CN114119611B

CN114119611B - Weld parameter identification method and device, electronic equipment and storage medium

Info

Publication number: CN114119611B
Application number: CN202210085063.6A
Authority: CN
Inventors: 赵天光; 文享龙
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-01-25
Filing date: 2022-01-25
Publication date: 2022-04-01
Anticipated expiration: 2042-01-25
Also published as: WO2023142229A1; CN114119611A

Abstract

The application belongs to the technical field of automatic welding, and discloses a welding seam parameter identification method, a welding seam parameter identification device, electronic equipment and a storage medium, wherein a three-dimensional model of a workpiece to be welded is loaded; identifying a weld line segment on the three-dimensional model; selecting a plurality of welding track points on the welding line segment, and extracting position data of the welding track points; identifying groove information and two welding connection surfaces of a welding line segment on the three-dimensional model; acquiring normal vector data of two welding connection surfaces at each welding track point; acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data; and recording groove information, position data at each welding track point and attitude vector data at each welding track point to obtain the welding line parameters of the welding line segment, thereby efficiently realizing the welding line parameter identification of the workpiece model and having good applicability.

Description

Weld parameter identification method and device, electronic equipment and storage medium

Technical Field

The application relates to the technical field of automatic welding, in particular to a welding seam parameter identification method and device, electronic equipment and a storage medium.

Background

When the robot is used for automatic welding, a teaching mode is generally adopted to determine a welding path, and the method is not flexible enough and is not suitable for small-batch and diversified workpiece welding tasks.

At present, some welding seam identification systems can identify welding seams by scanning workpieces, complete scanning images are difficult to obtain for complex shielded workpieces by the aid of the identification systems, incomplete and inaccurate welding seam identification is easy to cause, and for welding seam types with different groove types or different three-dimensional curves, a visual scanning program needs to be specifically programmed according to different welding seam characteristics, so that a set of software system cannot be suitable for wide welding seam type identification and positioning.

In addition, at present, a plurality of welding seam identification programs based on three-dimensional models exist, the welding seam identification programs cannot intelligently identify the positions of welding seams for the introduced three-dimensional models, operators are required to mark welding seam paths, and time and labor are wasted.

Therefore, a method which has good applicability and can efficiently realize the weld parameter recognition of the workpiece model is required.

Disclosure of Invention

The application aims to provide a welding seam parameter identification method, a welding seam parameter identification device, electronic equipment and a storage medium, which are good in applicability and capable of efficiently realizing welding seam parameter identification of a workpiece model.

In a first aspect, the present application provides a weld parameter identification method for obtaining weld parameters according to a three-dimensional model of a workpiece to be welded, including the steps of:

A1. loading a three-dimensional model of a workpiece to be welded; the three-dimensional model is a combined model comprising at least two part entities;

A2. identifying a weld line segment on the three-dimensional model;

A3. selecting a plurality of welding track points on the welding line segment, and extracting position data of the welding track points;

A4. identifying groove information and two welding connection surfaces of the welding line segment on the three-dimensional model;

A5. acquiring normal vector data of the two welding connection surfaces at each welding track point;

A6. acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data;

A7. and recording the groove information, the position data at each welding track point and the attitude vector data at each welding track point to obtain the welding line parameters of the welding line segment.

The welding seam parameter identification method can automatically identify the welding seam line segment on the three-dimensional model after loading the three-dimensional model of the workpiece to be welded, and automatically complete the selection of welding track points, the identification of groove information and the attitude vector data of a welding gun at each welding track point to obtain the welding seam parameter of the welding seam line segment; the welding robot can subsequently control the welding gun to weld at each welding track point of the welding line at a corresponding attitude angle according to the welding line parameters; therefore, the welding seam parameter identification of the workpiece model can be efficiently realized, and the applicability is good.

Preferably, after the step A6 and before the step A7, the method further comprises the steps of:

A8. and performing collision detection on the welding gun model of the welding gun and the three-dimensional model according to the position data and the attitude vector data at each welding track point, and deleting the welding track points with collision conditions or adjusting the attitude vector data according to the detection result.

Therefore, the welding failure caused by interference between the welding gun and the workpiece when the welding robot performs welding according to the welding seam parameters can be avoided.

Preferably, step a2 includes:

A201. when the three-dimensional model contains welding seam marking information, identifying a welding seam line segment according to the welding seam marking information of the three-dimensional model;

A202. when the three-dimensional model does not contain welding seam marking information, extracting a surface forming surface set of each part entity;

A203. determining a target entity, a first candidate welding seam overlapping surface and a second candidate welding seam overlapping surface according to the intersection condition of each part entity and each surface of other part entities; the target entity is one of the part entities; the first candidate welding seam overlapping surface is one surface which does not belong to the target entity, and the first candidate welding seam overlapping surface is attached to one surface of the target entity; the second candidate welding seam overlapping surface is one surface of the target entity, and the second candidate welding seam overlapping surface is attached to the first candidate welding seam overlapping surface;

A204. extracting edge line segments of the first candidate welding seam overlapping surface and the second candidate welding seam overlapping surface;

A205. and extracting a part of the edge line segment of the first candidate weld joint coincidence plane intersected with the second candidate weld joint coincidence plane and falling into the second candidate weld joint coincidence plane as the weld line segment, or extracting a part of the edge line segment of the second candidate weld joint coincidence plane intersected with the first candidate weld joint coincidence plane and falling into the first candidate weld joint coincidence plane as the weld line segment.

Therefore, whether the three-dimensional model contains the welding seam marking information or not, the automatic identification of the welding seam line segment can be realized, and the applicability is further improved.

In some embodiments, the weld marking information is color information;

step a201 includes:

identifying the color of each line segment of the three-dimensional model;

and judging the line segment with the color of the designated color as the weld line segment.

In other embodiments, the weld marking information is a specific identification character recorded in a source file of the three-dimensional model;

step a201 includes:

reading a source file of the three-dimensional model;

searching a specific identification character in the source file;

and judging the line segment corresponding to the coordinate sequence after the specific identification character as a welding line segment.

Preferably, step a3 includes:

A301. when the welding line segment is a straight line segment, selecting a plurality of welding track points at equal intervals on the welding line segment, and extracting position data of each welding track point;

A302. when the welding line segment is a curved line segment, selecting a plurality of welding track points on the welding line segment according to the curvatures of all parts of the welding line segment, enabling the height error between a straight line connecting line and a curved line connecting line between any adjacent welding track points to be not larger than a preset error threshold value, and extracting the position data of each welding track point; the curved connecting lines are the parts of the welding line segments located between the adjacent welding track points.

Preferably, step a302 comprises:

evenly dividing the welding line segment into a plurality of arc segments according to the length of the arc length, and taking the end point of each arc segment as the welding track point;

calculating the height error between a straight line connecting line between two adjacent welding track points and the corresponding arc section;

if at least one bow height error is larger than a preset error threshold value, inserting a new welding track point into the corresponding arc section of which the bow height error is larger than the preset error threshold value, so that the corresponding bow height error of the newly divided arc section is not larger than the error threshold value;

and extracting the position data of each welding track point.

Preferably, the groove information includes groove type information and groove size information indicating a groove at the corresponding weld line segment;

step a4 includes:

generating a sphere with a preset radius by taking one of the welding track points as a sphere center;

acquiring the number of the surfaces having collision interference with the sphere;

judging whether a groove is formed at the welding line section according to the number;

if so, acquiring groove type information and groove size information of the groove;

and if not, the groove information of the welding line segment is set to be empty.

Preferably, step a6 includes:

calculating attitude vector data of the welding gun at each welding track point according to the following formula:

；

wherein the content of the first and second substances,

is as follows

The pose vector data at each of the weld trajectory points,

for the first one of said welded joints to be in the second

The normal vector data at each of the weld trajectory points,

for the second said welded joint face at

The normal vector data at each of the weld trajectory points,

and

a weight value greater than zero and less than 1,

the total number of the welding track points.

In a second aspect, the present application provides a weld parameter identification apparatus for obtaining weld parameters according to a three-dimensional model of a workpiece to be welded, including:

the loading module is used for loading the three-dimensional model of the workpiece to be welded; the three-dimensional model is a combined model comprising at least two part entities;

the first identification module is used for identifying a welding line segment on the three-dimensional model;

the first execution module is used for selecting a plurality of welding track points on the welding line segment and extracting the position data of the welding track points;

the second identification module is used for identifying groove information and two welding connection surfaces of the welding line segment on the three-dimensional model;

the first acquisition module is used for acquiring normal vector data of the two welding connection surfaces at each welding track point;

the second acquisition module is used for acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data;

and the recording module is used for recording the groove information, the position data at each welding track point and the attitude vector data at each welding track point to obtain the welding line parameters of the welding line segment.

The welding seam parameter identification device can automatically identify the welding seam line segment on the three-dimensional model after loading the three-dimensional model of the workpiece to be welded, and automatically complete the selection of welding track points, the identification of groove information and the posture vector data of a welding gun at each welding track point to obtain the welding seam parameter of the welding seam line segment; the welding robot can subsequently control the welding gun to weld at each welding track point of the welding line at a corresponding attitude angle according to the welding line parameters; therefore, the welding seam parameter identification of the workpiece model can be efficiently realized, and the applicability is good.

In a third aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to perform the steps of the weld parameter identification method as described above.

In a fourth aspect, the present application provides a storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of the weld parameter identification method as described above.

Has the advantages that:

according to the welding seam parameter identification method, the welding seam parameter identification device, the electronic equipment and the storage medium, a three-dimensional model of a workpiece to be welded is loaded; the three-dimensional model is a combined model comprising at least two part entities; identifying a weld line segment on the three-dimensional model; selecting a plurality of welding track points on the welding line segment, and extracting position data of the welding track points; identifying groove information and two welding connection surfaces of the welding line segment on the three-dimensional model; acquiring normal vector data of the two welding connection surfaces at each welding track point; acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data; and recording the groove information, the position data at each welding track point and the attitude vector data at each welding track point to obtain the welding line parameters of the welding line segment, thereby efficiently realizing the welding line parameter identification of the workpiece model and having good applicability.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.

Drawings

Fig. 1 is a flowchart of a weld parameter identification method provided in an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a weld parameter identification device provided in an embodiment of the present application.

Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

FIG. 4 is a three-dimensional model of an exemplary workpiece to be welded.

Fig. 5 is a schematic diagram of the bow height error.

FIG. 6 is a three-dimensional model of a workpiece to be welded with weld marks.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, fig. 1 is a weld parameter identification method in some embodiments of the present application, for obtaining weld parameters according to a three-dimensional model of a workpiece to be welded, including the steps of:

A2. identifying a weld line segment on the three-dimensional model;

A4. identifying groove information and two welding connection surfaces of a welding line segment on the three-dimensional model;

A5. acquiring normal vector data of two welding connection surfaces at each welding track point;

A7. and recording the groove information, the position data of each welding track point and the attitude vector data of each welding track point to obtain the welding line parameters of the welding line segment.

The welding seam parameter identification method can be applied to a control system of a welding robot, after welding seam parameters are obtained through identification, in the subsequent welding process, appropriate welding process parameters can be automatically matched according to groove information of the welding seam, and a welding gun is controlled to weld at a corresponding attitude angle according to attitude vector data of each welding track point. Therefore, the welding seam parameters of the welding seam line segment are identified and obtained through the welding seam parameter identification method, a good data information basis is laid for the automatic matching of proper welding process parameters for subsequent welding, and the high-efficiency acquisition of the welding seam and the posture data of a welding gun can be realized.

In some preferred embodiments, after step a6 and before step a7, further comprising the steps of:

A8. and performing collision detection on a welding gun model and a three-dimensional model of the welding gun according to the position data and the attitude vector data of each welding track point, and deleting the welding track points with collision conditions or adjusting the attitude vector data according to the detection result.

Specifically, step A8 includes:

A801. leading in a welding gun model of a welding gun;

A802. sequentially moving the end part of the welding gun model to each welding track point, and enabling the attitude angle of the welding gun model (namely the attitude angle of the axis of the welding gun model) to be the attitude angle corresponding to the attitude vector data at each welding track point;

A803. detecting whether a collision condition exists between the welding gun model and the three-dimensional model of the workpiece to be welded through a collision detection algorithm;

A804. if the collision condition exists, keeping the end part of the welding gun model at the corresponding welding track point, and searching a target attitude angle capable of avoiding collision between the welding gun model and the three-dimensional model of the workpiece to be welded by changing the attitude angle of the welding gun model (the attitude angle changing mode can be set according to actual needs, and the mode is not limited in the process);

A805. when a target attitude angle is searched, calculating new attitude vector data according to the target attitude angle to update the attitude vector data at the welding track point;

A806. and when the target attitude angle cannot be searched, deleting the welding track point.

Generally, the attitude vector data includes three coordinate values of x, y and z, the coordinate values are coordinate values in the workpiece coordinate system, each attitude vector data corresponds to an attitude angle, and the attitude vector data and the corresponding attitude angle can be converted with each other (the conversion method is prior art, and the details thereof are not described here).

It should be noted that, in the subsequent welding process, the welding robot does not perform automatic welding on the position without the welding track point, and the position without the welding track point can be subjected to repair welding manually or in other manners.

And detecting whether the welding gun model and the three-dimensional model have collision conditions or not through an intersection algorithm in Boolean operation. And when the intersection between the welding gun model and the three-dimensional model is detected through an intersection algorithm in Boolean operation, the collision condition is indicated.

The three-dimensional model of the workpiece to be welded and the welding gun model can be CAD three-dimensional models with intermediate formats commonly used by step, iges, brep and the like.

In some preferred embodiments, step a2 includes:

A202. when the three-dimensional model does not contain the welding seam marking information, extracting the surfaces of each part entity (each surface of the outer surface of each part entity) to form a surface set;

A203. determining a target entity, a first candidate welding seam superposed surface and a second candidate welding seam superposed surface according to the intersection condition of each part entity and each surface of other part entities; the target entity is one of the part entities; the first candidate welding seam overlapping surface is a surface which does not belong to the target entity, and the first candidate welding seam overlapping surface is attached to one surface of the target entity; the second candidate welding seam overlapping surface is one surface of the target entity, and the second candidate welding seam overlapping surface is attached to the first candidate welding seam overlapping surface;

A204. extracting edge line segments of the first candidate welding seam coincident face and the second candidate welding seam coincident face;

A205. and extracting a part falling into the second candidate weld joint coincidence face in an edge line segment of the first candidate weld joint coincidence face intersected with the second candidate weld joint coincidence face as a weld line segment, or extracting a part falling into the first candidate weld joint coincidence face in an edge line segment of the second candidate weld joint coincidence face intersected with the first candidate weld joint coincidence face as a weld line segment.

In practical application, sometimes a seam is marked when a three-dimensional model of a workpiece to be welded is established, and sometimes the seam is not marked when the three-dimensional model of the workpiece to be welded is established; for the three-dimensional model which marks the welding seam, the welding seam line segment is directly identified according to the welding seam marking information, the efficiency is high, and for the three-dimensional model which does not mark the welding seam, the welding seam line segment is identified through the method, so that the welding seam line segment can be reliably identified. Therefore, whether the three-dimensional model contains the welding seam marking information or not can be automatically identified, and the applicability is further improved.

The weld labeling information may be color information, for example, the weld segment in the three-dimensional model is set to a designated color (e.g., red), the other segments in the three-dimensional model are set to other colors (e.g., yellow), and when the weld segment is identified according to the weld labeling information of the three-dimensional model, the segment with the designated color is directly determined as the weld segment (e.g., the weld segment in the three-dimensional model shown in fig. 6 is labeled with the designated color). Thus, step a201 includes:

identifying the color of each line segment of the three-dimensional model;

The welding seam marking information can also be a specific identification character recorded in a source file of the three-dimensional model, a specific identification character is arranged in front of a coordinate sequence formed by coordinates of each position point of each welding seam line segment in the source file of the three-dimensional model, so that the line segment corresponding to the coordinate sequence after the specific identification character is the welding seam line segment, when the welding seam line segment is identified according to the welding seam marking information of the three-dimensional model, the specific identification character can be searched from the source file of the three-dimensional model, and the line segment corresponding to the coordinate sequence after the specific identification character is determined as the welding seam line segment. Thus, step a201 includes:

reading a source file of the three-dimensional model;

searching a specific identification character in the source file;

Wherein, step a203 comprises:

sequentially taking each part entity as a first part entity, taking the surface belonging to the first part entity in the surface set as a first surface, and taking the surfaces belonging to other part entities as second surfaces, and respectively obtaining the intersection of the first part entity and each second surface through an intersection algorithm in Boolean operation;

if the intersection of the second surface and the first part entity is a surface intersection, judging that the first part entity is a target entity, and judging that the second surface is a first candidate welding seam overlapping surface;

respectively obtaining the intersection of each surface of the target entity and the first candidate welding seam coincident surface through an intersection algorithm in Boolean operation;

and determining the intersection of the target entity and the first candidate weld joint coincidence plane as a plane intersection as a second candidate weld joint coincidence plane.

For example, an exemplary three-dimensional model of a workpiece to be welded shown in fig. 4 includes two entity pieces, namely a bottom plate 90 and a side plate 91, a lower surface of the side plate 91 is attached to an upper surface of the bottom plate 90, when the bottom plate 90 is used as a first entity piece, six faces on the side plate 91 are second faces, an intersection of a bottom face of the side plate 91 and the first entity piece (the bottom plate 90) is detected as a face intersection by an intersection algorithm in boolean operation, intersections of other second faces and the first entity piece (the bottom plate 90) are all empty, so that the bottom plate 90 is used as a target entity, a bottom face of the side plate 91 is used as a first candidate weld seam intersection face, then an intersection of a top face of the target entity (the bottom plate 90) and the first candidate weld seam intersection face (the bottom face of the side plate 91) is detected as a face intersection by an intersection algorithm in boolean operation, intersections of other intersection faces of the target entity piece and the first candidate weld seam intersection face (the bottom face of the side plate 91) are all empty, thereby using the top surface of the bottom plate 90 as a second candidate weld overlap surface.

Wherein, the weld is at the edge of the joint part of the two surfaces which are jointed with each other, and for the condition that the first candidate weld joint coincident surface and the second candidate weld joint coincident surface are partially coincident, the weld line segment is generally at the edge of the first candidate weld joint coincident surface or the second candidate weld joint coincident surface, and is a part or all of the edge (so that the weld line segment is a part which falls into the second candidate weld joint coincident surface in the edge line segment of the first candidate weld joint coincident surface which has intersection with the second candidate weld joint coincident surface, or a part which falls into the second candidate weld joint coincident surface in the edge line segment of the second candidate weld joint coincident surface which has intersection with the first candidate weld joint coincident surface); for the case where the first candidate weld seam overlapping surface and the second candidate weld seam overlapping surface are partially completely overlapped, the weld seam line segment is generally at the edge of the first candidate weld seam overlapping surface and the second candidate weld seam overlapping surface (at this time, each edge of the first candidate weld seam overlapping surface and the second candidate weld seam overlapping surface is overlapped), and is all of the edge (in this case, it is also satisfied that the weld seam line segment is a portion falling into the second candidate weld seam overlapping surface in an edge line segment of the first candidate weld seam overlapping surface intersecting with the second candidate weld seam overlapping surface, or a portion falling into the second candidate weld seam overlapping surface in an edge line segment of the second candidate weld seam overlapping surface intersecting with the first candidate weld seam overlapping surface).

In some more preferred embodiments, step a205 is further followed by:

A206. displaying the recognition result of the weld line segment (for example, but not limited to, changing the color of the recognized weld line segment to a designated color in the three-dimensional model);

A207. when a weld line segment deletion instruction is received, the specified weld line segment is determined to be a non-weld line segment (for example, a user can select the weld line segment to be deleted by a mouse and generate a weld line segment deletion instruction by pressing a Delete key, and after the weld line segment deletion instruction is received, the weld line segment to be deleted by the user is determined to be the non-weld line segment).

In practical applications, some edge line segments satisfy the determination rule of the seam line segment, but actually no welding is performed at the edge line segment, for example, the first edge line segment 92 and the second edge line segment 93 in fig. 4 both satisfy the determination rule of the seam line segment, so that the seam line segment is determined, but actually no welding is performed at the second edge line segment 93, and only the first edge line segment 92 is an actual seam line segment; here, by displaying the recognition result, the weld line segment except the non-weld is manually deleted by hand, so that the accuracy of the final weld line segment recognition result can be ensured.

Wherein, the weld line segment may be a straight line segment, and may also be a curved line segment (an arc line segment, a spline curved line segment, etc.), in this embodiment, step a3 includes:

A301. when the welding line segment is a straight line segment, selecting a plurality of welding track points at equal intervals on the welding line segment, and extracting the position data of each welding track point;

A302. when the welding line segment is a curve segment, selecting a plurality of welding track points on the welding line segment according to the curvatures of all parts of the welding line segment, so that the height error between a straight line connecting line and a curve connecting line between any adjacent welding track points is not larger than a preset error threshold value, and extracting the position data of each welding track point; the curved connecting lines are the portions of the weld line segments that lie between adjacent weld locus points.

When a plurality of welding track points are selected at equal intervals, the welding track points can be selected at equal intervals according to preset intervals, and the preset intervals can be set according to actual needs.

Wherein, step a302 includes:

A3021. evenly dividing the welding line segment into a plurality of arc segments according to the length of the arc length, and taking the end point of each arc segment as a welding track point;

A3022. calculating the height error between a straight line connecting line between two adjacent welding track points and the corresponding arc section;

A3023. if at least one arch height error is larger than a preset error threshold value, inserting a new welding track point into the corresponding arc section with the arch height error larger than the preset error threshold value, and enabling the corresponding arch height error of the newly divided arc section to be not larger than the error threshold value;

A3024. and extracting the position data of each welding track point.

Wherein, step a3021 includes:

calculating the segment arc length step according to the following formula:

；

wherein the content of the first and second substances,

in order to segment the arc length step length,

is the total arc length of the weld line segment,

is a preset arc length step length,

is an upward rounding function;

the welding line segment is divided into a plurality of arc segments on average, the arc length of each arc segment is equal to the step length of the arc length of the segment, and the end point of each arc segment is taken as a welding track point.

Wherein, step a3022 includes:

calculating the height error between a straight line connecting line between two adjacent welding track points and the corresponding arc segment according to the following formula:

；

wherein the content of the first and second substances,

is as follows

A welding track point and a second welding track point

The height error between the straight line connecting line between the welding track points and the corresponding arc segment,

the total number of the welding track points of the welding line segment,

is as follows

A welding track point and a second welding track point

The length of the straight line connecting the trace points,

is as follows

A welding track point and a second welding track point

The equivalent radius of curvature of the arc segments between the individual welding track points, wherein,

or

Or

，

For the weld lineSegment at

The radius of curvature at each point of the weld trace,

for the weld line segment in

Radius of curvature at each weld trace point.

For example, in fig. 5, one of the arc segments of the weld line segment is an arc segment AB in the figure (a solid curve in fig. 5), two end points a and B of the arc segment AB are two adjacent welding track points, a straight line connecting line between the two welding track points is a straight line segment AB (a dot-dash line in fig. 5), and a dimension E in the figure is an arch height error between the arc segment AB and the straight line segment AB; in fig. 5, the arc segment AB is an arc, and therefore, the radii of curvature at the points a and B are equal (the radius of curvature at the point a is the length of OA, the radius of curvature at the point B is the length of OB, and O is the center of the arc, where OA = OB).

In some embodiments, step a3023 comprises:

the method comprises the steps of taking an arc section with a corresponding height error larger than a preset error threshold as a target arc section, inserting a new welding track point at the midpoint of the target arc section, dividing the target arc section into two new arc sections again, calculating the height error corresponding to the newly divided new arc section, judging whether the height error is larger than the preset error threshold, if the height error corresponding to the newly divided new arc section is still larger than the preset error threshold, inserting a new welding track point at the midpoint of the new arc section with the corresponding height error larger than the preset error threshold again, and repeating the steps until the height errors corresponding to all the new arc sections divided into the target arc section are not larger than the preset error threshold.

Wherein, the preset error threshold value can be set according to the implementation requirement. Because when welding in follow-up, welding robot can control welder from a welding track point rectilinear movement to next welding track point department, through the welding track point of above-mentioned mode determination, can guarantee that the deviation between welder's orbit and the target weld in follow-up welding process is in the allowed range to guarantee welding quality.

In practical applications, sometimes a weld line segment may have both a straight line portion and a curved line portion, and at this time, a plurality of welding trace points are selected at equal intervals in the straight line portion (specifically refer to step a 301), and a plurality of welding trace points are selected in the curved line portion according to curvatures at each position of the curved line portion, so that a bow height error between a straight line connecting line and a curved line connecting line between any adjacent welding trace points is not greater than a preset error threshold (specifically refer to step a 302).

step a4 includes:

A401. generating a sphere with a preset radius (the preset radius can be set according to actual requirements) by taking one of the welding track points as a sphere center;

A402. acquiring the number of surfaces having collision interference with the sphere;

A403. judging whether a groove is formed at the welding line section according to the number;

A404. if so, acquiring groove type information and groove size information of the groove;

A405. and if not, the groove information of the welding line segment is set to be empty.

The groove type information is information indicating the type of a groove, and the type of the groove is generally an I-shaped groove, a V-shaped groove, a U-shaped groove, an X-shaped groove or a Y-shaped groove; the groove size information comprises included angle information of the groove, width information of the upper side and the lower side of the section of the groove and the like.

Generating a sphere with a preset radius by taking a welding track point closest to the middle point of the welding line segment as a sphere center; a welding track point can also be randomly selected as a sphere center to generate a sphere with a preset radius; but is not limited thereto.

Whether collision interference exists between the sphere and each surface can be detected through an intersection algorithm in Boolean operation, and therefore the number of the surfaces which have collision interference with the sphere is obtained.

Wherein, step a403 includes: if the number is not larger than the preset number threshold value, judging that the welding line section has no groove, otherwise, judging that the welding line section has the groove. The number threshold is typically 3.

The groove type information and the groove size information may be obtained by a shape feature matching method in the prior art, but is not limited thereto. And obtaining the groove type information and the groove size information, finally recording the groove type information and the groove size information as a part of welding line parameters of a welding line segment, and automatically matching welding process parameters according to the groove type information and the groove size information in the subsequent welding process so as to ensure the welding quality.

Wherein, the welding is connected the face that the face is located the welding seam both sides and is connected with this welding seam after two part entities are welded, and further, step A4 still includes:

A406. if the welding line segment has no groove, performing parent characteristic reverse topology on the welding line segment to obtain two welding connection surfaces of the welding line segment (specifically, each surface of a part entity is surrounded by a wire frame which is formed by a plurality of line segments and is connected end to end, and each line segment in one part entity is commonly shared by two surfaces, so that the welding connection surfaces of the welding line segment can be traversed by traversing whether each surface of the part entity contains the welding line segment or not);

A407. if the welding line section is provided with a groove, the bevel face is removed from the face which has collision interference with the ball body, and two welding connection faces of the welding line section are obtained.

In practical application, a normal vector of a point on a welding connection surface refers to a vector perpendicular to the welding connection surface at the point, normal vector data includes three coordinate values of x, y and z, and the coordinate values are coordinate values in a workpiece coordinate system.

For planar welding connection surface, its normal vector of any point is identical, and it can be used for weldingThe vector data corresponding to two crossed line segments on the connecting surface are cross-multiplied to obtain the normal vector data, and the formula is expressed as follows:

，

in order to be the normal vector data,

、

vector data corresponding to two intersecting line segments.

For analyzing a curved surface-shaped welded joint surface, normal vector data at a point (hereinafter, denoted by point P) on the welded joint surface can be calculated according to the following formula:

；

wherein the content of the first and second substances,

a shaft,

The axes are two preset reference coordinate axes which are perpendicular to each other,

、

the values of (A) are coordinate values of two reference coordinate axes, and the coordinate values of x, y and z can be expressed as

And

as a function of (a) or (b),

is at point P

A differential function in the axial direction (with a fixed calculation formula, which can be calculated by the calculation formula, which is prior art),

is at point P

A differential function in the axial direction (there is a fixed calculation formula by which it can be calculated, which is prior art).

In some preferred embodiments, step a6 includes:

；

wherein the content of the first and second substances,

is as follows

The attitude vector data at each welding trajectory point,

for the first welded joint face at the second

Normal vector data (normalized, modulo 1) at each weld locus point,

for the second welding to join the surface at

Normal vector data (normalized, modulo 1) at each weld locus point,

and

a weight value greater than zero and less than 1,

the total number of welding trace points.

Wherein the content of the first and second substances,

and

the value of (b) can be set according to actual needs, generally, the vector on the angular bisector of the angle between the normal vectors of the first welding connection surface and the second welding connection surface at the welding track point can be used as the attitude vector of the welding gun at the welding track point, and at this moment, the attitude vector of the welding gun at the welding track point can be used as the vector of the angle between the normal vectors of the first welding connection surface and the second welding connection surface

And

equal; but is not limited thereto.

According to the method for identifying the welding seam parameters, the three-dimensional model of the workpiece to be welded is loaded; the three-dimensional model is a combined model comprising at least two part entities; identifying a weld line segment on the three-dimensional model; selecting a plurality of welding track points on the welding line segment, and extracting position data of the welding track points; identifying groove information and two welding connection surfaces of a welding line segment on the three-dimensional model; acquiring normal vector data of two welding connection surfaces at each welding track point; acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data; and recording groove information, position data at each welding track point and attitude vector data at each welding track point to obtain the welding line parameters of the welding line segment, thereby efficiently realizing the welding line parameter identification of the workpiece model and having good applicability. Specifically, the weld parameter identification method has the following advantages:

1. the weld joint identification can be carried out on two workpiece three-dimensional models of marked weld joints and unmarked weld joints, and the adaptability is better; the welding line can be intelligently identified by one key, so that time and labor are saved, the working efficiency is high, and the labor cost is saved;

2. for welding seams with complex shapes such as spline curves and the like, selecting a welding seam track point through a bow height error, so that the bow height error of each discrete small line segment is not higher than the offset error required by the welding quality, and the problem that the welding quality of the complex curve welding seam line segment does not reach the standard due to the error of the welding track in the subsequent welding process can be effectively avoided;

3. whether a groove exists in each welding line segment and the type and size data of the groove can be automatically judged according to the parameterized characteristics of the three-dimensional model of the workpiece, and a good data information basis is laid for the automatic matching of proper welding process parameters in the subsequent groove welding;

4. compared with the prior art which only can identify the position of a welding seam and cannot generate the posture data of the welding gun, the scheme really realizes the one-key intelligent acquisition and generation of the welding seam and the posture data of the welding gun by automatically identifying the welding connection surface and automatically generating the posture vector data of the welding gun;

5. whether interference collision can occur at each welding track point in the welding process can be judged in advance by performing collision detection on the welding gun model and the three-dimensional model of the workpiece to be welded, and then the posture vector data is adjusted or the welding track points are deleted, so that the subsequent welding process is safer, more efficient and more intelligent.

Referring to fig. 2, the present application provides a weld parameter identification apparatus for obtaining weld parameters from a three-dimensional model of a workpiece to be welded, including:

the loading module 1 is used for loading a three-dimensional model of a workpiece to be welded; the three-dimensional model is a combined model comprising at least two part entities;

the first identification module 2 is used for identifying a welding line segment on the three-dimensional model;

the first execution module 3 is used for selecting a plurality of welding track points on the welding line segment and extracting the position data of the welding track points;

the second identification module 4 is used for identifying groove information of the welding line segment and two welding connection surfaces on the three-dimensional model;

the first acquisition module 5 is used for acquiring normal vector data of two welding connection surfaces at each welding track point;

the second acquisition module 6 is used for acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data;

and the recording module 7 is used for recording groove information, position data at each welding track point and attitude vector data at each welding track point to obtain welding seam parameters of a welding seam line segment.

The welding seam parameter identification device can be applied to a control system of a welding robot, after welding seam parameters are obtained through identification, in the subsequent welding process, appropriate welding process parameters can be automatically matched according to groove information of a welding seam, and a welding gun is controlled to weld at a corresponding attitude angle according to attitude vector data of each welding track point. Therefore, the welding seam parameter of the welding seam line segment is identified and obtained through the welding seam parameter identification device, a good data information basis is laid for the automatic matching of proper welding process parameters of subsequent welding, and the high-efficiency acquisition of the welding seam and the posture data of a welding gun can be realized.

In some preferred embodiments, the weld parameter identification apparatus further includes:

and the detection module is used for carrying out collision detection on the welding gun model and the three-dimensional model of the welding gun according to the position data and the attitude vector data of each welding track point, and deleting the welding track points with collision conditions or adjusting the attitude vector data according to the detection result.

Specifically, the detection module is configured to perform collision detection on a welding gun model and a three-dimensional model of a welding gun according to position data and attitude vector data at each welding track point, and perform, when deleting a welding track point having a collision condition or adjusting attitude vector data according to a detection result:

leading in a welding gun model of a welding gun;

sequentially moving the end part of the welding gun model to each welding track point, and enabling the attitude angle of the welding gun model (namely the attitude angle of the axis of the welding gun model) to be the attitude angle corresponding to the attitude vector data at each welding track point;

detecting whether a collision condition exists between the welding gun model and the three-dimensional model of the workpiece to be welded through a collision detection algorithm;

if the collision condition exists, keeping the end part of the welding gun model at the corresponding welding track point, and searching a target attitude angle capable of avoiding collision between the welding gun model and the three-dimensional model of the workpiece to be welded by changing the attitude angle of the welding gun model (the attitude angle changing mode can be set according to actual needs, and the mode is not limited in the process);

when a target attitude angle is searched, calculating new attitude vector data according to the target attitude angle to update the attitude vector data at the welding track point;

and when the target attitude angle cannot be searched, deleting the welding track point.

In some preferred embodiments, the first identification module 2 is configured to perform, when identifying a weld line segment on the three-dimensional model:

when the three-dimensional model contains welding seam marking information, identifying a welding seam line segment according to the welding seam marking information of the three-dimensional model;

when the three-dimensional model does not contain the welding seam marking information, extracting the surfaces of each part entity (each surface of the outer surface of each part entity) to form a surface set;

determining a target entity, a first candidate welding seam superposed surface and a second candidate welding seam superposed surface according to the intersection condition of each part entity and each surface of other part entities; the target entity is one of the part entities; the first candidate welding seam overlapping surface is a surface which does not belong to the target entity, and the first candidate welding seam overlapping surface is attached to one surface of the target entity; the second candidate welding seam overlapping surface is one surface of the target entity, and the second candidate welding seam overlapping surface is attached to the first candidate welding seam overlapping surface;

extracting edge line segments of the first candidate welding seam coincident face and the second candidate welding seam coincident face;

and extracting a part falling into the second candidate weld joint coincidence face in an edge line segment of the first candidate weld joint coincidence face intersected with the second candidate weld joint coincidence face as a weld line segment, or extracting a part falling into the first candidate weld joint coincidence face in an edge line segment of the second candidate weld joint coincidence face intersected with the first candidate weld joint coincidence face as a weld line segment.

The weld mark information may be color information, for example, the weld line segment in the three-dimensional model is set to a designated color (e.g., red), other segments in the three-dimensional model are set to other colors (e.g., yellow), and when the weld line segment is identified according to the weld mark information of the three-dimensional model, the segment having the designated color is directly determined as the weld line segment. Thus, the first recognition module 2 executes, when recognizing the weld line segment according to the weld labeling information of the three-dimensional model:

identifying the color of each line segment of the three-dimensional model;

The welding seam marking information can also be a specific identification character recorded in a source file of the three-dimensional model, a specific identification character is arranged in front of a coordinate sequence formed by coordinates of each position point of each welding seam line segment in the source file of the three-dimensional model, so that the line segment corresponding to the coordinate sequence after the specific identification character is the welding seam line segment, when the welding seam line segment is identified according to the welding seam marking information of the three-dimensional model, the specific identification character can be searched from the source file of the three-dimensional model, and the line segment corresponding to the coordinate sequence after the specific identification character is determined as the welding seam line segment. Thus, the first recognition module 2 executes, when recognizing the weld line segment according to the weld labeling information of the three-dimensional model:

reading a source file of the three-dimensional model;

searching a specific identification character in the source file;

When determining a target entity, a first candidate weld joint coincidence plane and a second candidate weld joint coincidence plane according to the intersection condition of each part entity and each plane of other part entities, the first recognition module 2 executes:

In some more preferred embodiments, the first identification module 2 is configured to, when identifying a weld line segment on the three-dimensional model, further perform:

displaying the recognition result of the weld line segment (for example, but not limited to, changing the color of the recognized weld line segment to a designated color in the three-dimensional model);

when a weld line segment deletion instruction is received, the specified weld line segment is determined to be a non-weld line segment (for example, a user can select the weld line segment to be deleted by a mouse and generate a weld line segment deletion instruction by pressing a Delete key, and after the weld line segment deletion instruction is received, the weld line segment to be deleted by the user is determined to be the non-weld line segment).

Wherein, the welding seam line segment may be the straight line segment, also may be the curve line segment (circular arc line segment, spline curve line segment etc.), and in this embodiment, a plurality of welding track points are selected on the welding seam line segment to first execution module 3 to when extracting the position data of welding track point, carry out:

when the welding line segment is a straight line segment, selecting a plurality of welding track points at equal intervals on the welding line segment, and extracting the position data of each welding track point;

when the welding line segment is a curve segment, selecting a plurality of welding track points on the welding line segment according to the curvatures of all parts of the welding line segment, so that the height error between a straight line connecting line and a curve connecting line between any adjacent welding track points is not larger than a preset error threshold value, and extracting the position data of each welding track point; the curved connecting lines are the portions of the weld line segments that lie between adjacent weld locus points.

Wherein, a plurality of welding track points are selected to first execution module 3 on the welding seam line segment according to the everywhere camber of welding seam line segment, make the bow height error between the straight line between the arbitrary adjacent welding track point and the curve line be not more than preset error threshold to when extracting the position data of each welding track point, carry out:

evenly dividing the welding line segment into a plurality of arc segments according to the length of the arc length, and taking the end point of each arc segment as a welding track point;

if at least one arch height error is larger than a preset error threshold value, inserting a new welding track point into the corresponding arc section with the arch height error larger than the preset error threshold value, and enabling the corresponding arch height error of the newly divided arc section to be not larger than the error threshold value;

and extracting the position data of each welding track point.

The first execution module 3 equally divides the welding line segment into a plurality of arc segments according to the arc length, and executes when the end points of the arc segments are welding track points:

calculating the segment arc length step according to the following formula:

；

wherein the content of the first and second substances,

in order to segment the arc length step length,

is the total arc length of the weld line segment,

is a preset arc length step length,

is an upward rounding function;

When calculating the height error between the straight line connecting line between two adjacent welding track points and the corresponding arc segment, the first execution module 3 executes:

；

wherein the content of the first and second substances,

is as follows

A welding track point and a second welding track point

the total number of the welding track points of the welding line segment,

is as follows

A welding track point and a second welding track point

The length of the straight line connecting the trace points,

is as follows

A welding track point and a second welding track point

or

Or

，

For the weld line segment in

The radius of curvature at each point of the weld trace,

for the weld line segment in

Radius of curvature at each weld trace point.

In some embodiments, when the first execution module 3 executes an operation that, if at least one bow height error is greater than a preset error threshold, a new welding track point is inserted into a corresponding arc segment whose bow height error is greater than the preset error threshold, so that the corresponding bow height error of the newly divided arc segment is not greater than the error threshold, the following steps are specifically executed:

In practical applications, sometimes a weld line segment may have both a straight line portion and a curved line portion, and at this time, a plurality of welding trace points are selected at equal intervals in the straight line portion (specifically, refer to the foregoing operation step for the straight line weld line segment), and a plurality of welding trace points are selected in the curved line portion according to curvatures at various places of the curved line portion, so that a bow height error between a straight line connecting line and a curved line connecting line between any adjacent welding trace points is not greater than a preset error threshold (specifically, refer to the foregoing operation step for the curved line weld line segment).

the second recognition module 4 executes the following steps when recognizing the groove information and the two welding connection surfaces of the welding line segment on the three-dimensional model:

generating a sphere with a preset radius (the preset radius can be set according to actual requirements) by taking one of the welding track points as a sphere center;

acquiring the number of surfaces having collision interference with the sphere;

And if the number is not greater than the preset number threshold value, judging that the welding line segment has no groove, otherwise, judging that the welding line segment has the groove. The number threshold is typically 3.

Further, when the second identification module 4 identifies the groove information of the weld line segment and the two welded connection surfaces on the three-dimensional model, the following steps are also performed:

if the welding line segment has no groove, performing parent characteristic reverse topology on the welding line segment to obtain two welding connection surfaces of the welding line segment (specifically, each surface of a part entity is surrounded by a wire frame which is formed by a plurality of line segments and is connected end to end, and each line segment in one part entity is commonly shared by two surfaces, so that the welding connection surfaces of the welding line segment can be traversed by traversing whether each surface of the part entity contains the welding line segment or not);

if the welding line section is provided with a groove, the bevel face is removed from the face which has collision interference with the ball body, and two welding connection faces of the welding line section are obtained.

For a planar welding connection surface, normal vectors of any point of the planar welding connection surface are the same, vector data corresponding to two crossed line segments on the welding connection surface can be subjected to cross multiplication to obtain normal vector data, and the normal vector data is expressed by a formula:

，

in order to be the normal vector data,

、

vector data corresponding to two intersecting line segments.

；

wherein the content of the first and second substances,

a shaft,

、

And

as a function of (a) or (b),

is at point P

is at point P

In some preferred embodiments, the second obtaining module 6 is configured to, when obtaining the attitude vector data of the welding gun at each welding track point according to the normal vector data, perform:

；

wherein the content of the first and second substances,

is as follows

The attitude vector data at each welding trajectory point,

for the first welded joint face at the second

Normal vector data (normalized, modulo 1) at each weld locus point,

for the second welding to join the surface at

Normal vector data (normalized, modulo 1) at each weld locus point,

and

a weight value greater than zero and less than 1,

the total number of welding trace points.

Wherein the content of the first and second substances,

and

And

equal; but is not limited thereto.

According to the method, the welding seam parameter identification device loads the three-dimensional model of the workpiece to be welded; the three-dimensional model is a combined model comprising at least two part entities; identifying a weld line segment on the three-dimensional model; selecting a plurality of welding track points on the welding line segment, and extracting position data of the welding track points; identifying groove information and two welding connection surfaces of a welding line segment on the three-dimensional model; acquiring normal vector data of two welding connection surfaces at each welding track point; acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data; and recording groove information, position data at each welding track point and attitude vector data at each welding track point to obtain the welding line parameters of the welding line segment, thereby efficiently realizing the welding line parameter identification of the workpiece model and having good applicability. Specifically, the welding seam parameter identification device has the following advantages:

Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the present disclosure provides an electronic device, including: the processor 301 and the memory 302, the processor 301 and the memory 302 are interconnected and communicate with each other through the communication bus 303 and/or other types of connection mechanisms (not shown), the memory 302 stores a computer program executable by the processor 301, and when the electronic device runs, the processor 301 executes the computer program to execute the weld parameter identification method in any alternative implementation manner of the above embodiment, so as to implement the following functions: loading a three-dimensional model of a workpiece to be welded; the three-dimensional model is a combined model comprising at least two part entities; identifying a weld line segment on the three-dimensional model; selecting a plurality of welding track points on the welding line segment, and extracting position data of the welding track points; identifying groove information and two welding connection surfaces of a welding line segment on the three-dimensional model; acquiring normal vector data of two welding connection surfaces at each welding track point; acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data; and recording the groove information, the position data of each welding track point and the attitude vector data of each welding track point to obtain the welding line parameters of the welding line segment.

The embodiment of the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for identifying weld parameters in any optional implementation manner of the foregoing embodiment is executed, so as to implement the following functions: loading a three-dimensional model of a workpiece to be welded; the three-dimensional model is a combined model comprising at least two part entities; identifying a weld line segment on the three-dimensional model; selecting a plurality of welding track points on the welding line segment, and extracting position data of the welding track points; identifying groove information and two welding connection surfaces of a welding line segment on the three-dimensional model; acquiring normal vector data of two welding connection surfaces at each welding track point; acquiring attitude vector data of the welding gun at each welding track point according to the normal vector data; and recording the groove information, the position data of each welding track point and the attitude vector data of each welding track point to obtain the welding line parameters of the welding line segment. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of 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 of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, 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 network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A weld parameter identification method is used for obtaining weld parameters according to a three-dimensional model of a workpiece to be welded, and is characterized by comprising the following steps:

A2. identifying a weld line segment on the three-dimensional model;

2. The weld seam parameter identification method according to claim 1, wherein after the step A6 and before the step A7, the method further comprises the steps of:

3. The weld parameter identification method according to claim 1, wherein the step A2 comprises:

A201. when the three-dimensional model contains welding seam marking information, identifying the welding seam line segment according to the welding seam marking information of the three-dimensional model;

4. The weld parameter identification method according to claim 3, wherein the weld marking information is color information;

step a201 includes:

identifying the color of each line segment of the three-dimensional model;

5. The weld parameter identification method according to claim 3, wherein the weld marking information is a specific identification character recorded in a source file of the three-dimensional model;

step a201 includes:

reading a source file of the three-dimensional model;

searching a specific identification character in the source file;

6. The weld parameter identification method according to claim 1, wherein the step A3 comprises:

7. The weld seam parameter identification method according to claim 6, wherein the step A302 comprises:

and extracting the position data of each welding track point.

8. The weld parameter identification method of claim 3, wherein the groove information includes groove type information and groove size information representing a groove at the corresponding weld line segment;

step a4 includes:

9. The weld parameter identification method according to claim 1, wherein the step A6 comprises:

；

wherein the content of the first and second substances,

is as follows

The pose vector data at each of the weld trajectory points,

for the first one of said welded joints to be in the second

The normal vector data at each of the weld trajectory points,

for the second said welded joint face at

The normal vector data at each of the weld trajectory points,

and

a weight value greater than zero and less than 1,

the total number of the welding track points.

10. A weld parameter identification device for obtaining weld parameters from a three-dimensional model of a workpiece to be welded, comprising:

11. An electronic device, comprising a processor and a memory, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to perform the steps of the weld parameter identification method according to any one of claims 1 to 9.

12. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the weld parameter identification method according to any one of claims 1 to 9.