CN111086000B - Welding seam locating method and device, computer equipment and storage medium - Google Patents
Welding seam locating method and device, computer equipment and storage medium Download PDFInfo
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- CN111086000B CN111086000B CN201911355983.XA CN201911355983A CN111086000B CN 111086000 B CN111086000 B CN 111086000B CN 201911355983 A CN201911355983 A CN 201911355983A CN 111086000 B CN111086000 B CN 111086000B
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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
- B25J9/16—Programme controls
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- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The embodiment of the invention discloses a welding seam locating method, a welding seam locating device, computer equipment and a storage medium, wherein the welding seam locating method comprises the following steps: acquiring scanning data information, wherein the scanning data information is data acquired when the robot scans a welding seam path through a point laser sensor; determining spot curve information according to the scanning data information, wherein the spot curve information is a position information set of spots formed on the surface of a target workpiece by the point laser sensor; and determining the position information of the target welding seam according to the light spot curve information. The scheme of the embodiment of the invention is not only suitable for locating the linear welding seam, but also suitable for locating the curved welding seam, can support any type of welding seam, including corner joint, lap joint, splicing and the condition that no side plate exists at the starting point or the end point, has wider applicable welding seam type and increases the application range of locating. Meanwhile, the labor cost can be reduced, and complete automatic welding is realized.
Description
Technical Field
The invention relates to the technical field of electromechanical integration, in particular to a welding seam locating method and device, computer equipment and a storage medium.
Background
In the process of carrying out robot automatic welding, a workpiece and a theoretical model are different, or the position of the workpiece is put with errors, so that teaching is required to be carried out before each welding.
By using the position finding technology, the errors can be corrected on site, the teaching of each type of welding line is realized only once, and the actual welding line position can be directly obtained in a position finding mode on the welding of the following workpieces of the same type.
At present, the welding seam locating is mainly realized by a welding wire high-pressure locating mode, but the locating method has the following problems:
the method is only suitable for fillet welds, thick plate lap welds and splicing welds with V-shaped grooves, and side plates must exist at the starting points or the end points of the welds; the surface of the workpiece needs to be free of rust, oxide layers, paint or other insulating coatings; gun cleaning and thread cutting are required before position finding; the starting point or the end point is not supported by a welding seam formed by three surfaces; the welding wire position searching speed is low, the gun cleaning and wire cutting are needed, and the time for searching the common welding wire is about 40% of the welding time; only straight welds are supported.
Disclosure of Invention
The embodiment of the invention can provide a welding seam locating method, a welding seam locating device, computer equipment and a storage medium which are suitable for various welding seams and can improve the welding seam locating efficiency.
In order to solve the above technical problem, the embodiment of the present invention adopts a technical solution that: the welding seam locating method comprises the following steps:
acquiring scanning data information, wherein the scanning data information is data acquired when a robot scans a welding seam path through a point laser sensor;
determining spot curve information according to the scanning data information, wherein the spot curve information is a position information set of spots formed on the surface of a target workpiece by the point laser sensor;
and determining the position information of the target welding seam according to the light spot curve information.
Optionally, the step of acquiring the scan data information is preceded by the steps of:
acquiring scanning path information, wherein the scanning path information is a moving path of the point laser sensor when scanning the target weld joint;
sending the scanning path information to the robot to drive the robot to carry the point laser sensor to scan the target welding line;
and collecting the joint point numerical value of the robot and the numerical value of the point laser sensor in the scanning process, and packaging to generate the scanning data information.
Optionally, the scan data information includes joint point values of joints of the robot during the scanning process, and the step of determining the spot curve information according to the scan data information includes the following steps:
determining the position information of the emitting end of the point laser sensor according to the joint point numerical value;
determining light spot coordinate data according to the position information of the emitting end, wherein the light spot coordinate data is the position coordinate value of a light spot formed on the surface of the target workpiece by the point laser sensor;
and determining the light spot curve information according to the light spot coordinate data.
Optionally, the step of determining the spot curve information according to the spot coordinate data includes the steps of:
acquiring coordinate data of all light spot points determined according to the scanning data information;
defining the set of spot coordinate data as the spot profile information.
Optionally, the step of determining the coordinate data of the light spot according to the position information of the emitting end includes the following steps:
acquiring voltage data of the point laser sensor;
determining distance information according to the voltage data, wherein the distance information is the distance from the transmitting end of the point laser sensor to a light spot on the surface of a target workpiece;
and determining the coordinates of the light spot points according to the distance information and the transmitting end position information.
Optionally, the step of determining the position information of the target weld according to the spot curve information includes the following steps:
calculating the characteristic point coordinates of the target welding line under the coordinate system of the robot according to a preset characteristic point algorithm and the light spot curve information;
and determining the position information of the target welding seam according to the characteristic point coordinates.
Optionally, the step of calculating the feature point coordinates of the target weld joint in the coordinate system of the robot according to a preset feature point algorithm and the light spot curve information includes the following steps:
judging the data type of the light spot curve information;
searching a characteristic point algorithm having a mapping relation with the data type;
and calculating the coordinates of the characteristic points according to the characteristic point algorithm.
In order to solve the above technical problem, an embodiment of the present invention further provides a welding seam locating device, including:
the acquisition module is used for acquiring scanning data information, wherein the scanning data information is data acquired when the robot scans a welding seam path through the point laser sensor;
the processing module is used for determining spot curve information according to the scanning data information, wherein the spot curve information is a position information set of spots formed on the surface of a target workpiece by the point laser sensor;
and the execution module is used for determining the position information of the target welding seam according to the light spot curve information.
Optionally, the weld locating device further includes:
the first acquisition submodule is used for acquiring scanning path information, wherein the scanning path information is a moving path when the point laser sensor scans the target welding seam;
the first sending submodule is used for sending the scanning path information to the robot so as to drive the robot to carry the point laser sensor to scan the target welding seam;
and the first acquisition submodule is used for acquiring the joint point numerical value of the robot and the numerical value of the point laser sensor in the scanning process, and packaging to generate the scanning data information.
Optionally, the welding seam locating device further includes:
the first processing submodule is used for determining the position information of the transmitting end of the point laser sensor according to the joint point numerical value;
the second processing submodule is used for determining light spot coordinate data according to the position information of the transmitting end, wherein the light spot coordinate data are position coordinate values of light spots formed on the surface of the target workpiece by the point laser sensor;
and the third processing submodule is used for determining the light spot curve information according to the light spot point coordinate data.
Optionally, the weld locating device further includes:
the second acquisition sub-module is used for acquiring coordinate data of all the light spot points determined according to the scanning data information;
and the first definition submodule is used for defining the set of the light spot point coordinate data as the light spot curve information.
Optionally, the welding seam locating device further includes:
the third acquisition submodule is used for acquiring voltage data of the point laser sensor;
the fourth processing submodule is used for determining distance information according to the voltage data, wherein the distance information is the distance from the transmitting end of the point laser sensor to a light spot on the surface of a target workpiece;
and the fifth processing submodule is used for determining the coordinates of the light spot points according to the distance information and the position information of the transmitting end.
Optionally, the weld locating device further includes:
the sixth processing submodule is used for calculating the characteristic point coordinates of the target welding line under the coordinate system of the robot according to a preset characteristic point algorithm and the light spot curve information;
and the eighth processing submodule is used for determining the position information of the target welding seam according to the characteristic point coordinates.
Optionally, the weld locating device further includes:
the first judgment submodule is used for judging the data type of the light spot curve information;
the first searching sub-module is used for searching a characteristic point algorithm having a mapping relation with the data type;
and the ninth processing submodule is used for calculating the characteristic point coordinates according to the characteristic point algorithm.
In order to solve the above technical problem, an embodiment of the present invention further provides a computer device, including a memory and a processor, where the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, cause the processor to execute the steps of the weld locating method described above.
In order to solve the above technical problem, an embodiment of the present invention further provides a storage medium storing computer readable instructions, which when executed by one or more processors, cause the one or more processors to perform the steps of the weld locating method.
The embodiment of the invention has the beneficial effects that: the spot laser sensor is used for scanning the welding line, and then the position information of the welding line is obtained through calculation according to the collected light spot curve so as to assign the value to the robot, so that the problem that the position searching of the welding wire of the workpiece surface coating cannot be supported is solved, and the position searching efficiency is effectively improved. The scheme of the embodiment of the invention is not only suitable for locating the linear welding seam, but also suitable for locating the curved welding seam, can support any type of welding seam, including corner joint, lap joint, splicing and the condition that no side plate exists at the starting point or the end point, has wider applicable welding seam type and increases the application range of locating. The laser positioning mode can reduce labor cost and realize complete automatic welding.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a basic flow chart of a weld locating method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating the process of collecting scan data information according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a process of calculating light spot data according to joint point data according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating the process of determining the spot profile information according to the embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating the process of determining coordinates of a light spot according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating the process of determining the target weld position information according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart illustrating a process of calculating coordinates of feature points according to an embodiment of the present invention;
FIG. 8 is a block diagram of a basic structure of a welding seam locating device according to an embodiment of the present invention;
FIG. 9 is a block diagram of the basic structure of a computer device 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.
In some flows described in the present specification and claims and above figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being given as 101, 102, etc. merely to distinguish between various operations, and the order of the operations itself does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
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 any inventive step, are within the scope of the present invention.
As will be appreciated by those skilled in the art, "terminal" as used herein includes both devices that are wireless signal receivers, devices that have only wireless signal receivers without transmit capability, and devices that include receive and transmit hardware, devices that have receive and transmit hardware capable of performing two-way communication over a two-way communication link. Such a device may include: a cellular or other communication device having a single line display or a multi-line display or a cellular or other communication device without a multi-line display; PCS (personal communications service), which may combine voice, data processing, facsimile and/or data communications capabilities; a PDA (personal digital assistant), which may include a radio frequency receiver, a pager, internet/intranet access, a web browser, a notepad, a calendar and/or a GPS (global positioning system) receiver; a conventional laptop and/or palmtop computer or other device having and/or including a radio frequency receiver. As used herein, a "terminal" or "terminal device" may be portable, transportable, installed in a vehicle (aeronautical, maritime, and/or land-based), or situated and/or configured to operate locally and/or in a distributed fashion at any other location(s) on earth and/or in space. As used herein, a "terminal device" may also be a communication terminal, a web terminal, a music/video playing terminal, such as a PDA, an MID (mobile internet device), and/or a mobile phone with music/video playing function, and may also be a smart tv, a set-top box, and the like.
Specifically, referring to fig. 1, fig. 1 is a schematic diagram illustrating a basic flow of a weld locating method according to the present embodiment.
As shown in fig. 1, a method for locating a weld comprises the following steps:
s1100, scanning data information is obtained, wherein the scanning data information is data collected when the robot scans a welding seam path through a point laser sensor;
a point laser displacement sensor is additionally arranged at the position of a welding part of the welding robot, and laser emitted by the point laser displacement sensor is parallel to a welding gun or forms a small included angle (for example, the included angle is less than 10 degrees). Defining a scanning path, wherein the scanning path is a moving path required by laser emitted by a point laser sensor carried by a robot to scan a welding seam of a workpiece, and when the laser scans a target welding seam, namely the robot moves on the scanning path, data acquisition is performed at regular intervals (for example, but not limited to, 0.01 s), the acquired data comprises voltage of the sensor and robot position data, the robot position data comprises data of each joint of the robot, for example, six-joint welding seam robot, namely, position data of six joints of the robot. And after the whole path is scanned, packaging all data acquired in the scanning process to generate scanning data information.
S1200, determining spot curve information according to the scanning data information, wherein the spot curve information is a position information set of spots formed on the surface of a target workpiece by the point laser sensor;
and calculating according to the data acquired by each acquisition point in the scanning data information to obtain the corresponding light spot position, and then determining a light spot curve according to the positions of all the light spots in the scanning process. Specifically, data acquired by one of the acquisition points, namely position data of the robot and a voltage value of the point laser displacement sensor, are extracted, a position coordinate of a transmitting end of the point laser position sensor is calculated according to the position data of the robot, then a distance from the transmitting end to a light spot on the surface of the workpiece is calculated according to the voltage value of the point laser displacement sensor, and finally the position coordinate of the light spot is calculated according to the position coordinate of the transmitting end and the laser distance. The position coordinates of the light spots corresponding to each data acquisition point in the scanning process are determined by the method, and then the collection of the position coordinates of all the light spots is used as the light spot curve information.
S1300, determining position information of a target welding line according to the light spot curve information;
after the spot curve information is obtained, the type (straight line or curve) of the spot curve is determined, a corresponding characteristic point algorithm is introduced according to the type of the spot curve and the type of the spot curve, the characteristic point coordinates of the spot curve under the coordinate system of the welding robot are calculated according to the characteristic point algorithm, and the characteristic point coordinates are assigned to the welding robot, so that the position information of the welding seam is updated.
In some embodiments, the welding robot and the spot laser position sensor are respectively connected to the controller, so that the scanning data (i.e. the position data of the welding robot and the voltage value of the spot laser displacement sensor) can be transmitted to the processor for processing by the controller. After the processor acquires the scanning data, the processor calculates according to the data acquired by each acquisition point in the scanning data information to obtain the corresponding light spot position, then determines a light spot curve according to the positions of all light spots in the scanning process, transmits the light spot curve information to the controller, converts the light spot curve into the characteristic point coordinates under the coordinate system of the welding robot through the controller, and assigns the characteristic point coordinates to the welding robot.
As shown in fig. 2, step S1100 further includes the following steps:
s1010, obtaining scanning path information, wherein the scanning path information is a moving path of the point laser sensor when the point laser sensor scans the target weld;
when laser locating is started, a scanning path of the point laser displacement sensor is defined, the scanning path is a moving path of the robot carrying the point laser displacement sensor when the robot scans a target welding line by using laser, and the scanning path is converted into position data in a welding line robot coordinate system and serves as scanning path information.
S1020, sending the scanning path information to the robot to drive the robot to carry the point laser sensor to scan the target welding seam;
and sending the defined scanning path information to a welding robot, moving the welding robot according to the characteristic points of the scanning path, and simultaneously, emitting laser to the surface of the target workpiece by a point laser displacement sensor, thereby realizing the scanning of the welding line.
S1030, collecting joint point values of the robot and point laser sensor values in a scanning process, and packaging to generate scanning data information;
during the process of scanning the target weld seam, that is, while the robot moves on the scanning path, data acquisition is performed at regular intervals (for example, but not limited to, 0.01 s), where the acquired data includes the voltage of the sensor and the robot position data, and the robot position data includes data of each joint of the robot, for example, six-joint weld seam robot, that is, position data of six joints of the robot. And after the whole path is scanned, packaging all data acquired in the scanning process to generate scanning data information.
As shown in fig. 3, step S1200 specifically includes the following steps:
s1210, determining the position information of the emitting end of the point laser sensor according to the joint point numerical value;
and extracting a group of data acquired by a data acquisition point from the scanning data information, and calculating the position of the emitting end of the point laser position sensor according to the numerical value of the joint point of the robot. Specifically, the point laser position sensor is installed on a welding part of the welding robot, emitted laser is parallel to a welding gun of the robot, the relative position of the emitting end of the point laser position sensor and the tail end of the robot is recorded in the system, coordinate information of the tail end of the robot is obtained through joint point data calculation, and then the position information of the emitting end is obtained through calculation according to the relative position of the emitting end of the point laser position sensor and the tail end of the robot.
S1220, determining light spot coordinate data according to the position information of the emitting end, wherein the light spot coordinate data are position coordinate values of light spots formed on the surface of the target workpiece by the point laser sensor;
after the position information of the transmitting end is obtained through calculation, the voltage information of the sensor in the set of collected data is extracted, the distance between the sensor and a light spot on the surface of a target workpiece is obtained through calculation according to the voltage information and calculation logic, then the angle information of laser transmitted by the sensor is determined according to the numerical value of the joint point, and the position coordinate value of the light spot is obtained through calculation by combining the position of the transmitting end and the distance of the light spot.
S1230, determining the light spot curve information according to the light spot coordinate data;
the data of each acquisition point in the scanned data information is calculated by the methods of S1210 and S1220, so as to obtain the position coordinate values of all the acquired light spots, and a set of the position coordinates of all the light spots corresponding to the scanning path is defined as the light spot curve information.
As shown in fig. 4, step S1230 specifically includes the following steps:
s1231, acquiring coordinate data of all light spot points determined according to the scanning data information;
and calculating corresponding light spot coordinate data through each robot joint data in the scanning data information and the sensor value, and then counting all light spot coordinate data acquired on the scanning path.
S1232, defining the set of the light spot coordinate data as the light spot curve information;
and combining all the acquired spot point coordinate data to form a spot curve, and defining a set of spot coordinate data as spot curve information.
As shown in fig. 5, step S1220 specifically includes the following steps:
s1221, acquiring voltage data of the point laser sensor;
and extracting the sensor voltage data acquired by one acquisition point from the acquired scanning data information.
S1222, determining distance information according to the voltage data, wherein the distance information is the distance from the transmitting end of the point laser sensor to a light spot on the surface of a target workpiece;
the system stores the mapping relation information of the voltage value and the laser distance, and after the voltage data of the sensor is obtained, the distance information corresponding to the voltage data is determined through the mapping relation, namely the distance from the transmitting end of the point laser sensor to the light spot on the surface of the target workpiece.
S1223, determining the coordinates of the light spot points according to the distance information and the transmitting end position information;
the position information of the transmitting end includes position coordinates of the transmitting end and a direction (which may be expressed by a vector in some embodiments) of transmitting laser light, and after the distance information of the light spot is calculated, the position coordinates of the transmitting end and the direction of the laser light are combined to calculate coordinates of the light spot.
As shown in fig. 6, step S1300 specifically includes the following steps:
s1310, calculating a characteristic point coordinate of the target welding seam in a coordinate system of the robot according to a preset characteristic point algorithm and the light spot curve information;
the system is provided with a characteristic point algorithm, the characteristic point algorithm is conversion logic of the position relation between the coordinate system of the point laser displacement sensor and the coordinate system of the welding robot, and is used for converting the calculated light spot information into coordinates under the coordinate system of the robot, so that the robot can confirm the position of a target welding seam according to the acquired information and perform welding. Specifically, the position information of each light spot in the light spot curve information is extracted, and then the corresponding feature point coordinates in the welding robot coordinate system are calculated according to a feature point algorithm.
S1320, determining the position information of the target welding line according to the characteristic point coordinates;
and calculating the characteristic point coordinates of each characteristic point in the target weld joint according to the spot curve information, and then determining the position information of the target weld joint according to the coordinates of all the characteristic points. In some embodiments, the position information of the target weld is a set of coordinates of feature points, and the feature points correspond to the light spots in the light spot curve in a one-to-one manner.
As shown in fig. 7, step S1310 specifically includes the following steps:
s1311, judging the data type of the light spot curve information;
and judging the data type of the spot curve information according to the acquired spot curve information, wherein the data type is used for reflecting the linear type of the spot curve, such as a straight line or a curve, and in some embodiments, the linear type may be more, such as a straight line, an arc line, a broken line, an S line, or the like, but is not limited thereto.
S1312, searching a feature point algorithm having a mapping relation with the data type;
the system is provided with corresponding characteristic point algorithms for different data types, and is used for converting the data of different light spot curve types into characteristic point coordinates and searching the characteristic point algorithms corresponding to the data types after determining the data types of the light spot curves.
S1313, calculating the feature point coordinates according to the feature point algorithm;
the characteristic point algorithm is conversion logic of the position relation between the coordinate system of the point laser displacement sensor and the coordinate system of the welding robot, and is used for converting the calculated spot information into coordinates under the coordinate system of the robot, so that the robot can confirm the position of a target welding line according to the collected information and weld. After the characteristic point algorithm is determined, extracting the position information of each light spot in the light spot curve information, and then calculating the corresponding characteristic point coordinate in the welding robot coordinate system according to the characteristic point algorithm.
In order to solve the technical problem, the embodiment of the invention also provides a welding seam locating device. Referring to fig. 8, fig. 8 is a block diagram of a basic structure of the welding seam locating device according to the embodiment.
As shown in fig. 8, the weld locating device includes: an acquisition module 2100, a processing module 2200, and an execution module 2300. The acquisition module is used for acquiring scanning data information, wherein the scanning data information is data acquired when the robot scans a welding seam path through the point laser sensor; the processing module is used for determining spot curve information according to the scanning data information, wherein the spot curve information is a position information set of spots formed on the surface of a target workpiece by the point laser sensor; and the execution module is used for determining the position information of the target welding seam according to the light spot curve information.
The spot laser sensor is used for scanning the welding line, and then the position information of the welding line is obtained through calculation according to the collected light spot curve so as to assign the value to the robot, so that the problem that the position searching of the welding wire of the workpiece surface coating cannot be supported is solved, and the position searching efficiency is effectively improved. The scheme of the embodiment of the invention is not only suitable for locating the linear welding seam, but also suitable for locating the curved welding seam, can support any type of welding seam, including corner joint, lap joint, splicing and the condition that no side plate exists at the starting point or the end point, has wider applicable welding seam type and increases the application range of locating. The laser is adopted for position searching, so that the labor cost can be reduced, and the complete automatic welding is realized.
In some embodiments, the weld locating device further comprises: the system comprises a first acquisition submodule, a first sending submodule and a first acquisition submodule. The first acquisition submodule is used for acquiring scanning path information, wherein the scanning path information is a moving path of the point laser sensor when the point laser sensor scans the target weld; the first sending submodule is used for sending the scanning path information to the robot so as to drive the robot to carry the point laser sensor to scan the target welding seam; the first acquisition submodule is used for acquiring the joint point numerical value of the robot and the numerical value of the point laser sensor in the scanning process, and packaging to generate the scanning data information.
In some embodiments, the weld locating device further comprises: the device comprises a first processing submodule, a second processing submodule and a third processing submodule. The first processing submodule is used for determining the position information of the transmitting end of the point laser sensor according to the joint point value; the second processing submodule is used for determining light spot coordinate data according to the position information of the transmitting end, wherein the light spot coordinate data is the position coordinate value of a light spot formed on the surface of the target workpiece by the point laser sensor; and the third processing submodule is used for determining the light spot curve information according to the light spot point coordinate data.
In some embodiments, the weld locating device further comprises: the second acquisition submodule and the first definition submodule. The second acquisition submodule is used for acquiring coordinate data of all light spot points determined according to the scanning data information; and the first definition sub-module is used for defining the set of the light spot point coordinate data as the light spot curve information.
In some embodiments, the weld locating device further comprises: a third acquisition sub-module, a fourth processing sub-module and a fifth processing sub-module. The third acquisition submodule is used for acquiring voltage data of the point laser sensor; the fourth processing submodule is used for determining distance information according to the voltage data, and the distance information is the distance from the transmitting end of the point laser sensor to a light spot on the surface of a target workpiece; and the fifth processing submodule is used for determining the coordinates of the light spot points according to the distance information and the transmitting end position information.
In some embodiments, the weld locating device further comprises: a sixth processing submodule and an eighth processing submodule. The sixth processing submodule is used for calculating the feature point coordinates of the target weld joint in the coordinate system of the robot according to a preset feature point algorithm and the light spot curve information; and the eighth processing submodule is used for determining the position information of the target welding seam according to the characteristic point coordinates.
In some embodiments, the weld locating device further comprises: the device comprises a first judgment sub-module, a first search sub-module and a ninth processing sub-module. The first judgment submodule is used for judging the data type of the light spot curve information; the first searching sub-module is used for searching a characteristic point algorithm having a mapping relation with the data type; and the ninth processing submodule is used for calculating the characteristic point coordinates according to the characteristic point algorithm.
In order to solve the above technical problem, an embodiment of the present invention further provides a computer device. Referring to fig. 9 in particular, fig. 9 is a block diagram of a basic structure of a computer device according to the embodiment.
As shown in fig. 9, the internal structure of the computer device is schematically illustrated. As shown in fig. 9, the computer apparatus includes a processor, a nonvolatile storage medium, a memory, and a network interface connected through a system bus. The non-volatile storage medium of the computer device stores an operating system, a database and computer readable instructions, the database can store control information sequences, and the computer readable instructions can enable the processor to realize a welding seam locating method when being executed by the processor. The processor of the computer device is used for providing calculation and control capability and supporting the operation of the whole computer device. The memory of the computer device may have computer readable instructions stored therein that, when executed by the processor, may cause the processor to perform a weld locating method. The network interface of the computer device is used for connecting and communicating with the terminal. It will be appreciated by those skilled in the art that the configurations shown in the figures are block diagrams of only some of the configurations relevant to the present application, and do not constitute a limitation on the computing devices to which the present application may be applied, and that a particular computing device may include more or less components than those shown in the figures, or may combine certain components, or have a different arrangement of components.
In this embodiment, the processor is configured to execute specific functions of the obtaining module 2100, the processing module 2200 and the executing module 2300 in fig. 8, and the memory stores program codes and various data required for executing the modules. The network interface is used for data transmission to and from a user terminal or a server. The memory in this embodiment stores program codes and data required for executing all the sub-modules in the weld locating device, and the server can call the program codes and data of the server to execute the functions of all the sub-modules.
The present invention also provides a storage medium storing computer readable instructions, which when executed by one or more processors, cause the one or more processors to perform the steps of the weld locating method according to any one of the above embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-only memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (9)
1. A welding seam locating method is characterized by comprising the following steps:
acquiring scanning data information, wherein the scanning data information is data acquired when a robot scans a welding seam path through a point laser sensor;
determining spot curve information according to the scanning data information, wherein the spot curve information is a position information set of spots formed on the surface of a target workpiece by the point laser sensor;
determining position information of a target welding seam according to the light spot curve information;
the step of determining the light spot curve information according to the scanning data information comprises the following steps:
determining the position information of the emitting end of the point laser sensor according to the joint point numerical value;
determining light spot coordinate data according to the position information of the emitting end, wherein the light spot coordinate data is a position coordinate value of a light spot formed on the surface of the target workpiece by the point laser sensor;
and determining the light spot curve information according to the light spot coordinate data.
2. The weld locating method according to claim 1, wherein the step of acquiring the scan data information is preceded by the steps of:
acquiring scanning path information, wherein the scanning path information is a moving path of the point laser sensor when scanning the target weld joint;
sending the scanning path information to the robot to drive the robot to carry the point laser sensor to scan the target welding line;
and collecting the joint point numerical value of the robot and the numerical value of the point laser sensor in the scanning process, and packaging to generate the scanning data information.
3. The weld seam locating method according to claim 1, wherein the step of determining the spot curve information from the spot coordinate data comprises the steps of:
acquiring coordinate data of all light spot points determined according to the scanning data information;
defining the set of spot coordinate data as the spot profile information.
4. The weld locating method according to claim 1, wherein the step of determining the coordinate data of the spot of light based on the position information of the emission end comprises the steps of:
acquiring voltage data of the point laser sensor;
determining distance information according to the voltage data, wherein the distance information is the distance from the transmitting end of the point laser sensor to a light spot on the surface of a target workpiece;
and determining the coordinates of the light spot points according to the distance information and the transmitting end position information.
5. The weld locating method according to claim 1, wherein the step of determining the position information of the target weld according to the spot profile information comprises the steps of:
calculating the characteristic point coordinates of the target welding line under the coordinate system of the robot according to a preset characteristic point algorithm and the light spot curve information;
and determining the position information of the target welding seam according to the characteristic point coordinates.
6. The weld locating method according to claim 5, wherein the step of calculating the coordinates of the feature point of the target weld in the coordinate system of the robot according to a preset feature point algorithm and the spot curve information comprises the steps of:
judging the data type of the light spot curve information;
searching a characteristic point algorithm having a mapping relation with the data type;
and calculating the coordinates of the characteristic points according to the characteristic point algorithm.
7. A welding seam locating device is characterized by comprising:
the acquisition module is used for acquiring scanning data information, wherein the scanning data information is data acquired when the robot scans a welding seam path through the point laser sensor;
the processing module is used for determining spot curve information according to the scanning data information, wherein the spot curve information is a position information set of spots formed on the surface of a target workpiece by the point laser sensor;
wherein the scanning data information comprises joint point values of joints of the robot in the scanning process, and the step of determining the light spot curve information according to the scanning data information comprises the following steps: determining the position information of the emitting end of the point laser sensor according to the joint point numerical value; determining light spot coordinate data according to the position information of the emitting end, wherein the light spot coordinate data is a position coordinate value of a light spot formed on the surface of the target workpiece by the point laser sensor; determining the light spot curve information according to the light spot coordinate data;
and the execution module is used for determining the position information of the target welding seam according to the light spot curve information.
8. A computer device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the weld locating method of any one of the preceding claims 1-6.
9. A non-transitory computer readable storage medium having instructions thereon that, when executed by a processor of a mobile terminal, enable the mobile terminal to perform a weld locating method comprising the weld locating method of any one of claims 1 to 6.
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| CN112001935B (en) * | 2020-07-28 | 2023-07-18 | 上海巧视智能科技有限公司 | T-shaped weld polishing method, system, medium and terminal based on laser scanning |
| CN112355438A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Automatic robot welding process for container corrugated welding |
| CN112355439A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Special machine automatic welding process for container corrugated welding |
| CN112453646B (en) * | 2020-12-07 | 2023-03-21 | 上海沪工焊接集团股份有限公司 | Position finding detection method and device, storage medium and electronic equipment |
| CN112562002B (en) * | 2021-02-19 | 2021-06-04 | 季华实验室 | Filtering processing method and device for welding seam tracking point, electronic equipment and storage medium |
| CN112884833B (en) * | 2021-03-18 | 2023-10-27 | 北京博清科技有限公司 | Weld groove detection method and device and computer equipment |
| CN113878592B (en) * | 2021-10-14 | 2023-04-28 | 三一建筑机器人(西安)研究院有限公司 | Workpiece cutting method and device based on laser locating and cutting robot |
| CN114406359B (en) * | 2021-12-31 | 2024-04-09 | 沈阳德祥源自动化有限公司 | Automatic stop system and method for straight-slit circular pipe fitting |
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| US4493968A (en) * | 1983-07-13 | 1985-01-15 | Caterpillar Tractor Co. | Adaptive welder with laser TV-scanner |
| CN102721366B (en) * | 2012-06-21 | 2015-01-07 | 张旭 | Method and device for tracking and measuring welding seam |
| CN103317213B (en) * | 2013-06-26 | 2015-09-23 | 昆山华恒工程技术中心有限公司 | The sheet lap weld seam method for position-finding of Non-contact robot |
| CN107322597A (en) * | 2017-07-13 | 2017-11-07 | 上海理工大学 | A kind of fillet weld seam track detection apparatus and method based on laser ranging |
| CN108971840B (en) * | 2018-09-03 | 2024-04-19 | 广州创研自动化设备有限公司 | Laser locating device for locating robot welding and locating system for robot welding |
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