y-axis slide unit forwards moves with scanning speed H, in moving process, vision sensor scanning treats weld seam and the image collected is carried out step 2.1) process obtain any weld bead feature points position coordinates under robot tool coordinate system.
2.3) treat that weld seam real-time adaptive is followed the tracks of:
Motor controller controls step motor drive y-axis slide unit forwards moves with welding speed V, owing to vision sensor relative position with welding gun on robot y-axis direction remains unchanged, and one the laser stripe that formed on workpiece of word line laser device to arrive the distance of welding gun in y-direction be D, in y-axis slide unit moving process when vision sensor scanning treat weld seam and the image collected carried out step 2.1) process, obtain initial weld bead feature points position coordinates under robot tool coordinate system, the position of now welding gun is calculated according to distance D, and make welding gun overlapping to this coordinate points；When welding gun arrives after weld seam initial characteristics point, the position coordinates of the next weld bead feature points obtained to vision sensor by welding gun is overlapping；It is sequentially carried out, until completing the whole real-time adaptive treating weld seam is followed the tracks of.
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