CN114434001A - Weld joint track autonomous tracking algorithm - Google Patents

Weld joint track autonomous tracking algorithm Download PDF

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Publication number
CN114434001A
CN114434001A CN202110314543.0A CN202110314543A CN114434001A CN 114434001 A CN114434001 A CN 114434001A CN 202110314543 A CN202110314543 A CN 202110314543A CN 114434001 A CN114434001 A CN 114434001A
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Prior art keywords
robot
line laser
calculating
laser
data
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Inventor
娄林林
李哲
杜承宗
王平章
杨昌明
刘渝
王宇
钟雯
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Xihua University
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Xihua University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/044—Seam tracking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses an autonomous tracking algorithm for a welding seam track, which comprises the following steps: determining the initial position of the line laser; specifying a direction vector, and determining the initial position and the position direction of the robot through the movement of line laser; the robot retreats to the initial position; moving along the determined new direction again, determining the next position of the line laser and collecting data; adjusting and calculating the position of the line laser by using the acquired data to obtain the corrected position of the line laser; the robot moves to the correction position, the current position is used as a new initial position, and the search of the welding seam position is repeated; the invention can automatically track the welding seam track, improve the self-adaptability of the robot welding and obviously reduce the workload of on-site teaching and off-line programming of operators.

Description

Weld joint track autonomous tracking algorithm
Technical Field
The invention relates to the technical field of robot welding, in particular to an autonomous tracking algorithm for a welding seam track.
Background
In the welding technology, the welding process is extremely complex, the intelligent welding robot has the characteristics of nonlinearity, time variation, uncertainty and the like, an accurate mathematical model is difficult to establish due to the influence of nonlinearity and other interference factors, complex, fuzzy and uncertain system environments and tasks can be effectively processed by an intelligent system, and the accurate mathematical model is not needed, so that in the welding seam tracking process, the application of an intelligent control theory is more and more emphasized, the software core of intelligent control lies in the research of an algorithm, how to realize the identification and tracking of the welding seam by a robot is a key for further improving the welding automation, flexibility and intellectualization of the robot.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide an autonomous tracking algorithm of a welding seam track, which can improve the adaptivity of a welding robot and obviously reduce the workload of workers on the welding seam track.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: an autonomous tracking algorithm for a weld trajectory, comprising the steps of:
a. determining the initial position of the line laser;
b. determining the initial position and the movement direction of the robot;
c. the robot moves to an initial position;
d. determining the next position by linear laser and acquiring data;
e. adjusting and calculating the current position of the line laser;
f. the robot moves to the correction position;
g. the processes 3, 4 and 5 are repeated with the current position as the initial position.
As a preferred embodiment. In the step a, the line laser initial position determination means determining the line laser initial position and the attitude in the workpiece coordinate system.
As another preferred embodiment. In step b, the determining of the initial position and the movement direction of the robot specifically comprises:
b1, manually guiding the online laser of the robot to the initial point, and collecting data A0(Nxyz) (data as initial data coordinate system C)0Medium coordinates or coordinates converted into the workpiece coordinate system CW);
i、A0the middle point of (Nxyz) is marked as
Figure BDA0002990599150000021
Figure BDA0002990599150000022
ii. Calculate A0(Nxyz) weld point
Figure BDA0002990599150000023
Figure BDA0002990599150000024
b2, initial Direction assignment
i. Method 1
Specifying a direction vector D0The direction vector may be specified using the workpiece coordinate direction as a base vector;
ii. Two-point method
1. Manually guiding the line laser to the next position, collecting data
Figure BDA0002990599150000025
At this time, the data coordinate system C after the movement1The coordinate value of (1); need to be converted to the initial data coordinate system C0Centre-of-coordinates or conversion to the work coordinate system CWMiddle coordinate, marked as A1T(N x y z)；
2. Computing
Figure BDA0002990599150000026
3. According to
Figure BDA0002990599150000027
The next direction of motion D0 of the line laser is determined.
As another preferred embodiment, the movement of the robot to the initial position in the step c means that the robot is retracted to the memorized initial position.
As another preferred embodiment, in step d, the line laser next position determining and data acquiring specifically includes:
d1, line laser next position calculation
i. The origin position C1 of the line laser coordinate system,
Figure BDA0002990599150000028
delta is the laser scanning distance;
d2 calculating next position conversion and moving of robot
d3 scanning line laser data and calculating related pose
i. Line laser data scanning
1. Scanning data
Figure BDA0002990599150000029
2. C0 coordinate system
Figure BDA00029905991500000210
3. Computing
Figure BDA00029905991500000211
4. Computing
Figure BDA00029905991500000212
5. According to
Figure BDA00029905991500000213
Determining the cutting direction of the welding seam and using the cutting direction as the next movement direction of the line laser;
ii. Line laser relative pose calculation (local coordinate system calculation)
1. Computing
Figure BDA00029905991500000214
2. Calculating the normal vector
Figure BDA0002990599150000031
3. Calculating a sub-tangential vector
Figure BDA0002990599150000032
As another preferred embodiment, in step e, the adjusting and calculating of the current position of the line laser specifically includes:
e1, correcting position translation (after correction, the center point of the laser stripe and the welding seam point are required to be at the same position)
i. Moving a line laser to satisfy
Figure BDA0002990599150000033
Amount and direction of movement:
Figure BDA0002990599150000034
ii. Correcting robot motion;
e2, correcting position rotation (requiring linear laser measuring plane and T after correction)1Vertical)
i. Calculation of current normal vector of line laser
Figure BDA0002990599150000035
ii. Rotation angle calculation
1. Around local coordinates
By S obtained in step d1And
Figure BDA0002990599150000036
two known vectors calculate the rotation of the laser stripe to the same as T1Vertical angle, where the data obtained is in a local coordinate system;
2. around the workpiece coordinate
And transforming the data in the local coordinate system to the workpiece coordinate system to obtain the data around the workpiece coordinate system.
As another preferred embodiment, the step f represents moving the robot to the corrected pose.
In another preferred embodiment, the current position is used as an initial position in the step g, and the processes c, d and e are repeated to enable the robot and the line laser to autonomously track the welding seam track.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention;
FIGS. 2 and 3 are schematic diagrams illustrating the movement process of the laser stripes in step b of the embodiment shown in FIG. 1;
FIG. 4 is a schematic diagram of the movement process of the laser stripe at step d of the embodiment shown in FIG. 1;
FIG. 5 is a schematic diagram of vector calculation in step d of the embodiment shown in FIG. 1;
FIG. 6 is a schematic view of the position translation correction in step e of the embodiment shown in FIG. 1;
FIG. 7 is a schematic view of the position rotation correction in step e of the embodiment shown in FIG. 1
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings.
As shown in fig. 1, an autonomous tracking algorithm for a weld trace includes the following steps:
a. determining the initial position of the line laser;
b. determining the initial position and the movement direction of the robot;
c. the robot moves to an initial position;
d. determining the next position by linear laser and acquiring data;
e. adjusting and calculating the current position of the line laser;
f. the robot moves to the correction position;
g. and (5) taking the current position as an initial position, repeating the processes 3, 4 and 5, completing the autonomous tracking of the welding seam track and correcting the welding seam track.
The line laser initial position determination in the step a refers to determining the line laser initial position and the posture in a workpiece coordinate system, and the equipment can be manually threaded to the initial position.
Step b the initial position and the movement direction of the robot are determined, and the method specifically comprises the following steps:
b1, as shown in figure 2, manually guiding the online laser of the robot to the starting point, and collecting data A0(Nxyz) (data as coordinates in the initial data coordinate system C0 or transformed to the workpiece coordinate system CWMiddle coordinate);
i、A0the middle point of (Nxyz) is marked as
Figure BDA0002990599150000041
Figure BDA0002990599150000042
ii. Calculate A0(Nxyz) weld point
Figure BDA0002990599150000043
Figure BDA0002990599150000044
b2, initial Direction assignment
i. Method 1
Specifying a direction vector D0The direction vector may be specified using the workpiece coordinate direction as a base vector;
ii. Two-point method
1. Manually guiding the line laser to the next position, and collecting data
Figure BDA0002990599150000045
At this time, the data coordinate system C after the movement1The coordinate value of (1); need to be converted to the initial data coordinate system C0Centre-of-coordinates or conversion to the work coordinate system CWMiddle coordinate, marked as A1T(N x y z)；
2. Computing
Figure BDA0002990599150000046
3. According to
Figure BDA0002990599150000047
The next direction of motion D0 of the line laser stripe is determined.
And c, moving the robot to the initial position, namely enabling the robot to retreat to the memorized initial point and pose after the step b.
As shown in fig. 4 and 5, the line laser next position determination and data acquisition in step d specifically includes:
d1, line laser next position calculation
i. The origin position C1 of the line laser coordinate system,
Figure BDA0002990599150000051
delta is the scanning distance of the laser stripes;
d2, calculating next position conversion and moving of robot
d3 scanning line laser data and calculating related pose
i. Line laser data scanning
1. Scanning data
Figure BDA0002990599150000052
2、C0Under the coordinate system
Figure BDA0002990599150000053
3. Calculating out
Figure BDA0002990599150000054
4. Computing
Figure BDA0002990599150000055
5. According to
Figure BDA0002990599150000056
Determining the cutting direction of the welding seam and using the cutting direction as the next movement direction of the line laser;
ii. Line laser correlation pose calculation
1. Computing
Figure BDA0002990599150000057
2. Calculating normal vector
Figure BDA0002990599150000058
3. Calculating a sub-tangential vector
Figure BDA0002990599150000059
As shown in fig. 6 and 7, the adjusting and calculating of the current position of the line laser in step e specifically includes:
e1, correcting position translation (after correction, the center point of the laser stripe and the welding seam point are required to be at the same position)
i. Moving a line laser to satisfy
Figure BDA00029905991500000510
Amount and direction of movement:
Figure BDA00029905991500000511
ii. Correcting robot motion;
e2, correcting position rotation (requiring linear laser measuring plane and T after correction)1Vertical)
i. Line laser current normal vector calculation
Figure BDA00029905991500000512
ii. Rotation angle calculation
1. Around local coordinates
By S obtained in step d1And
Figure BDA00029905991500000513
two known vectors calculate the rotation of the laser stripe to the same as T1The angle of the vertical is such that,the data obtained at this time are performed in a local coordinate system;
2. around the workpiece coordinates.
And transforming the data in the local coordinate system to the workpiece coordinate system to obtain the data around the workpiece coordinate system.
And f, moving the robot to a corrected position, and moving the robot and the line laser to the corrected position through the corrected position obtained in the step e so as to obtain a more accurate welding seam track for welding.
And g, taking the current position as an initial position, repeating the steps c, d and e, and enabling the robot and the line laser to automatically track the welding seam track to perform related operations.
The above description of the embodiments of the present invention is specific and detailed, but should not be 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.

Claims (6)

1. An autonomous tracking algorithm for a weld trajectory, comprising the steps of:
a. determining the initial position of the line laser;
b. determining the initial position and the movement direction of the robot;
c. the robot moves to an initial position;
d. determining the next position by linear laser and acquiring data;
e. adjusting and calculating the current position of the line laser;
f. the robot moves to the correction position;
g. and c, repeating the processes d and e by taking the current position as an initial position.
2. The weld joint trajectory autonomous tracking algorithm according to claim 1, wherein in the step b, the determining of the initial position and the movement direction of the robot specifically comprises:
b1, manually guiding the robot to be excitedLight arrives at the starting point, data is collected, and the data intermediate point is marked as
Figure FDA0002990599140000011
Calculated weld joint location points
Figure FDA0002990599140000012
b2, determining the motion direction of the robot: the method comprises two methods, namely, a method I for specifying a direction vector; two-point method: manually guiding the robot to the next position, collecting data, and recalculating to the next weld feature point
Figure FDA0002990599140000013
According to
Figure FDA0002990599140000014
Determining the next direction of motion D of the line laser0。
3. The weld joint trajectory autonomous tracking algorithm according to claim 1, wherein in the step d, the line laser next position determination and data acquisition specifically comprise:
d1 calculating next position of linear laser, and calculating the origin of linear laser coordinate system
Figure FDA0002990599140000015
Delta is a line laser scanning distance, and a coordinate system of the current position of the line laser and the position of the origin thereof are obtained through calculation;
d2, converting, calculating and moving the next position of the robot;
d3, scanning line laser data and calculating related poses.
4. The weld joint track autonomous tracking algorithm according to claim 1, wherein in the step e, the adjustment calculation of the current position of the line laser comprises position translation correction and position rotation correction, a middle point of the line laser data is overlapped with a position point of the weld joint, and the line laser rotates by a certain angle to enable the laser stripe to be perpendicular to the next movement direction.
5. The weld joint track autonomous tracking algorithm according to claim 3, wherein in the step d3, line laser scanning data is utilized
Figure FDA0002990599140000016
From C0Under the coordinate system
Figure FDA0002990599140000017
Figure FDA0002990599140000018
Computing
Figure FDA0002990599140000019
According to
Figure FDA00029905991400000110
Determination of T1The tangent direction of the welding seam is taken as the next movement direction; calculating out
Figure FDA00029905991400000111
Calculating the normal vector N1Calculating a sub-tangential vector S1。
6. The weld joint trajectory autonomous tracking algorithm according to claim 4, wherein in the step f, the moving of the robot to the correction position specifically comprises:
e1, correcting position translation, moving line laser, satisfying
Figure FDA0002990599140000021
The moving amount and direction are:
Figure FDA0002990599140000022
moving the center point of the laser stripe to be superposed with the position of the welding line;
e2, correcting position rotation, and calculating the current normal vector of the linear laser
Figure FDA0002990599140000023
By
Figure FDA0002990599140000024
And S1And calculating the angle required by the rotation of the linear laser stripe from the current position to the position vertical to the moving direction vector, and rotating the robot and the linear laser to the position vertical to the next moving direction.
CN202110314543.0A 2021-03-24 2021-03-24 Weld joint track autonomous tracking algorithm Pending CN114434001A (en)

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Application publication date: 20220506