CN105728975A - Method for performing underwater automatic welding by using underwater robot - Google Patents
Method for performing underwater automatic welding by using underwater robot Download PDFInfo
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- CN105728975A CN105728975A CN201610308004.5A CN201610308004A CN105728975A CN 105728975 A CN105728975 A CN 105728975A CN 201610308004 A CN201610308004 A CN 201610308004A CN 105728975 A CN105728975 A CN 105728975A
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- underwater
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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
-
- 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
Abstract
The invention relates to a method for performing underwater automatic welding by using an underwater robot. The method comprises the following steps of 1) providing the underwater robot based on multi-filter processing so as to perform underwater automatic welding, wherein the underwater robot comprises an underwater robot body, a laser imaging device and a weld joint identification device, both the laser imaging device and the weld joint identification device are located on the underwater robot body, the laser imaging device is used for shooting underwater laser images, and the weld joint identification device is connected with the laser imaging device and is used for extracting characteristics of underwater weld joints from the underwater laser images and determining the type of the weld joints; 2) running the underwater robot. By the method disclosed by the invention, the precision for identifying weld joints can be improved, and important reference data is provided for underwater welding.
Description
The present invention is application number is 201510471346.4, the applying date be August 4, denomination of invention in 2015 is the divisional application of the patent of " a kind of method adopting underwater robot to carry out automatic welding under water ".
Technical field
The present invention relates to image filtering field, particularly relate to a kind of method adopting underwater robot to carry out automatic welding under water.
Background technology
Currently, problems with is existed for Underwater Welding to solve: 1, human weld's mode precision and efficiency are not high；2, there is the concrete structure needing to adapt to underwater environment in the mode of machinery welding, it is especially desirable to overcomes the image processing equipment of all kinds of interference under water；3, automatic welding device is lacked.Thus, in prior art, it is impossible to adopt the mode of machinery welding to carry out the welding of underwater installation, cause that current welding manner speed is slow and not accurate enough.
For this, need a kind of mechanization automatic welding scheme that can process various interference under water, first can improve the imaging effect of underwater laser image, but can adapt to underwater environment, be capable of identify that welding type, finally need a set of can the welding equipment of automatic welding.
Summary of the invention
In order to solve the technical problem that prior art exists, the invention provides a kind of underwater robot processed based on multiple filter, to transform the concrete structure of existing underwater robot, so that it can as jig, recycling sonar and sonar image processing equipment improve laser imaging effect, utilization includes medium filtering subset, the image-preprocessing device of low-pass filtering subset and homomorphic filtering subset realizes the removal to all kinds of interference under water, the image recognition technology based on neural network recognization is utilized to improve the accuracy of weld seam recognition, finally transformation welding equipment can complete automatic welding under water.
According to an aspect of the present invention, provide a kind of method adopting underwater robot to carry out automatic welding under water, the method includes: 1) provide a kind of underwater robot processed based on multiple filter, for automatic welding under water, described underwater robot includes underwater human agent, laser imaging apparatus and weld seam recognition equipment, described laser imaging apparatus and described weld seam recognition equipment are all located on described underwater human agent, described laser imaging apparatus is used for shooting underwater laser image, described weld seam recognition equipment is connected with described laser imaging apparatus, for extracting underwater weld feature from described underwater laser image and determining welding type；2) described underwater robot is run.
More specifically, in the described underwater robot processed based on multiple filter, also include: electrode holders, be used for fixing welding rod, described welding rod is wet method coated electrode, and material is mild steel；Safety switch, its cathode conductor is connected to described electrode holders；Earth clip, is fixed on workpiece to be welded；Electric welding machine, negative pole is connected to described electrode holders, plus earth；Electrode holders drive equipment, are connected with described electrode holders, for driving signal to drive described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders；Electrode holders drive motor, is a direct current generator, drives equipment to provide power to the driving of described electrode holders for described electrode holders；Described underwater human agent includes support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, mechanical hand, water proof sealing drum, transverse propeller, vertical propeller, longitudinal spiral oar and three direct current generators, described support is for being fixed under water by described underwater human agent, described connecting hoop is fixing with described support to be connected, described storage platform and described mechanical arm are connected respectively with described connecting hoop, described mechanical hand is connected with described mechanical arm, described mechanical arm includes large arm and the forearm being connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical propeller and described longitudinal spiral oar, with by the rotating of propeller, the thrust power of 6 degree of freedom is provided for underwater human agent；Portable hard drive, is positioned on described underwater human agent, is used for having prestored the luminance threshold upper limit and luminance threshold lower limit；Sonar, is positioned on described underwater human agent, for the submarine target in described underwater human agent front is performed sonar image collection, to obtain sonar image；Sonar image processes equipment, it is connected respectively with described sonar and described portable hard drive, including the first detection subset, the second detection subset and object range detection subset, described first detection subset is connected respectively with described sonar and described portable hard drive, is used for adopting luminance threshold upper limit traversal sonar image to be partitioned into core objective region；Described second detection subset detects subset with described first and described portable hard drive is connected respectively, for using the marginal point in described core objective region as seed points, utilize luminance threshold lower limit that the pixel of core objective areas adjacent is carried out brightness judgement, to obtain and to be partitioned into final goal region；Described object range detection subset detects subset with described second and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range；Described laser imaging apparatus, including laser instrument, detector and microcontroller, the submarine target in described underwater human agent front is given off laser beam by described laser instrument, with when described laser beam is reflexed to described detector by submarine target, it is easy to the shooting of described detector, described microcontroller processes equipment with described sonar image, described laser instrument and described detector connect respectively, based target distance and laser spread speed under water determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector submarine target is shot, to obtain underwater laser image；Described weld seam recognition equipment includes pretreatment subset, feature extraction subset and welding type identification subset；Described pretreatment subset is connected with described laser imaging apparatus, including medium filtering subset, low-pass filtering subset and homomorphic filtering subset；Described medium filtering subset is connected with described detector, for described underwater laser image is performed medium filtering, to filter the spot noise in described underwater laser image, it is thus achieved that the first filtering image；Described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, it is thus achieved that the second filtering image；Described homomorphic filtering subset is connected with described low-pass filtering subset, for described second filtering image is performed image enhaucament, to obtain enhancing underwater picture；Described feature extraction subset is connected with described pretreatment subset, including image segmentation unit and eigenvector recognition unit, described image segmentation unit based on weld image gray threshold scope by the weld seam target recognition in described enhancing underwater picture out to obtain Underwater weld seam image；Described eigenvector recognition unit is connected with described image segmentation unit, 8 geometric properties of underwater weld target are determined: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, draw ratio, compactness and main shaft angle based on described Underwater weld seam image, and by described 8 geometric properties composition characteristics vector；Described welding type identification subset is connected with described feature extraction subset, adopt single hidden layer BP neutral net of 8 input 2 outputs, using the 8 of underwater weld target geometric properties as input layer, output layer is underwater weld type, and described underwater weld type includes general type and cannot welds types；Main control device, it is arranged on described underwater human agent, it is connected with described welding type identification subset, when receive described underwater weld type for cannot welds types time, send alarm signal, when receiving described underwater weld type and being general type, determine that electrode holders drive signal according to the relative position of Underwater weld seam image laser image under water.
More specifically, in the described underwater robot processed based on multiple filter: submerged cable, for being connected with jig waterborne by described main control device, described alarm signal is sent to described jig waterborne.
More specifically, in the described underwater robot processed based on multiple filter: described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset are respectively adopted different fpga chips and realize.
More specifically, in the described underwater robot processed based on multiple filter: described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset are integrated on one piece of surface-mounted integrated circuit.
More specifically, in the described underwater robot processed based on multiple filter: described main control device is digital signal processor, and model is the dsp chip of TI company.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the underwater robot processed based on multiple filter illustrated according to an embodiment of the present invention.
Accompanying drawing labelling: 1 underwater human agent；2 laser imaging apparatus；3 weld seam recognition equipment
Detailed description of the invention
Below with reference to accompanying drawings the embodiment based on the underwater robot of multiple filter process of the present invention is described in detail.
Underwater Welding first has to accurately identify position while welding, prior art is generally adopted image recognition mode carry out, but, the shutter control difficulty of current underwater laser images, cause that underwater laser image effect is not good, lack suitable Underwater Navigation equipment and image filtering equipment so that the precision of Underwater Welding is not high simultaneously.
In order to overcome above-mentioned deficiency, the present invention has built a kind of underwater robot processed based on multiple filter, adopt multiple filter mode that image is carried out pretreatment, optimize underwater laser images technology and underwater installation location technology, simultaneously, transformation underwater robot and welding equipment so that automatic welding is possibly realized under water.
Fig. 1 is the block diagram of the underwater robot processed based on multiple filter illustrated according to an embodiment of the present invention, described underwater robot includes underwater human agent, laser imaging apparatus and weld seam recognition equipment, described laser imaging apparatus and described weld seam recognition equipment are all located on described underwater human agent, described laser imaging apparatus is used for shooting underwater laser image, described weld seam recognition equipment is connected with described laser imaging apparatus, for extracting underwater weld feature from described underwater laser image and determining welding type.
Then, continue the concrete structure based on the underwater robot of multiple filter process of the present invention is further detailed.
Described underwater robot also includes: electrode holders, is used for fixing welding rod, and described welding rod is wet method coated electrode, and material is mild steel；Safety switch, its cathode conductor is connected to described electrode holders；Earth clip, is fixed on workpiece to be welded；Electric welding machine, negative pole is connected to described electrode holders, plus earth；Electrode holders drive equipment, are connected with described electrode holders, for driving signal to drive described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders；Electrode holders drive motor, is a direct current generator, drives equipment to provide power to the driving of described electrode holders for described electrode holders.
Described underwater human agent includes support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, mechanical hand, water proof sealing drum, transverse propeller, vertical propeller, longitudinal spiral oar and three direct current generators, described support is for being fixed under water by described underwater human agent, described connecting hoop is fixing with described support to be connected, described storage platform and described mechanical arm are connected respectively with described connecting hoop, described mechanical hand is connected with described mechanical arm, described mechanical arm includes large arm and the forearm being connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical propeller and described longitudinal spiral oar, with by the rotating of propeller, the thrust power of 6 degree of freedom is provided for underwater human agent.
Described underwater robot also includes: portable hard drive, is positioned on described underwater human agent, is used for having prestored the luminance threshold upper limit and luminance threshold lower limit.
Described underwater robot also includes: sonar, is positioned on described underwater human agent, for the submarine target in described underwater human agent front is performed sonar image collection, to obtain sonar image.
Described underwater robot also includes: sonar image processes equipment, it is connected respectively with described sonar and described portable hard drive, including the first detection subset, the second detection subset and object range detection subset, described first detection subset is connected respectively with described sonar and described portable hard drive, is used for adopting luminance threshold upper limit traversal sonar image to be partitioned into core objective region；Described second detection subset detects subset with described first and described portable hard drive is connected respectively, for using the marginal point in described core objective region as seed points, utilize luminance threshold lower limit that the pixel of core objective areas adjacent is carried out brightness judgement, to obtain and to be partitioned into final goal region；Described object range detection subset detects subset with described second and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range.
Described laser imaging apparatus, including laser instrument, detector and microcontroller, the submarine target in described underwater human agent front is given off laser beam by described laser instrument, with when described laser beam is reflexed to described detector by submarine target, it is easy to the shooting of described detector, described microcontroller processes equipment with described sonar image, described laser instrument and described detector connect respectively, based target distance and laser spread speed under water determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector submarine target is shot, to obtain underwater laser image.
Described weld seam recognition equipment includes pretreatment subset, feature extraction subset and welding type identification subset；Described pretreatment subset is connected with described laser imaging apparatus, including medium filtering subset, low-pass filtering subset and homomorphic filtering subset；Described medium filtering subset is connected with described detector, for described underwater laser image is performed medium filtering, to filter the spot noise in described underwater laser image, it is thus achieved that the first filtering image；Described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, it is thus achieved that the second filtering image；Described homomorphic filtering subset is connected with described low-pass filtering subset, for described second filtering image is performed image enhaucament, to obtain enhancing underwater picture；Described feature extraction subset is connected with described pretreatment subset, including image segmentation unit and eigenvector recognition unit, described image segmentation unit based on weld image gray threshold scope by the weld seam target recognition in described enhancing underwater picture out to obtain Underwater weld seam image；Described eigenvector recognition unit is connected with described image segmentation unit, 8 geometric properties of underwater weld target are determined: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, draw ratio, compactness and main shaft angle based on described Underwater weld seam image, and by described 8 geometric properties composition characteristics vector；Described welding type identification subset is connected with described feature extraction subset, adopt single hidden layer BP neutral net of 8 input 2 outputs, using the 8 of underwater weld target geometric properties as input layer, output layer is underwater weld type, and described underwater weld type includes general type and cannot welds types.
Described underwater robot also includes: main control device, it is arranged on described underwater human agent, it is connected with described welding type identification subset, when receive described underwater weld type for cannot welds types time, send alarm signal, when receiving described underwater weld type and being general type, determine that electrode holders drive signal according to the relative position of Underwater weld seam image laser image under water.
Alternatively, in the described underwater robot processed based on multiple filter: submerged cable, for being connected with jig waterborne by described main control device, described alarm signal is sent to described jig waterborne；Described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset are respectively adopted different fpga chips and realize；Described medium filtering subset, described low-pass filtering subset and described homomorphic filtering subset are integrated on one piece of surface-mounted integrated circuit；Described main control device is digital signal processor, and model is the dsp chip of TI company.
It addition, FPGA (Field-ProgrammableGateArray), i.e. field programmable gate array, he is the product of development further on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, has overcome again the shortcoming that original programming device gate circuit number is limited.
With the circuit design that hardware description language (Verilog or VHDL) completes, it is possible to through simple comprehensive and layout, be quickly burned onto on FPGA and test, it it is the technology main flow of modern IC designs checking.These can edit element can be used to realize the combination function such as decoder or mathematical equation of some basic logic gates (such as AND, OR, XOR, NOT) or more more complicated.Inside most FPGA, in these editable elements, also comprise memory cell such as trigger (Flip-flop) or other more complete block of memory.System designer can couple together the logical block within FPGA as desired by editable connection, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after finished product FPGA logical block and connect can change according to designer, so FPGA can complete required logic function.
FPGA in general speed than ASIC (special IC) is slow, it is achieved same function is bigger than ASIC circuit area.But they also have a lot of advantages such as can quick finished product, it is possible to be modified to the mistake in correction program and less expensive cost.Manufacturer is likely to the FPGA of the still edit capability difference that can provide cheap.Because these chips have poor can edit capability, so the exploitation of these designs is to complete on common FPGA, then design is transferred on a chip being similar to ASIC.Another method is with CPLD (ComplexProgrammableLogicDevice, CPLD).The exploitation of the FPGA exploitation relative to tradition PC, main control device has a great difference.FPGA, based on concurrent operation, realizes with hardware description language；Operate compared to the order of PC or main control device (no matter being von Neumann structure or Harvard structure) and have very big difference.
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA includes the Programmadle logic unit of some relatively large amount.The density of CPLD gate is between several thousand to several ten thousand logical blocks, and FPGA usually arrives millions of several ten thousand.The main distinction of CPLD and FPGA is their system structure.CPLD is a somewhat restrictive structure.The depositor that this structure is arranged the locking with some relatively small amounts by the logical groups of one or more editable result sum forms.Such result be a lack of editor motility, but but have it is anticipated that time delay and logical block to connect unit height ratio advantage.And FPGA has a lot of connection unit, although so allowing him edit more flexibly, but structure is complicated many.
Adopt the underwater robot processed based on multiple filter of the present invention, for the technical problem being difficult to automatic Underwater Welding that is special due to underwater environment in prior art and that cause, transform the concrete structure of underwater robot and welding equipment, introducing the electronic assistance aids targetedly of a series of adaptation underwater environment, auxiliary underwater robot adopts welding equipment to be automatically performed Underwater Welding work.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-described embodiment is not limited to the present invention.For any those of ordinary skill in the art, without departing under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above and technical solution of the present invention is made many possible variations and modification, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, all still falls within the scope of technical solution of the present invention protection.
Claims (2)
1. adopting the method that underwater robot carries out automatic welding under water, the method includes:
1) a kind of underwater robot processed based on multiple filter is provided, for automatic welding under water, described underwater robot includes underwater human agent, laser imaging apparatus and weld seam recognition equipment, described laser imaging apparatus and described weld seam recognition equipment are all located on described underwater human agent, described laser imaging apparatus is used for shooting underwater laser image, described weld seam recognition equipment is connected with described laser imaging apparatus, for extracting underwater weld feature from described underwater laser image and determining welding type；
2) described underwater robot is run.
2. the method for claim 1, it is characterised in that described underwater robot also includes:
Electrode holders, are used for fixing welding rod, and described welding rod is wet method coated electrode, and material is mild steel；
Safety switch, its cathode conductor is connected to described electrode holders；
Earth clip, is fixed on workpiece to be welded；
Electric welding machine, negative pole is connected to described electrode holders, plus earth；
Electrode holders drive equipment, are connected with described electrode holders, for driving signal to drive described electrode holders to go to the position while welding of workpiece to be welded according to electrode holders；
Electrode holders drive motor, is a direct current generator, drives equipment to provide power to the driving of described electrode holders for described electrode holders；
Described underwater human agent includes support, left pressure gram transparent tube, right pressure gram transparent tube, connecting hoop, storage platform, mechanical arm, mechanical hand, water proof sealing drum, transverse propeller, vertical propeller, longitudinal spiral oar and three direct current generators, described support is for being fixed under water by described underwater human agent, described connecting hoop is fixing with described support to be connected, described storage platform and described mechanical arm are connected respectively with described connecting hoop, described mechanical hand is connected with described mechanical arm, described mechanical arm includes large arm and the forearm being connected with large arm, described three direct current generators drive described transverse propeller respectively, described vertical propeller and described longitudinal spiral oar, with by the rotating of propeller, the thrust power of 6 degree of freedom is provided for underwater human agent；
Portable hard drive, is positioned on described underwater human agent, is used for having prestored the luminance threshold upper limit and luminance threshold lower limit；
Sonar, is positioned on described underwater human agent, for the submarine target in described underwater human agent front is performed sonar image collection, to obtain sonar image；
Sonar image processes equipment, it is connected respectively with described sonar and described portable hard drive, including the first detection subset, the second detection subset and object range detection subset, described first detection subset is connected respectively with described sonar and described portable hard drive, is used for adopting luminance threshold upper limit traversal sonar image to be partitioned into core objective region；Described second detection subset detects subset with described first and described portable hard drive is connected respectively, for using the marginal point in described core objective region as seed points, utilize luminance threshold lower limit that the pixel of core objective areas adjacent is carried out brightness judgement, to obtain and to be partitioned into final goal region；Described object range detection subset detects subset with described second and is connected, and the central point calculating final goal region detects the distance of initial point to sonar image and exports as target range；
Described laser imaging apparatus, including laser instrument, detector and microcontroller, the submarine target in described underwater human agent front is given off laser beam by described laser instrument, with when described laser beam is reflexed to described detector by submarine target, it is easy to the shooting of described detector, described microcontroller processes equipment with described sonar image, described laser instrument and described detector connect respectively, based target distance and laser spread speed under water determines the gating time of described detector shutter, and when gating time arrives, the shutter of detector described in gating, trigger described detector submarine target is shot, to obtain underwater laser image；
Described weld seam recognition equipment includes pretreatment subset, feature extraction subset and welding type identification subset；
Described pretreatment subset is connected with described laser imaging apparatus, including medium filtering subset, low-pass filtering subset and homomorphic filtering subset；Described medium filtering subset is connected with described detector, for described underwater laser image is performed medium filtering, to filter the spot noise in described underwater laser image, it is thus achieved that the first filtering image；Described low-pass filtering subset is connected with described medium filtering subset, for removing the random noise in described first filtering image, it is thus achieved that the second filtering image；Described homomorphic filtering subset is connected with described low-pass filtering subset, for described second filtering image is performed image enhaucament, to obtain enhancing underwater picture；
Described feature extraction subset is connected with described pretreatment subset, including image segmentation unit and eigenvector recognition unit, described image segmentation unit based on weld image gray threshold scope by the weld seam target recognition in described enhancing underwater picture out to obtain Underwater weld seam image；Described eigenvector recognition unit is connected with described image segmentation unit, 8 geometric properties of underwater weld target are determined: Euler's hole count, circularity, angle point number, convex-concave degree, smoothness, draw ratio, compactness and main shaft angle based on described Underwater weld seam image, and by described 8 geometric properties composition characteristics vector；
Described welding type identification subset is connected with described feature extraction subset, adopt single hidden layer BP neutral net of 8 input 2 outputs, using the 8 of underwater weld target geometric properties as input layer, output layer is underwater weld type, and described underwater weld type includes general type and cannot welds types；
Main control device, it is arranged on described underwater human agent, it is connected with described welding type identification subset, when receive described underwater weld type for cannot welds types time, send alarm signal, when receiving described underwater weld type and being general type, determine that electrode holders drive signal according to the relative position of Underwater weld seam image laser image under water；
Submerged cable, for being connected with jig waterborne by described main control device, is sent to described jig waterborne by described alarm signal；
Described main control device is digital signal processor, and model is the dsp chip of TI company.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610308004.5A CN105728975A (en) | 2015-08-04 | 2015-08-04 | Method for performing underwater automatic welding by using underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610308004.5A CN105728975A (en) | 2015-08-04 | 2015-08-04 | Method for performing underwater automatic welding by using underwater robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510471346.4A Division CN104999201B (en) | 2015-08-04 | 2015-08-04 | A kind of method using underwater robot to carry out automatic welding under water |
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| CN105728975A true CN105728975A (en) | 2016-07-06 |
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Application publication date: 20160706 |