{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T18:02:35Z","timestamp":1777053755663,"version":"3.51.4"},"reference-count":28,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2022,11,6]],"date-time":"2022-11-06T00:00:00Z","timestamp":1667692800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Nature Science Foundation of China","award":["51875246"],"award-info":[{"award-number":["51875246"]}]},{"name":"National Nature Science Foundation of China","award":["20210201056GX"],"award-info":[{"award-number":["20210201056GX"]}]},{"name":"National Nature Science Foundation of China","award":["JJKH20200954KJ"],"award-info":[{"award-number":["JJKH20200954KJ"]}]},{"name":"Key Scientific and Technological Research and Development Projects of Jilin Provincial Science and Technology Department","award":["51875246"],"award-info":[{"award-number":["51875246"]}]},{"name":"Key Scientific and Technological Research and Development Projects of Jilin Provincial Science and Technology Department","award":["20210201056GX"],"award-info":[{"award-number":["20210201056GX"]}]},{"name":"Key Scientific and Technological Research and Development Projects of Jilin Provincial Science and Technology Department","award":["JJKH20200954KJ"],"award-info":[{"award-number":["JJKH20200954KJ"]}]},{"name":"\u201c13th Five Year Plan\u201d Science and Technology Research of the Education Department of Jilin Province","award":["51875246"],"award-info":[{"award-number":["51875246"]}]},{"name":"\u201c13th Five Year Plan\u201d Science and Technology Research of the Education Department of Jilin Province","award":["20210201056GX"],"award-info":[{"award-number":["20210201056GX"]}]},{"name":"\u201c13th Five Year Plan\u201d Science and Technology Research of the Education Department of Jilin Province","award":["JJKH20200954KJ"],"award-info":[{"award-number":["JJKH20200954KJ"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Real-time tracking welding with the assistance of structured light vision enhances the intelligence of robotic welding, which significantly shortens teaching time and guarantees accuracy for user-customized product welding. However, the robustness of most image processing algorithms is deficient during welding practice, and the security regime for tracking welding is not considered in most trajectory recognition and control algorithms. For these two problems, an adaptive feature extraction algorithm was proposed, which can accurately extract the seam center from the continuous, discontinuous or fluctuating laser stripes identified and located by the CNN model, while the prior model can quickly remove a large amount of noise and interference except the stripes, greatly improving the extraction accuracy and processing speed of the algorithm. Additionally, the embedded Pauta criterion was used to segmentally process the center point data stream and to cyclically eliminate outliers and further ensure the accuracy of the welding reference point. Experimental results showed that under the guarantee of the above-mentioned seam center point extraction and correction algorithms, the tracking average error was 0.1 mm, and even if abnormal trajectory points existed, they did not cause welding torch shaking, system interruption or other accidents.<\/jats:p>","DOI":"10.3390\/s22218546","type":"journal-article","created":{"date-parts":[[2022,11,7]],"date-time":"2022-11-07T03:02:22Z","timestamp":1667790142000},"page":"8546","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Research on Trajectory Recognition and Control Technology of Real-Time Tracking Welding"],"prefix":"10.3390","volume":"22","author":[{"given":"Xiaohui","family":"Zhao","sequence":"first","affiliation":[{"name":"Key Laboratory of Automobile Materials, School of Materials Science and Engineering, Jilin University, Changchun 130025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yaowen","family":"Zhang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Automobile Materials, School of Materials Science and Engineering, Jilin University, Changchun 130025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hao","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Automobile Materials, School of Materials Science and Engineering, Jilin University, Changchun 130025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bao","family":"Zhang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Solidification Control and Digital Preparation Technology (Liaoning Province), School of Materials Science and Engineering, Dalian University of Technology, Dalian 116024, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaoyang","family":"Hu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Automobile Materials, School of Materials Science and Engineering, Jilin University, Changchun 130025, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2059","DOI":"10.1007\/s00170-018-2574-9","article-title":"Precise initial weld position identification of a fillet weld seam using laser vision technology","volume":"99","author":"Liu","year":"2018","journal-title":"Int. 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