CN110871315A - Crawling arc welding robot and safety detection method and device thereof - Google Patents
Crawling arc welding robot and safety detection method and device thereof Download PDFInfo
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- 230000009193 crawling Effects 0.000 title claims abstract description 67
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- 238000007689 inspection Methods 0.000 claims description 8
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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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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Abstract
The invention discloses a crawling arc welding robot and a safety detection method and device thereof, wherein at least one first radar is arranged on a welding gun of the crawling arc welding robot, and the method comprises the following steps: identifying whether the welding gun has an intention of welding reversing; if the welding reversing intention exists, controlling at least one first radar to scan whether a first obstacle exists in a path to be welded or not; and if the path to be welded has the first obstacle, alarming. The method can give an alarm when the welding gun has the intention of welding reversing and the welding seam path has obstacles, so that the safety during welding is improved and the potential safety hazard is eliminated.
Description
Technical Field
The invention relates to the field of arc welding robot control, in particular to a crawling arc welding robot, and a safety detection method and device of the crawling arc welding robot.
Background
With the continuous development of science and technology and the introduction of information technology, computer technology and artificial intelligence technology, the research on the crawling arc welding robot gradually goes out of the industrial field and gradually expands to the fields of medical treatment, health care, families, entertainment, service industry and the like. The demand for the crawling arc welding robot is also raised from simple and repetitive mechanical actions to a crawling arc welding robot with high intelligence, autonomy and interaction with other agents. The crawling arc welding robot is widely applied due to strong flexibility and good economical efficiency.
In the related art, if the crawling arc welding robot encounters an obstacle in the welding reversing process, the welding effect is affected, even the welding fails, even more, a common safety accident is caused, great potential safety hazards are generated, an effective solution is not proposed at present, and urgent solution is needed.
Disclosure of Invention
The embodiment of the invention provides a crawling arc welding robot and a safety detection method and device of the crawling arc welding robot, and aims to at least solve the technical problems that in the prior art, when a welding gun has a welding reversing intention and a path to be welded has an obstacle, an alarm cannot be given in time.
According to an aspect of an embodiment example of the present invention, there is provided a safety inspection method of a crawling arc welding robot having at least one first radar provided on a welding gun thereof, the method including the steps of: identifying whether a welding reversing intention exists in the welding gun; if the welding reversing intention exists, controlling the at least one first radar to scan whether a first obstacle exists in a path to be welded or not; and if the first obstacle exists in the path to be welded, alarming.
Further, the safety detection method of the crawling arc welding robot of the invention is characterized in that at least one second radar is arranged on the vehicle body of the crawling arc welding robot, and the method further comprises the following steps: identifying whether the vehicle body has a driving steering intention; if the driving steering intention exists, controlling the at least one second radar to scan whether a second obstacle exists on the target driving route; and if the second obstacle exists in the driving route, giving an alarm.
Further, the safety detection method for the crawling arc welding robot of the invention, which identifies whether the welding gun has the welding reversing intention, further comprises the following steps: acquiring a welding route of the welding gun; and judging whether the welding reversing intention exists or not according to the welding route.
Further, the safety detection method for the crawling arc welding robot of the present invention, which identifies whether there is a driving steering intention in the vehicle body, further comprises: acquiring a driving route of the vehicle body; and judging whether the driving steering intention exists or not according to the driving route.
Further, the safety detection method of the crawling arc welding robot of the invention further comprises the following steps: acquiring the running state of the crawling arc welding robot, wherein the running state comprises a running track and a running progress; judging whether the running state meets a target state; and if the target state is not met, alarming.
According to an aspect of an embodiment example of the present invention, there is provided a safety detection apparatus of a crawling arc welding robot, at least one first radar provided on a welding gun of the crawling arc welding robot, the apparatus including: the first identification module is used for identifying whether the welding gun has an intention of welding reversing; the first control module is used for controlling the at least one first radar to scan whether a first obstacle exists in a path to be welded or not when the welding reversing intention exists; and the first alarm module is used for giving an alarm when the first barrier exists in the path to be welded.
Further, the safety detection apparatus for a crawling arc welding robot of the present invention is characterized in that at least one second radar is disposed on a vehicle body of the crawling arc welding robot, and the apparatus further comprises: the second identification module is used for identifying whether the vehicle body has driving steering intention; the second control module is used for controlling whether a second obstacle exists on the at least one second radar scanning target driving route or not when the driving steering intention exists; and the second alarm module is used for giving an alarm when the second barrier exists on the driving route.
Further, the safety inspection apparatus of a crawling arc welding robot of the present invention, the first recognition module includes: a first acquisition unit for acquiring a welding route of the welding gun; and the first judgment unit is used for judging whether the welding reversing intention exists according to the welding route.
Further, the safety inspection apparatus of a crawling arc welding robot of the present invention, the second recognition module includes: the second acquisition unit is used for acquiring a driving route of the vehicle body; and the second judging unit is used for judging whether the driving steering intention exists or not according to the driving route.
According to another aspect of the embodiments of the present invention, there is also provided a crawling arc welding robot including the safety detecting apparatus of the crawling arc welding robot.
In the embodiment of the invention, the technical problems that in the prior art, when the welding gun has the welding reversing intention, the welding gun cannot give an alarm in time when the welding gun has the welding reversing intention and the path to be welded has the obstacle are solved by identifying whether the welding gun has the welding reversing intention and controlling at least one first radar to scan whether the path to be welded has the first obstacle or not and giving an alarm when the path to be welded has the first obstacle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a safety inspection method of a crawling arc welding robot according to an embodiment of the present invention;
FIG. 2 is a left side view of a crawling arc welding robot according to an embodiment of the present invention;
FIG. 3 is a flow chart of another safety detection method of a crawling arc welding robot according to an embodiment of the present invention;
FIG. 4 is a flowchart of yet another safety detection method of a crawling arc welding robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a safety inspection apparatus of a crawling arc welding robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a safety detection method for a crawling arc welding robot, it is noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a safety inspection method of a crawling arc welding robot according to an embodiment of the present invention.
As shown in fig. 2, the creeping arc welding robot structure according to the embodiment of the present invention includes: the welding line tracking device comprises a walking trolley 1, a mechanical arm 2, a welding gun 3, a welding line tracking sensor 4, a lifting joint 201, a telescopic joint 202 for realizing horizontal adjustment, and a rotary joint 203 for adjusting the detection direction of the welding line tracking sensor, wherein when the welding line turns, the telescopic joint can be adjusted in advance before the walking trolley 1 does not turn, so that the welding line tracking sensor 4 can be always positioned at the position for monitoring the welding line and the target is not lost. In addition, the wheels in the walking trolley can adopt mechanisms such as differential or guide wheels to realize the integral steering of the robot.
In this embodiment, at least one first radar is provided on a welding gun of the creeping arc welding robot, as shown in fig. 1, the method includes the steps of:
and step S101, identifying whether the welding gun has an intention of welding reversing.
Specifically, the welding torch is a part for performing a welding operation during welding, and is a tool for gas welding, shaped like a torch, having a nozzle at a front end, and emitting a high-temperature flame as a heat source. It is flexible, convenient and fast to use, and simple in process. Generally, a welding gun cannot always weld on a straight line, reversing welding is often needed, and in the reversing welding process of the welding gun, if an obstacle exists, welding of the welding gun is greatly influenced, even safety accidents occur, so that whether the welding gun has an intention of welding reversing needs to be firstly identified.
In an alternative embodiment, identifying whether the welding gun has the welding reversal intention further comprises: acquiring a welding route of a welding gun; and judging whether a welding reversing intention exists or not according to the welding route.
Specifically, a current welding route of the welding gun can be acquired through a video acquisition device (such as a camera) to obtain an image of the welding route, and then the image of the welding route is identified, so that whether the welding intention exists or not is judged according to the identified image of the welding route. Therefore, whether the welding gun has the welding reversing intention or not can be effectively identified, and the identification accuracy is improved.
In another alternative embodiment, the rotational angle information of the welding gun may also be identified to determine that the welding gun has an intention to weld turn based on the rotational angle information of the welding gun. Specifically, the turning angle information of the welding gun can be determined by judging that the duration of the welding gun in the turning state exceeds the preset duration, and when the duration exceeds the preset duration, the welding reversing intention is triggered and determined. That is to say, when the fact that the anticlockwise rotation operation of the welding gun exists and the duration of the steering state of the welding gun exceeds the preset duration t is detected through the corner sensor, the corner information of the welding gun is generated; in a similar way, when the fact that the clockwise rotation operation of the welding gun exists and the duration of the steering state of the welding gun exceeds the preset duration t is detected through the corner sensor, the corner information of the welding gun is generated, and then the welding gun is identified to have the welding reversing intention according to the corner information, so that the identification accuracy is further improved.
It should be noted that the above two ways of obtaining the rotation angle information are only exemplary, and are not intended to be specific limitations of the present invention, and a person skilled in the art may also obtain the rotation angle information of the welding gun by other technical means, and the details thereof will not be described herein.
Step S102, if the welding reversing intention exists, controlling at least one first radar to scan whether a first obstacle exists in a path to be welded.
Specifically, after the welding gun is determined to have the welding reversing intention, whether a first obstacle exists in the path to be welded or not can be scanned through a first radar on the welding gun. The first radar can be a millimeter wave radar, the millimeter wave refers to an electromagnetic wave with the wavelength of 1-10 mm, the millimeter wave radar refers to a radar working in a millimeter wave band, and the wavelength of the millimeter wave is between a centimeter wave and a light wave, so that the millimeter wave has the advantages of microwave guidance and photoelectric guidance, and the characteristics of the millimeter wave determine the characteristics of small size, light weight and the like of a millimeter wave radar sensor device, so that the millimeter wave radar has great advantages in the aspect of robot application.
Preferably, in one embodiment of the present invention, the radar may be plural.
And step S103, if the path to be welded has the first obstacle, alarming.
In particular, the alarm may be provided by an optical display device (e.g., a warning light) and an acoustic reminding device (e.g., a warning horn) to remind the relevant technician.
Specifically, when a first obstacle exists in a path to be welded, optical reminding can be performed by controlling the optical display device, acoustic reminding can be performed by controlling the acoustic reminding device, or the optical display device and the acoustic reminding device are controlled to alarm at the same time, so that related technicians are reminded.
For example, the reminding mode can be various, when a first barrier exists on the path to be welded, the optical reminding device can be controlled to emit flickering light, the aim of multi-directional reminding is achieved, and the warning effect on related technicians is achieved; the acoustic reminding device can also be controlled to emit a "drip" sound or to voice prompt "there is an obstacle, please note! "etc., it should be noted that the above-mentioned setting manner is only illustrative, and those skilled in the art can set the setting according to the actual situation, and the setting is not limited in detail here.
Further, in the safety detection method of the crawling arc welding robot according to the present invention, at least one second radar is disposed on the vehicle body of the crawling arc welding robot, as shown in fig. 3, the method further includes:
and S301, identifying whether the vehicle body has a driving steering intention.
In an optional embodiment, identifying whether the vehicle body has a driving steering intention further comprises: acquiring a driving route of a vehicle body; and judging whether a driving steering intention exists or not according to the driving route.
Specifically, the current driving route of the vehicle body can be collected through a video collecting device (such as a camera) to obtain an image of the driving route, and then the image of the driving route is identified, so that whether the vehicle body has driving steering intention or not is judged according to the identified driving route. Therefore, whether the vehicle body has the driving steering intention or not can be effectively identified, and the identification accuracy is improved.
In another alternative embodiment, the turning angle information of the vehicle body can be further identified so as to determine that the vehicle body has the driving steering intention according to the turning angle information of the vehicle body. Specifically, the turning angle information of the vehicle body can be determined by judging that the duration of the vehicle body in the turning state exceeds the preset duration, and when the duration exceeds the preset duration, the driving turning intention is triggered and determined. That is to say, when the fact that the anticlockwise rotation operation of the vehicle body exists and the duration of the steering state of the vehicle body exceeds the preset duration t is detected through the corner sensor, the corner information of the vehicle body is generated; in a similar way, when the fact that the clockwise rotation operation of the vehicle body exists and the duration of the steering state of the vehicle body exceeds the preset duration t is detected through the corner sensor, the corner information of the vehicle body is generated, and then the fact that the driving steering intention of the vehicle body exists is determined according to the corner information, so that the accuracy of recognition is further improved.
S302, if the driving steering intention exists, controlling at least one second radar to scan whether a second obstacle exists on the target driving route.
And S303, if the driving route has a second obstacle, giving an alarm.
Specifically, after it is determined that the vehicle body has the driving steering intention, whether a second obstacle exists on the target driving route or not may be scanned by a second radar on the vehicle body, and an alarm may be given when the second obstacle exists on the driving route, where the alarm may be given by the optical display device (e.g., a warning lamp) and the acoustic reminding device (e.g., a warning horn), and details are not repeated herein in order to reduce redundancy.
Further, the safety detection method of the crawling arc welding robot of the present invention, as shown in fig. 4, further includes the following steps:
s401, obtaining the running state of the crawling arc welding robot, wherein the running state comprises a running track and a running progress.
S402, judging whether the running state meets the target state.
And S403, if the target state is not met, alarming.
It can be understood that the operation track and the operation progress of the crawling arc welding robot can be acquired through a sensor. For example, if the operation track of the crawling arc welding robot is not consistent with the target track, it indicates that the crawling arc welding robot performs derailment operation, and the crawling arc welding robot needs to be controlled to stop operating and alarm to remind relevant technicians; if the operation progress of the crawling arc welding robot is inconsistent with the operation progress in the preset time, the crawling arc welding robot also has certain faults and needs to be overhauled, and then an alarm can be given to remind relevant technicians. Therefore, the safety of the crawling arc welding robot is greatly improved, and the intelligence of the crawling arc welding robot is further improved.
According to the safety detection method of the crawling arc welding robot provided by the embodiment of the invention, whether a welding gun has an intention of welding reversing can be identified, and when the welding gun has the intention of welding reversing, at least one first radar is controlled to scan whether a first obstacle exists in a path to be welded, and when the first obstacle exists in the path to be welded, an alarm is given, so that the safety of the crawling arc welding robot during welding is effectively improved, and potential safety hazards are eliminated.
Example 2
According to the embodiment of the invention, the embodiment of the safety detection device of the crawling arc welding robot is also provided.
Fig. 5 is a schematic structural view of a safety detecting apparatus of a crawling arc welding robot according to an embodiment of the present invention. In this embodiment, at least one first radar is provided on a welding gun of the crawling arc welding robot, and as shown in fig. 5, the apparatus includes: a first identification module 100, a first control module 200 and a first alarm module 300.
The first identification module 100 is used for identifying whether the welding gun has an intention of welding reversing. The first control module 200 is used for controlling at least one first radar to scan whether a first obstacle exists in a path to be welded when a welding reversing intention exists. The first alarm module 300 is used for giving an alarm when a first obstacle exists on a path to be welded.
It should be noted that the first identification module 100, the first control module 200, and the first alarm module 300 correspond to steps S101 to S103 in embodiment 1, and the three modules are the same as the corresponding steps in the implementation example and application scenario, but are not limited to the disclosure in embodiment 1.
In an alternative embodiment, at least one second radar is provided on the vehicle body of the crawling arc welding robot, and the apparatus further comprises: a second identification module, a second control module and a second alarm module (not specifically identified in the figure). The second identification module is used for identifying whether the vehicle body has driving steering intention or not. The second control module is used for controlling at least one second radar to scan whether a second obstacle exists on the target driving route or not when driving steering intention exists. The second alarm module is used for giving an alarm when a second obstacle exists on the driving route.
In an alternative embodiment, the first identification module 100 comprises: the device comprises a first acquisition unit and a first judgment unit. The first acquisition unit is used for acquiring a welding route of the welding gun. The first judging unit is used for judging whether a welding reversing intention exists according to the welding route.
In an alternative embodiment, the second identification module comprises: a first obtaining unit and a second judging unit. The second acquisition unit is used for acquiring a driving route of the vehicle body; the second judging unit is used for judging whether the driving steering intention exists or not according to the driving route.
According to the safety detection device for the arc welding robot, provided by the embodiment of the invention, the first identification module can be used for identifying whether the welding gun has the welding reversing intention, the first control module is used for controlling the at least one first radar to scan whether the first obstacle exists in the path to be welded when the welding gun has the welding reversing intention, and the first alarm module is used for giving an alarm when the first obstacle exists in the path to be welded, so that the safety of the crawling arc welding robot during welding is effectively improved, and the potential safety hazard is eliminated.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a crawling arc-welding robot including the safety detecting apparatus of the crawling arc-welding robot described above. The crawling arc welding robot can identify whether a welding gun has an intention of welding reversing, and when the welding gun has the intention of welding reversing, at least one first radar is controlled to scan whether a first barrier exists in a path of a to-be-welded seam, and when the first barrier exists in the path of the to-be-welded seam, an alarm is given, so that the safety of the crawling arc welding robot during welding is effectively improved, and potential safety hazards are eliminated.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-only memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A safety detection method of a crawling arc welding robot is characterized in that at least one first radar is arranged on a welding gun of the crawling arc welding robot, and the method comprises the following steps:
identifying whether a welding reversing intention exists in the welding gun;
if the welding reversing intention exists, controlling the at least one first radar to scan whether a first obstacle exists in a path to be welded or not; and
and if the first obstacle exists in the path to be welded, giving an alarm.
2. The method of claim 1, wherein at least one second radar is disposed on a vehicle body of the crawling arc welding robot, the method further comprising:
identifying whether the vehicle body has a driving steering intention;
if the driving steering intention exists, controlling the at least one second radar to scan whether a second obstacle exists on the target driving route;
and if the second obstacle exists in the driving route, giving an alarm.
3. The method of claim 1 or 2, wherein the identifying whether the welding gun has a welding reversal intent further comprises:
acquiring a welding route of the welding gun;
and judging whether the welding reversing intention exists or not according to the welding route.
4. The method of claim 2, wherein the identifying whether the vehicle body has a driving steering intent further comprises:
acquiring a driving route of the vehicle body;
and judging whether the driving steering intention exists or not according to the driving route.
5. The method of any one of claims 1-4, further comprising:
acquiring the running state of the crawling arc welding robot, wherein the running state comprises a running track and a running progress;
judging whether the running state meets a target state;
and if the target state is not met, alarming.
6. A safety inspection apparatus of a crawling arc welding robot, characterized by at least one first radar provided on a welding gun of the crawling arc welding robot, the apparatus comprising:
the first identification module is used for identifying whether the welding gun has an intention of welding reversing;
the first control module is used for controlling the at least one first radar to scan whether a first obstacle exists in a path to be welded or not when the welding reversing intention exists; and
and the first alarm module is used for giving an alarm when the first barrier exists in the path to be welded.
7. The apparatus of claim 6, wherein at least one second radar is provided on a vehicle body of the crawling arc welding robot, the apparatus further comprising:
the second identification module is used for identifying whether the vehicle body has driving steering intention;
the second control module is used for controlling whether a second obstacle exists on the at least one second radar scanning target driving route or not when the driving steering intention exists;
and the second alarm module is used for giving an alarm when the second barrier exists on the driving route.
8. The apparatus of claim 6, wherein the first identification module comprises:
a first acquisition unit for acquiring a welding route of the welding gun;
and the first judgment unit is used for judging whether the welding reversing intention exists according to the welding route.
9. The apparatus of claim 6, wherein the second identification module comprises:
the second acquisition unit is used for acquiring a driving route of the vehicle body;
and the second judging unit is used for judging whether the driving steering intention exists or not according to the driving route.
10. A crawling arc welding robot, comprising: the safety inspection device of the crawling arc welding robot according to any one of claims 6 to 9.
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| CN201811019266.5A CN110871315A (en) | 2018-09-03 | 2018-09-03 | Crawling arc welding robot and safety detection method and device thereof |
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| CN201811019266.5A CN110871315A (en) | 2018-09-03 | 2018-09-03 | Crawling arc welding robot and safety detection method and device thereof |
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