CN114782526B

CN114782526B - Welding seam track calculation method and device of H-shaped steel, electronic equipment and storage medium

Info

Publication number: CN114782526B
Application number: CN202210712209.5A
Authority: CN
Inventors: 岑洎涛; 罗凌云; 苏金宇; 邓锦祥
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-09-02
Anticipated expiration: 2042-06-22
Also published as: CN114782526A

Abstract

The application relates to the technical field of robot welding, and provides a welding seam track calculation method and device for H-shaped steel, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring four angular points of a connecting part between the H-shaped steel and the rib plate; acquiring a normal vector of a first upper vertex of a first side edge welding seam, a normal vector of a second upper vertex of a second side edge welding seam and a normal vector of a middle point of a bottom edge welding seam; acquiring a first upper vertex, a second upper vertex and a middle point according to four angular points between the H-shaped steel and the rib plate; acquiring a first lower vertex, a second lower vertex, a left vertex and a right vertex; calculating first side weld joint trajectory data according to the normal vectors of the first upper vertex, the first lower vertex and the first upper vertex; calculating second side edge weld joint track data according to the normal vectors of the second upper vertex, the second lower vertex and the second upper vertex; and calculating the bottom edge welding line track data according to the normal vectors of the left vertex, the right vertex and the middle point. The invention can improve the efficiency and the production efficiency of acquiring the welding seam track data.

Description

Welding seam track calculation method and device of H-shaped steel, electronic equipment and storage medium

Technical Field

The application relates to the technical field of robot welding, in particular to a welding seam track calculation method and device for H-shaped steel, electronic equipment and a storage medium.

Background

The steel structure has the characteristics of light dead weight, high strength, strong stability and the like, so the use amount of the steel structure in modern buildings and other construction projects is gradually increased. The processing batch of standard sectional materials such as H-shaped steel is increased, the required construction period is shortened, and the original welder team of an enterprise can not meet the existing production requirement. In addition, as the population of the labor force is reduced, the resources of welders are increasingly tense, and urgent requirements are provided for the development of an automatic, intelligent and unmanned intelligent welding robot for welding H-shaped steel.

In recent years, advanced manufacturing enterprises in China try to use a teaching programming welding robot and drag a teaching special welding machine, so that the welding quality and the automation degree of H-shaped steel welding application are improved to a certain extent. But the tool can only meet the requirements of large-batch workpieces with the same size and has accurate positioning, and the tool is still inexperienced for the welding application of H-shaped steel with flexibility, multiple sizes, small batch and no tool. In particular, for the H-shaped steel workpiece shown in fig. 3, the H-shaped steel workpiece includes an H-shaped steel 100 and at least two rib plates 200, and the rib plates are vertically connected to two wing plates and web plates of the H-shaped steel 100, when the H-shaped steel workpiece is manufactured, the rib plates 200 and the H-shaped steel 100 need to be welded, and for the welding of the H-shaped steel workpiece, the conventional manual teaching process is more complicated.

Based on the above problems, no effective solution exists at present.

Disclosure of Invention

The application aims to provide a welding seam track calculation method and device for H-shaped steel, electronic equipment and a storage medium, the complex process of manual teaching is eliminated, and the efficiency and the production efficiency of obtaining welding seam track data of an H-shaped steel workpiece are improved.

In a first aspect, the present application provides a method for calculating a weld track of H-beam, which is used to obtain weld track data of an H-beam workpiece, where the H-beam workpiece includes H-beam and at least two rib plates, and the rib plates are vertically connected with two wing plates and a web plate of the H-beam, and the method includes the following steps:

s1, acquiring image information of an H-shaped steel workpiece to be welded;

s2, acquiring position data of four angular points at a connecting part between the H-shaped steel and the rib plate according to the image information of the H-shaped steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively;

s3, acquiring a normal vector of a first upper peak of the first side edge welding line, a normal vector of a second upper peak of the second side edge welding line and a normal vector of a midpoint of the bottom edge welding line;

s4, based on a position finding algorithm, acquiring position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between the H-shaped steel and the rib plate;

s5, acquiring position data of a first lower vertex of a first side edge welding seam, position data of a second lower vertex of a second side edge welding seam, position data of a left vertex of a bottom edge welding seam and position data of a right vertex; calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

calculating second side edge weld joint track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex;

and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the midpoint.

According to the method for calculating the welding seam track of the H-shaped steel, the image information of an H-shaped steel workpiece to be welded is obtained; the H-shaped steel workpiece image information acquires position data of four angular points at a connecting part between the H-shaped steel and the rib plate, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively; acquiring a normal vector of a first upper vertex of a first side edge welding seam, a normal vector of a second upper vertex of a second side edge welding seam and a normal vector of a middle point of a bottom edge welding seam; based on a locating algorithm, acquiring position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between the H-shaped steel and the rib plate; acquiring position data of a first lower vertex of a first side edge welding seam, position data of a second lower vertex of a second side edge welding seam, position data of a left vertex and position data of a right vertex of a bottom edge welding seam; calculating first side welding seam track data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge weld track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point. The complicated process of manual teaching is avoided, and the efficiency and the production efficiency of obtaining the welding seam track data of the H-shaped steel workpiece are improved.

Alternatively, before step S3, step S2 is followed by:

A1. acquiring a first side vector according to the position data of the upper left corner point and the position data of the lower left corner point; acquiring a second side vector according to the position data of the upper right corner point and the position data of the lower right corner point; acquiring a bottom edge vector according to the position data of the left lower angular point and the position data of the right lower angular point;

A2. calculating a first normal vector according to the first side vector and the bottom vector; calculating a second normal vector according to the second side vector and the bottom vector; and calculating a third normal vector according to the bottom edge vector.

Optionally, step S3 includes:

rotating the first normal vector towards the bottom edge vector by a first preset angle, and warping upwards by a second preset angle to obtain a normal vector of the first upper vertex;

rotating the second normal vector towards the bottom edge vector by a third preset angle, and warping upwards by a fourth preset angle to obtain a normal vector of the second upper vertex;

and warping the third normal vector by a fifth preset angle upwards to obtain the normal vector of the midpoint.

In this way, the welding robot and the workpiece can be prevented from colliding.

Optionally, step S4 includes:

s401, presetting a first moving distance and a second moving distance;

s402, locating the welding seam of the first side according to the first moving distance, the second moving distance, the position data of the upper left corner point and the first normal vector to obtain the position data of the first upper vertex;

searching the position of the second side welding line according to the first moving distance, the second moving distance, the position data of the upper right angular point and the second normal vector to obtain the position data of the second upper vertex;

and searching the position of the bottom side welding line according to the second moving distance, the position data of the middle point and the third normal vector to obtain the position data of the middle point.

In this way, it is possible to further prevent the welding robot from colliding with the H-beam workpiece when seeking, and to find accurate position data of the first upper vertex, position data of the second upper vertex, and position data of the midpoint.

Optionally, step S5 includes:

s501, calculating a first slope of a straight line connecting line formed by the first upper vertex and the second upper vertex according to the position data of the first upper vertex and the position data of the second upper vertex;

s502, calculating position data of a left concave point and position data of a right concave point of the H-shaped steel according to the first slope, the position data of the first upper peak, the position data of the second upper peak and the position data of the middle point.

S503, acquiring position data of a first lower vertex of the first side edge welding seam, position data of a second lower vertex of the second side edge welding seam, position data of a left vertex and position data of a right vertex of the bottom edge welding seam according to the position data of the left concave point, the position data of the right concave point, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the middle point;

s504, calculating the first side weld joint track data according to the position data of the first upper vertex, the normal vector of the first upper vertex and the position data of the first lower vertex;

calculating second side weld joint track data according to the position data of the second upper vertex, the normal vector of the second upper vertex and the position data of the second lower vertex;

and calculating bottom edge weld track data according to the position data of the left vertex, the normal vector of the middle point and the position data of the right vertex.

Optionally, step S503 includes:

calculating position data of the first lower vertex from the position data of the first upper vertex and the position data of the left concave point based on an equal ratio characteristic of the vector;

calculating position data of the second lower vertex from the position data of the second upper vertex and the position data of the right concave point based on an equal ratio characteristic of the vector;

calculating position data of the left vertex from the position data of the midpoint and the position data of the left concave point based on geometric characteristics of the vector;

calculating position data of the right vertex from the position data of the midpoint and the position data of the right concave point based on an equal ratio characteristic of the vector.

According to the H-shaped steel weld track calculation method, accurate position data of a first upper vertex of a first side weld, position data of a second upper vertex of a second side weld and position data of a midpoint of a bottom side weld are obtained through a position finding algorithm, and finally the first side weld track data, the second side weld track data and the bottom side weld track data are calculated through the position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint. The complicated process of manual teaching is avoided, and the efficiency and the production efficiency of obtaining the welding seam track data of the H-shaped steel workpiece are improved.

In a second aspect, the present application provides a welding seam track calculation device of H-shaped steel for obtain the welding seam track data of H-shaped steel work piece, the H-shaped steel work piece includes H-shaped steel and two piece at least gussets, the gusset perpendicularly with two pterygoid laminas and the web of H-shaped steel are connected, wherein, include following module:

a first obtaining module: the method comprises the steps of obtaining image information of an H-shaped steel workpiece to be welded;

a second obtaining module: the H-shaped steel workpiece positioning device is used for acquiring position data of four angular points at a connecting part between H-shaped steel and a rib plate according to the H-shaped steel workpiece image information, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively;

a third obtaining module: the normal vector of a first upper vertex of the first side edge welding seam, the normal vector of a second upper vertex of the second side edge welding seam and the normal vector of the middle point of the bottom edge welding seam are obtained;

a fourth obtaining module: the positioning method comprises the steps of obtaining position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between the H-shaped steel and the rib plate based on a positioning algorithm;

a fifth obtaining module: the position data of a first lower vertex of the first side edge welding seam, the position data of a second lower vertex of the second side edge welding seam, the position data of a left vertex of the bottom edge welding seam and the position data of a right vertex are obtained;

calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point.

Optionally, the application provides a welding seam trajectory calculation device for H-shaped steel, further including the following modules:

a sixth obtaining module: the first side vector is obtained according to the position data of the upper left corner point and the position data of the lower left corner point; acquiring a second side vector according to the position data of the upper right corner point and the position data of the lower right corner point; acquiring a bottom edge vector according to the position data of the left lower corner point and the position data of the right lower corner point;

a calculation module: the first side vector is used for calculating a first normal vector according to the first side vector and the bottom vector; calculating a second normal vector according to the second side vector and the bottom vector; and calculating a third normal vector according to the bottom edge vector.

According to the H-shaped steel welding seam track calculating device, image information of an H-shaped steel workpiece to be welded is obtained through the first obtaining module; the second acquisition module acquires position data of four angular points at a joint between the H-shaped steel and the rib plate according to the image information of the H-shaped steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively; the third acquisition module acquires a normal vector of a first upper vertex of the first side edge welding line, a normal vector of a second upper vertex of the second side edge welding line and a normal vector of a midpoint of the bottom edge welding line; the fourth acquisition module acquires position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of the bottom edge welding seam according to the position data of the four angular points between the H-shaped steel and the rib plate based on a position finding algorithm; the fifth acquisition module acquires position data of a first lower vertex of the first side edge welding seam, position data of a second lower vertex of the second side edge welding seam, position data of a left vertex of the bottom edge welding seam and position data of a right vertex; calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge weld joint track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point. The tedious process of manual teaching is avoided, and the efficiency and the production efficiency of obtaining welding seam track data of the H-shaped steel workpiece are improved.

In a third aspect, the present application provides an electronic device comprising a processor and a memory, wherein the memory stores computer readable instructions, and the computer readable instructions, when executed by the processor, perform the steps of the method as provided in the first aspect.

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

In summary, the welding seam trajectory calculation method, device, electronic device and storage medium of H-shaped steel provided by the present application: and finally, calculating the first side weld track data, the second side weld track data and the bottom side weld track data according to the position data of the first upper vertex, the position data of the second upper vertex and the position data of the middle point. The complicated process of manual teaching is avoided, and the efficiency and the production efficiency of obtaining the welding seam track data of the H-shaped steel workpiece are improved.

Drawings

FIG. 1 is a flowchart of a method for calculating a weld track of H-shaped steel according to the present application.

Fig. 2 is a schematic structural diagram of a welding seam trajectory calculation device for H-shaped steel provided by the present application.

FIG. 3 is a schematic structural diagram of an H-shaped steel workpiece provided by the application.

FIG. 4 is a front view of an H-beam workpiece provided by the present application.

FIG. 5 is a schematic structural diagram of an H-shaped steel workpiece provided by the application.

FIG. 6 is a vector diagram of an H-shaped steel workpiece according to the present application.

FIG. 7 is a schematic structural diagram of an H-shaped steel workpiece provided by the application.

FIG. 8 is a top view of an H-beam workpiece according to the present disclosure.

FIG. 9 is a top view of an H-beam workpiece according to the present disclosure.

Fig. 10 is a schematic structural diagram of an electronic device provided in the present application.

Description of reference numerals:

100. h-shaped steel; 200. a rib plate; 201. a first acquisition module; 202. a second acquisition module; 203. a third obtaining module; 204. a fourth obtaining module; 205. a fifth obtaining module; 301. a processor; 302. a memory; 303. a communication bus.

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, as presented in the figures, 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 obtained by a person skilled in the art without making creative efforts based on the embodiments of the present application, belong to 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 or 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.

In practical application, the welding workstation in this application contains industry six tandem welding robot, vision scanning system, laser sensor, linear guide and the industrial computer that is equipped with special software generally. The industrial personal computer communicates with the welding robot through the network cable and transmits the calculated welding seam locating program to a controller of the welding robot; the welding robot executes the welding task of the H-shaped steel workpiece; the visual scanning system and the laser sensor are arranged at the tail end of the welding robot; the welding robot is arranged on the linear guide rail in a sliding mode.

Referring to fig. 1, fig. 1 is a flowchart of a welding seam trajectory calculation method of H-shaped steel according to some embodiments of the present disclosure, for obtaining welding seam trajectory data of an H-shaped steel workpiece, where the H-shaped steel workpiece includes an H-shaped steel 100 and at least two rib plates 200, and the rib plates 200 are vertically connected to two wing plates and a web plate of the H-shaped steel, where the method includes the following steps:

s1, acquiring image information of an H-shaped steel workpiece to be welded;

s3, acquiring a normal vector of a first upper vertex of the first side edge welding line, a normal vector of a second upper vertex of the second side edge welding line and a normal vector of a middle point of the bottom edge welding line;

s4, based on a locating algorithm, obtaining position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between the H-shaped steel and the rib plate;

calculating second side edge welding seam track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex;

In step S1, image information of the H-beam workpiece to be welded may be acquired by a vision scanning system provided at the end of the welding robot. Specifically, after the rib plates to be welded are placed into the H-shaped steel and fixed, the vision scanning system is used for scanning to obtain image information of the H-shaped steel workpiece to be welded.

In step S2, the obtained four corner points are obtained by rough scanning performed by the vision scanning system, for example, the position information of the point cloud data of the H-shaped steel workpiece is obtained by the vision scanning system (that is, the image information of the H-shaped steel workpiece to be welded is the point cloud image information), and then the position data of the four corner points are obtained therefrom (the specific extraction method is the prior art), where the obtained position data of the four corner points are not accurate values, and are only convenient for subsequent calculation. Specifically, the positions of the four corner points can be seen in fig. 4, an upper left corner point is P1, a lower left corner point is P2, a lower right corner point is P3, an upper right corner point is P4, specifically, the upper left corner point and the upper right corner point are respectively a left welding surface and a right welding surface of the rib plate (both surfaces of the rib plate need to be welded with the H-shaped steel, therefore, the welding seam trajectory calculation method of the H-shaped steel needs to be executed for two side surfaces of the same rib plate respectively to obtain welding seam trajectory data of the two side surfaces, when the welding seam trajectory calculation method of the H-shaped steel is executed for one side surface, the corresponding side surface is the welding surface), and the lower left corner point and the lower right corner point are respectively the intersection points of the plane where the left welding surface and the right welding surface are located and the web-wing plate intersection line of the H-shaped steel. Three welding lines are welded on two sides of the H-shaped steel and the rib plate, and four corner points on any side are key points to be identified by a vision system.

In steps S4 and S5, the positions of the first upper vertex, the second upper vertex and the midpoint of the bottom line weld are as shown in fig. 5, and the first upper vertex is T1, the second upper vertex is T6, and the midpoint is T7, respectively. The seek algorithm is performed by the laser sensor. Specifically, the first side welding line is a first connecting line formed between the left side of the rib plate (specifically, the welding surface of the rib plate) and the H-shaped steel, and the first upper vertex is an upper end point of the first connecting line; the second side edge welding seam is a second connecting line formed between the right side of the rib plate (specifically the welding surface of the rib plate) and the H-shaped steel, and the second upper vertex is an upper endpoint of the second connecting line; the bottom side welding line is a third connecting line formed between the bottom side of the rib plate (specifically the welding surface of the rib plate) and the H-shaped steel, and the midpoint is the midpoint of the third connecting line.

For ease of understanding, the first upper vertex is actually the exact upper left corner point and the second upper vertex is the exact upper right corner point.

According to the method for calculating the welding seam track of the H-shaped steel, the image information of an H-shaped steel workpiece to be welded is obtained; acquiring position data of four angular points at a connecting part between the H-shaped steel and the rib plate according to the image information of the H-shaped steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively; acquiring a normal vector of a first upper vertex of a first side edge welding seam, a normal vector of a second upper vertex of a second side edge welding seam and a normal vector of a middle point of a bottom edge welding seam; based on a locating algorithm, acquiring position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between the H-shaped steel and the rib plate; acquiring position data of a first lower vertex of a first side edge welding seam, position data of a second lower vertex of a second side edge welding seam, position data of a left vertex and position data of a right vertex of a bottom edge welding seam; calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge welding seam track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point. The complicated process of manual teaching is avoided, and the efficiency and the production efficiency of obtaining the welding seam track data of the H-shaped steel workpiece are improved.

In some embodiments, before step S3, after step S2 comprises:

A2. calculating a first normal vector according to the first side edge vector and the bottom edge vector; calculating a second normal vector according to the second side vector and the bottom vector; and calculating a third normal vector according to the bottom edge vector.

In practical application, the purpose of steps a1 and a2 is to obtain normal vectors of key points of the weld joint, and also to convert the key points of the weld joint into recognizable pose values of the welding robot. The weld key points refer to the head and tail points of the weld, such as the first upper peak and the first lower peak of the weld on the first side edge.

Specifically, referring to fig. 6, in step a1, a first side vector P12 is obtained from points P1 and P2, and similarly, a bottom vector P23 is obtained from points P2 and P3, and a second side vector P34 is obtained from points P3 and P4. The specific calculation formula is as follows:

p12=P2-P1; p23=P3-P2; p34=P4-P3;

in step a2, a first normal vector v1 is obtained by cross-multiplying the first side vector p12 by the bottom vector p23, and a second normal vector v2 is obtained by cross-multiplying the second side vector p34 by the bottom vector p 23. The specific calculation formula is as follows:

v1=p12×p23; v2=p23×p34;

that is, the first normal vector v1 actually refers to a vector orthogonal to the first side vector p12 and the bottom vector p23, and the second normal vector v2 actually refers to a vector orthogonal to the bottom vector p23 and the second side vector p 34.

In a further embodiment, step S3 includes:

rotating the first normal vector by a first preset angle towards the bottom edge vector, and warping the first normal vector upwards by a second preset angle to obtain a normal vector of a first upper vertex;

rotating the second normal vector by a third preset angle towards the bottom edge vector, and warping upwards by a fourth preset angle to obtain a normal vector of a second upper vertex;

and warping the third normal vector by a fifth preset angle upwards to obtain a normal vector of the midpoint.

The first preset angle, the second preset angle, the third preset angle, the fourth preset angle and the fifth preset angle can be set according to actual conditions, and the method is not specifically limited. In addition, the upward warp (upturned) means that the end away from the rib plate is warped.

In practical application, in order to prevent the welding gun and the laser sensor from colliding with an H-shaped steel workpiece in the subsequent locating process, the first normal vector v1 is rotated by a first preset angle of 45 degrees towards the direction of the bottom side vector p23, and the second normal vector v2 is rotated by a third preset angle of-45 degrees towards the direction of the bottom side vector p 23. The first normal vector v1 and the second normal vector v2 are both parallel to the ground, so the z-axis coordinate value of the first normal vector v1 is equal to 0, and the z-axis coordinate value of the second normal vector v2 is also equal to 0. In addition, in order to prevent a collision with the web, the first normal vector v1 is warped upward by a second preset angle 15 °, and the second normal vector v2 is warped upward by a fourth preset angle 15 °. Wherein, the H-shaped steel comprises a left wing plate and a right wing plate, and a web plate connected between the wing plates.

Therefore, the calculation formula of the normal vector of the first upper vertex is as follows:

v123.x = Cos(45°) * v1.x - Sin(45° )* v1.y;

v123.y = Sin(45°) * v1.x + Cos(45°) * v1.y;

tan (15 °) = 0.27 (two decimal places reserved);

from this, the normal vector of the first upper vertex is (v123. x, v123.y, 0.27); wherein, v1.x represents the x-axis coordinate value of the first normal vector; v1.y represents a y-axis coordinate value of the first normal vector; v123.x is the x-axis coordinate value of the normal vector of the first upper vertex; and v123.y is a y-axis coordinate value of the normal vector of the first upper vertex.

Similarly, the formula for calculating the normal vector of the second upper vertex is as follows:

v234.x = Cos(-45°) * v2.x - Sin(-45° )* v2.y;

v234.y = Sin(-45°) * v2.x + Cos(-45°) * v2.y;

tan (15 °) = 0.27 (two decimal places reserved);

from this, the normal vector of the second upper vertex is (v234.x, v234.y, 0.27); wherein, v2.x represents the x-axis coordinate value of the second normal vector; v2.y represents a y-axis coordinate value of the second normal vector; v234.x is the x-axis coordinate value of the normal vector of the first upper vertex; and v234.y is the y-axis coordinate value of the normal vector of the first upper vertex.

The position of the middle point of the bottom side weld seam is preset (it should be noted that the middle point is not the final precise middle point), and the middle point of the straight line connecting line between the lower left corner point P2 and the lower right corner point P3 is tentatively set as the middle point, so the position vector of the middle point of the bottom side weld seam is the same as the first normal vector v1 or the second normal vector v2. Meanwhile, in order to avoid collision with a workpiece, the normal vector of the middle point also needs to be upwarped, and a fifth preset upwarping angle of 45 degrees is selected, so that:

the normal vector mid of the midpoint is mid = (v 1.x, v1.y, Tan (45 °));

or mid = (v 2.x, v2.y, Tan (45 °));

in a further embodiment, step S4 includes:

s401, presetting a first moving distance and a second moving distance;

searching the position of the second side welding line according to the first moving distance, the second moving distance, the position data of the upper right corner point and the second normal vector to obtain the position data of the second upper vertex;

and searching the position of the bottom edge welding line according to the second moving distance, the position data of the middle point and the third normal vector to obtain the position data of the middle point.

The first moving distance and the second moving distance may be set according to an actual situation, and the present application is not limited specifically herein.

In practical application, in order to further prevent collision between the welding robot and the H-shaped steel workpiece during position finding, a proper position finding point needs to be selected. For convenience of description, the locating point of the first upper vertex is recorded as a left locating upper point and a left locating lower point, specifically, the first upper left corner point P1 is moved by a first moving distance (generally set to 20 mm) along the normal vector direction of the first upper vertex, and then is moved by a second moving distance (generally set to 30 mm) along the positive direction of the z-axis, and the moved position is regarded as the left locating upper point; the left upper corner point P1 is moved a first moving distance (typically set to 20 mm) in the normal vector direction of the first upper vertex, and moved a second moving distance (typically set to 30 mm) in the negative direction of the z-axis, and the moved position is used as the left locating lower point. The specific calculation formula is as follows:

left homing upper dot = (p1.x + dis × v123.x, p1.y + dis × v123.y, p1.z + dis × 0.27+ len);

left-positioned lower dot = (p1.x + dis × v123.x, p1.y + dis × v123.y, p1.z + dis × 0.27-len);

wherein, p1.x represents the coordinate value of the x axis of the upper left corner point; p1.y represents the y-axis coordinate value of the upper left corner point; p1.z represents the z-axis coordinate value of the upper left corner point; dis represents a first movement distance; len represents the second movement distance.

Similarly, the locating point of the second upper vertex is recorded as a right locating upper point and a right locating lower point, specifically, the right upper corner point P4 is moved by a first moving distance (generally set to 20 mm) along the normal vector direction of the second upper vertex, and then is moved by a second moving distance (generally set to 30 mm) along the positive direction of the z axis, and the moved position is used as the right locating upper point; and moving the right upper corner point P4 by a first moving distance (generally set as 20 mm) along the normal vector direction of a second upper vertex, moving the right upper corner point P4 by a second moving distance (generally set as 30 mm) along the negative direction of the z axis, and taking the moved position as a right locating lower point. The specific calculation formula is as follows:

dot on the right seek = (p4.x + dis v234.x, p4.y + dis v234.y, p4.z + dis 0.27+ len);

right-hand positioned lower dot = (p4.x + dis v234.x, p4.y + dis v234.y, p4.z + dis 0.27-len);

wherein, p4.x represents the coordinate value of the x axis of the upper right corner point; p4.y represents the y-axis coordinate value of the upper right corner point; and p4.z represents the z-axis coordinate value of the upper right corner point.

The locating point of the middle point of the welding line on the bottom edge is generally directly at the middle point, then the welding line moves twice the second moving distance to the normal vector direction of the middle point, and the moved position is used as the locating point on the bottom edge. The specific calculation formula is as follows:

base finding site = ((p 2.x + p3. x)/2 +2 x len mid. x, (p 2.y + p3. y)/2 +2 x len mid. y, (p 2.z + p3. z)/2 +2 x len mid. z);

wherein, p2.x represents the x-axis coordinate value of the lower left corner point; p2.y represents the y-axis coordinate value of the lower left corner point; p2.z represents the z-axis coordinate value of the lower left corner point; p3.x represents the x-axis coordinate value of the lower right corner point; p3.y represents the y-axis coordinate value of the lower right corner point; p3.z represents the z-axis coordinate value of the lower right corner point; x represents the x-axis coordinate value of the normal vector of the midpoint; and mid.y represents the y-axis coordinate value of the normal vector of the middle point, and mid.z represents the z-axis coordinate value of the normal vector of the middle point.

Because the left locating upper point and the left locating lower point are obtained, the welding robot can obtain the position data of the first upper vertex according to the existing locating program; similarly, the welding robot can obtain the position data of the second upper vertex according to the existing position searching program because the right position searching upper point and the right position searching lower point are obtained; because the bottom edge locating point is obtained, the welding robot can obtain the position data of the middle point according to the existing locating program. The contact type sensor is usually used for judging the initial position of the welding line by means of contact conduction of the outer ring of the welding gun and a weldment, and the contact type sensor needs to be searched by means of continuous probing touch. Specifically, the left locating upper point may be used as a starting point, and the left locating lower point may be used as an end point; or the left seeking upper point is taken as an end point, the left seeking lower point is taken as a starting point, and the first upper vertex is sought; the same applies to the second upper vertex; the web locating point is used as a fixed point locating point to locate the midpoint.

In some embodiments, step S5 includes:

s502, calculating position data of a left concave point and position data of a right concave point of the H-shaped steel according to the first slope, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the middle point.

S503, acquiring position data of a first lower vertex of a first side edge welding seam, position data of a second lower vertex of a second side edge welding seam, position data of a left vertex and position data of a right vertex of a bottom edge welding seam according to the position data of the left concave point, the position data of the right concave point, the position data of a first upper vertex, the position data of a second upper vertex and the position data of a middle point;

s504, calculating first side edge welding seam track data according to the position data of the first upper peak, the normal vector of the first upper peak and the position data of the first lower peak;

calculating second side edge weld joint track data according to the position data of the second upper vertex, the normal vector of the second upper vertex and the position data of the second lower vertex;

and calculating the bottom edge weld track data according to the position data of the left vertex, the normal vector of the middle point and the position data of the right vertex.

Referring to fig. 7, in steps S501 to S502, according to the connection characteristics of the H-shaped steel and the rib plate and the default that the H-shaped steel workpiece is horizontally placed on the floor, it can be known that the first upper vertex T1, the second upper vertex T6, the left vertex T3 and the right vertex T4 are necessarily coplanar, and it can be known that a straight line connecting the first upper vertex T1 and the second upper vertex T6 and a straight line connecting the left vertex T3 and the right vertex T4 are parallel to a projection plane of the horizontal ground. Therefore, it is necessary to calculate the first slope K of the straight line connecting the first upper vertex T1 and the second upper vertex T6.

The left vertex T3 and the right vertex T4 are two left and right endpoints of a third connecting line, the left concave point Q1 is an intersection point of an extension line of a straight line where the first upper vertex T1 and the first lower vertex T2 are located and extension lines of straight lines where the right vertex T4 and the left vertex T3 are located, and the right concave point Q2 is an intersection point of an extension line of a straight line where the second upper vertex T6 and the second lower vertex T5 are located and extension lines of straight lines where the left vertex T3 and the right vertex T4 are located.

In order to distinguish the left concave point from the first upper vertex, and the right concave point from the second upper vertex, fig. 8 and 9 of the present application specifically distinguish the left concave point from the first upper vertex, and distinguish the right concave point from the second upper vertex into two different points.

For ease of understanding, the left concave point is actually the exact left lower corner point and the right concave point is the exact right lower corner point.

Firstly, judging whether the y-axis coordinate values of a T1 point and a T6 point are the same, if so, indicating that a bottom-edge welding seam is just parallel to the X axis of a robot base coordinate system, and at the moment, K =0, the coordinates of a left concave surface point Q1 are (T1.X, T7.y, T7.z), and the coordinates of a right concave surface point Q2 are (T6.X, T7.y, T7. z); the cases shown in fig. 8 are both this solution. Wherein, T1.x represents the x-axis coordinate value of the first upper vertex; t7.y represents the y-axis coordinate value of the midpoint; t7.z represents the z-axis coordinate value of the midpoint; and t6.x represents the x-axis coordinate value of the second upper vertex.

In addition, the situation that the bottom edge welding seam is parallel to the Y axis of the robot base coordinate system is not considered in the application (because the situation does not occur in the actually placed H-shaped steel workpiece), so that the situation that the first slope is infinite does not need to be considered.

Therefore, referring to the placement of the H-section steel workpiece in fig. 9, i.e., the y-axis coordinate values of the T1 point and the T6 point are different, the calculation formula of the first slope is as follows:

K=（T6.y-T1.y）/( T6.x-T1.x);

wherein, T6.y represents the y-axis coordinate value of the second upper vertex; and T1.y represents the y-axis coordinate value of the first upper vertex.

The rib plates are necessarily perpendicular to wing plates of the H-shaped steel, namely the slope of a straight line L1 and a straight line L2 is-1/K, a straight line L1 is a straight line formed by connecting first upper vertexes of different rib plates, and a straight line L2 is a straight line formed by connecting second upper vertexes of different rib plates, so that a straight line equation can be established by utilizing a truncated form, and a b1 value of the L1 straight line equation and a b2 value of the L2 straight line equation can be calculated by substituting position data of the first upper vertexes and the second upper vertexes.

Specifically, let the linear equation of L1 be: y = (-1/K) x + b 1;

the linear equation for L2 is: y = (-1/K) x + b 2;

combining the linear equation of L1 and the linear equation of L2 to obtain:

b1=T1.y+T1.x/K；

b2=T6.y+T6.x/K;

because the bottom side welding line is parallel to the straight line connecting line formed by the first upper top point and the second upper top point, the straight line equation of the bottom side welding line can be set as follows: y = Kx + b 3;

substituting the position data of the midpoint can obtain: b3= t7.y-K × t7.x;

where t7.x represents the x-axis coordinate value of the midpoint.

Therefore, the intersection point, i.e., the left concave point Q1, can be found by the simultaneous L1 linear equation and the linear equation of the bottom-side weld, and similarly, the right concave point Q2 can be found by the simultaneous L2 linear equation and the linear equation of the bottom-side weld. The specific calculation formula is as follows:

Q1=（K*(b1-b3)/(1+K*K),(b3+b1*K*K)/(1+K*K), T7.z）;

Q2=（K*(b2-b3)/(1+K*K),(b3+b2*K*K)/(1+K*K), T7.z）;

in a further embodiment, step S503 includes:

calculating position data of a first lower vertex from the position data of the first upper vertex and the position data of the left concave point based on the geometric characteristics of the vector;

calculating position data of a second lower vertex from the position data of the second upper vertex and the position data of the right concave point based on the geometric characteristics of the vector;

calculating position data of a left vertex according to the position data of the middle point and the position data of the left concave point based on the geometric characteristics of the vector;

based on the geometric characteristics of the vector, position data of the right vertex is calculated from the position data of the midpoint and the position data of the right concave point.

With continued reference to fig. 7, in practical applications, the lower left and lower right corners of the rib are chamfered, so the position data of the first lower vertex T2, the left vertex T3, the right vertex T4, and the second lower vertex T5 are calculated. Wherein, the first lower vertex T2 is the lower end point of the first connecting line; the second lower vertex T5 is the lower end of the second connecting line. The equal ratio property of the vectors can be utilized, the distance from the first upper vertex T1 to the left concave point Q1 is equal to the ratio of the corresponding vector magnitudes than the distance from the first lower vertex T2 to the left concave point Q1, that is:

D/C=（T1.x- Q1.x）/(T2.x- Q1.x)

= （T1.y- Q1.y）/(T2.y- Q1.y)

= （T1.z- Q1.z）/(T2.z- Q1.z)

wherein D represents the distance from T1 to Q1; c represents the distance from T2 to Q1; q1.x represents the x-axis coordinate value of the left concave point; q1.y represents the x-axis coordinate value of the left concave point; q1.z represents the z-axis coordinate value of the left concave point; t2.x represents the x-axis coordinate value of the first lower vertex; t2.y represents the y-axis coordinate value of the first lower vertex; z represents the z-coordinate value of the first lower vertex.

Wherein D and C can be directly obtained, which is a known condition and is not described herein again.

The position data of the first lower vertex T2 can be obtained from the above expression, and the position data of T3, T4, and T5 can be obtained in the same manner.

In step S504, the first side weld trajectory data (the start and end pose values of the first side weld trajectory) can be obtained by matching the calculated position data of T1 and T2 with the normal vector of the first upper vertex. Similarly, according to the calculated position data of T6 and T5, the normal vector of the second upper vertex is matched to obtain the second side edge weld track data; according to the calculated position data of T3 and T4, the data of the bottom edge welding seam track can be obtained by matching with the normal vector of the middle point.

For example, the weld trajectory data includes position data and weld gun posture data corresponding to two end points of the weld, where the weld gun posture data of the two end points of the first side weld are both posture data corresponding to a normal vector of the first upper vertex (i.e., the weld gun axis direction vector is the normal vector of the first upper vertex), the weld gun posture data of the two end points of the second side weld are both posture data corresponding to a normal vector of the second upper vertex (i.e., the weld gun axis direction vector is the normal vector of the second upper vertex), and the weld gun posture data of the two end points of the third side weld are both posture data corresponding to a normal vector of the middle point (i.e., the weld gun axis direction vector is the normal vector of the middle point).

Or for example, the welding seam trajectory data includes position data and welding gun attitude data corresponding to a plurality of trajectory points on the welding seam, wherein the number of the trajectory points can be set according to actual needs, the position data of the trajectory points can be calculated according to the position data corresponding to two end points of the welding seam, wherein the welding gun attitude data of all the trajectory points of the first side welding seam is the attitude data corresponding to the normal vector of the first upper vertex, the welding gun attitude data of all the trajectory points of the second side welding seam is the attitude data corresponding to the normal vector of the second upper vertex, and the welding gun attitude data of all the trajectory points of the third side welding seam is the attitude data corresponding to the normal vector of the middle point.

According to the method for calculating the welding seam track of the H-shaped steel, the image information of the H-shaped steel workpiece to be welded is obtained; acquiring position data of four angular points at a connecting part between the H-shaped steel and the rib plate according to the image information of the H-shaped steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively; acquiring a normal vector of a first upper vertex of a first side edge welding seam, a normal vector of a second upper vertex of a second side edge welding seam and a normal vector of a middle point of a bottom edge welding seam; based on a locating algorithm, acquiring position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between the H-shaped steel and the rib plate; acquiring position data of a first lower vertex of a first side edge welding seam, position data of a second lower vertex of a second side edge welding seam, position data of a left vertex and position data of a right vertex of a bottom edge welding seam; calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge welding seam track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point. The complicated process of manual teaching is avoided, and the efficiency and the production efficiency of obtaining the welding seam track data of the H-shaped steel workpiece are improved.

Referring to fig. 2, fig. 2 is a device for calculating a weld track of an H-beam in some embodiments of the present application, configured to obtain weld track data of an H-beam workpiece, where the H-beam workpiece includes an H-beam and at least two rib plates, and the rib plates are vertically connected to two wing plates and a web of the H-beam workpiece, where the device includes the following modules:

the first obtaining module 201: the device is used for acquiring image information of an H-shaped steel workpiece to be welded;

the second obtaining module 202: the H-shaped steel reinforcing plate positioning device is used for acquiring position data of four angular points at a connecting part between H-shaped steel and a reinforcing plate according to image information of an H-shaped steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively;

the third obtaining module 203: the normal vector of a first upper vertex of the first side edge welding seam, the normal vector of a second upper vertex of the second side edge welding seam and the normal vector of the middle point of the bottom edge welding seam are obtained;

the fourth obtaining module 204: the positioning method comprises the steps of obtaining position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between H-shaped steel and a rib plate based on a positioning algorithm;

the fifth obtaining module 205: the position data of a first lower vertex of the first side edge welding seam, the position data of a second lower vertex of the second side edge welding seam, the position data of a left vertex of the bottom edge welding seam and the position data of a right vertex are obtained;

In the first acquisition module 201, image information of an H-beam workpiece to be welded can be acquired by a vision scanning system provided at the end of a welding robot. Specifically, after the rib plate to be welded is placed into the H-shaped steel and fixed, the vision scanning system is used for scanning to obtain image information of the H-shaped steel workpiece to be welded.

The second obtaining module 202 obtains the four corner points by rough scanning with a vision scanning system, for example, first obtaining the point cloud data position information of the H-shaped steel workpiece (that is, the image information of the H-shaped steel workpiece to be welded is the point cloud image information) with the vision scanning system, and then obtaining the position data of the four corner points from the point cloud data (the specific extracting method is the prior art), where the obtained position data of the four corner points is not an accurate numerical value and is only convenient for subsequent calculation. Specifically, the positions of the four corner points can be seen in fig. 4, an upper left corner point is P1, a lower left corner point is P2, a lower right corner point is P3, an upper right corner point is P4, specifically, the upper left corner point and the upper right corner point are respectively the welding surfaces of the rib plates (both surfaces of the rib plates need to be welded with the H-shaped steel, therefore, calculation of the welding seam trajectory data of the H-shaped steel needs to be performed for two side surfaces of the same rib plate respectively, so as to obtain the welding seam trajectory data of the two side surfaces, when calculation of the welding seam trajectory data of the H-shaped steel is performed for one of the side surfaces, the corresponding side surface is the welding surface), and the lower left corner point and the lower right corner point are respectively the intersection points of the plane where the left and right welding surfaces are located and the web-wing plate intersection line of the H-shaped steel. Three welding lines need to be welded on two sides of the space between the H-shaped steel and the rib plate, and four corner points on any side are key points needing to be identified by a vision system.

In the fourth obtaining module 204, the positions of the middle points of the first upper peak, the second upper peak and the bottom edge weld seam can be seen in fig. 5, where the first upper peak is T1, the second upper peak is T6, and the middle point is T7, respectively. The locating algorithm is executed by the laser sensor. Specifically, the first side weld is a first connecting line formed between the left side of the rib plate (specifically, the welding surface of the rib plate) and the H-shaped steel, and the first upper vertex is an upper end point of the first connecting line; the second side edge welding line is a second connecting line formed between the right side of the rib plate (specifically, the welding surface of the rib plate) and the H-shaped steel, and the second upper vertex is an upper endpoint of the second connecting line; the bottom side welding line is a third connecting line formed between the bottom side of the rib plate (specifically the welding surface of the rib plate) and the H-shaped steel, and the midpoint is the midpoint of the third connecting line.

According to the H-shaped steel welding seam track calculating device, image information of an H-shaped steel workpiece to be welded is obtained through the first obtaining module 201; the second obtaining module 202 obtains position data of four corner points at a connection part between the H-shaped steel and the rib plate according to the image information of the H-shaped steel workpiece, wherein the four corner points are an upper left corner point, a lower left corner point, an upper right corner point and a lower right corner point respectively; the third obtaining module 203 obtains a normal vector of a first upper vertex of the first side edge weld, a normal vector of a second upper vertex of the second side edge weld and a normal vector of a midpoint of the bottom edge weld; the fourth obtaining module 204 obtains position data of a first upper vertex of the first side edge weld, position data of a second upper vertex of the second side edge weld and position data of a midpoint of the bottom edge weld according to position data of four angular points between the H-shaped steel and the rib plate based on a position finding algorithm; the fifth acquiring module 205 acquires position data of a first lower vertex of the first side edge weld, position data of a second lower vertex of the second side edge weld, position data of a left vertex of the bottom edge weld, and position data of a right vertex; calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge welding seam track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point. The complicated process of manual teaching is avoided, and the efficiency and the production efficiency of obtaining the welding seam track data of the H-shaped steel workpiece are improved.

In some embodiments, the following modules are also included:

a calculation module: the first side edge vector and the bottom edge vector are used for calculating a first normal vector; calculating a second normal vector according to the second side vector and the bottom vector; and calculating a third normal vector according to the bottom edge vector.

In practical application, the sixth obtaining module and the calculating module are used for obtaining a normal vector of the key point of the welding seam, and are also used for converting the key point of the welding seam into an important parameter in a position and posture value which can be identified by the welding robot. The weld key points refer to the head and tail points of the weld, such as the first upper peak and the first lower peak of the first side weld.

Specifically, referring to fig. 6, in the sixth obtaining module, the first side vector P12 is obtained from points P1 and P2, the bottom vector P23 is obtained from points P2 and P3, and the second side vector P34 is obtained from points P3 and P4. The specific calculation formula is as follows:

p12=P2-P1; p23=P3-P2; p34=P4-P3;

in the calculation module, the first side vector p12 is cross-multiplied by the bottom vector p23 to obtain a first normal vector v1, and the bottom vector p23 is cross-multiplied by the second side vector p34 to obtain a second normal vector v2. The specific calculation formula is as follows:

v1=p12×p23; v2=p23×p34;

In a further embodiment, the third obtaining module 203 is configured to obtain a normal vector of a first upper vertex of the first side edge weld, a normal vector of a second upper vertex of the second side edge weld, and a normal vector of a middle point of the bottom edge weld, specifically:

The first preset angle, the second preset angle, the third preset angle, the fourth preset angle and the fifth preset angle can be set according to actual conditions, and specific limitations are not required in the application. In addition, the upward buckling (upwarping) means that the end away from the rib plate is buckled.

v123.x = Cos(45°) * v1.x - Sin(45° )* v1.y;

v123.y = Sin(45°) * v1.x + Cos(45°) * v1.y;

tan (15 °) = 0.27 (two decimal places reserved);

from this, the normal vector of the first upper vertex is (v123. x, v123.y, 0.27); wherein, v1.x represents the x-axis coordinate value of the first normal vector; and v1.y represents the y-axis coordinate value of the first normal vector.

v234.x = Cos(-45°) * v2.x - Sin(-45° )* v2.y;

v234.y = Sin(-45°) * v2.x + Cos(-45°) * v2.y;

tan (15 °) = 0.27 (two decimal places reserved);

from this, the normal vector of the second upper vertex is (v234.x, v234.y, 0.27); wherein, v2.x represents the x-axis coordinate value of the second normal vector; and v2.y represents the y-axis coordinate value of the second normal vector.

The position of the middle point of the bottom side weld seam is preset (it should be noted that the middle point is not the final precise middle point), the middle point of the straight line connecting the lower left corner point P2 and the lower right corner point P3 is tentatively set as the middle point, and therefore, the position vector of the middle point of the bottom side weld seam is the same as the first normal vector v1 or the second normal vector v2. Meanwhile, in order to avoid collision with a workpiece, the normal vector of the middle point also needs to warp upwards, and a fifth preset upward angle of 45 degrees is selected, so that:

the normal vector mid of the midpoint, mid = (v 1.x, v1.y, Tan (45 °));

or mid = (v 2.x, v2.y, Tan (45 °));

in a further embodiment, when the fourth obtaining module 204 calculates the position data of the first upper vertex of the first side edge weld, the position data of the second upper vertex of the second side edge weld and the position data of the midpoint of the bottom edge weld according to the position data of four corner points between the H-beam and the rib plate based on the position finding algorithm, the following steps are further performed:

s401, presetting a first moving distance and a second moving distance;

s402, searching a position of the first side welding line according to the first moving distance, the second moving distance, the position data of the upper left corner point and the first normal vector to obtain the position data of the first upper vertex;

In practical application, in order to further prevent collision between the welding robot and the H-shaped steel workpiece during position finding, a proper position finding point needs to be selected. For convenience of description, the locating point of the first upper vertex is referred to as a left locating upper point and a left locating lower point, specifically, the first upper left corner point P1 is moved by a first moving distance (generally set to 20 mm) along the normal vector direction of the first upper vertex, and then moved by a second moving distance (generally set to 30 mm) along the positive direction of the z-axis, and the moved position is referred to as the left locating upper point; the left upper corner point P1 is moved a first moving distance (typically set to 20 mm) in the normal vector direction of the first upper vertex, and moved a second moving distance (typically set to 30 mm) in the negative direction of the z-axis, and the moved position is used as the left locating lower point. The specific calculation formula is as follows:

Similarly, the locating point of the second upper vertex is recorded as a right locating upper point and a right locating lower point, specifically, the right upper corner point P4 is moved by a first moving distance (generally set to 20 mm) along the normal vector direction of the second upper vertex, and then is moved by a second moving distance (generally set to 30 mm) along the positive direction of the z axis, and the moved position is used as the right locating upper point; and moving the right upper corner point P4 by a first moving distance (generally set to 20 mm) along the normal vector direction of a second upper vertex, moving the right upper corner point P4 by a second moving distance (generally set to 30 mm) along the negative direction of the z-axis, and taking the moved position as a right locating lower point. The specific calculation formula is as follows:

right-hand upper seeking = (p4.x + dis × v234.x, p4.y + dis × v234.y, p4.z + dis × 0.27+ len);

base-finding site = ((p 2.x + p3. x)/2 +2 x len mid. x, (p 2.y + p3. y)/2 +2 x len mid. y, (p 2.z + p3. z)/2 +2 x len mid. z);

Because the left locating upper point and the left locating lower point are obtained, the welding robot can obtain the position data of the first upper vertex according to the existing locating program; similarly, the welding robot can obtain the position data of the second upper vertex according to the existing position searching program because the right position searching upper point and the right position searching lower point are obtained; because the bottom edge locating point is obtained, the welding robot can obtain the position data of the middle point according to the existing locating program.

In some embodiments, the fifth obtaining module 205 is configured to obtain the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the left vertex of the bottom side weld, and the position data of the right vertex; calculating first side welding seam track data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge welding seam track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; when the bottom edge welding line track data is calculated according to the position data of the left vertex, the position data of the right vertex and the normal vector of the first upper vertex, the following steps are also executed:

s501, calculating a first slope of a straight line connecting line formed by the first upper peak and the second upper peak according to the position data of the first upper peak and the position data of the second upper peak;

and S502, calculating position data of a left concave point and position data of a right concave point of the H-shaped steel according to the first slope, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the middle point.

s504, calculating first side welding seam track data according to the position data of the first upper vertex, the normal vector of the first upper vertex and the position data of the first lower vertex;

Referring to fig. 7, in steps S501 to S502, according to the connection characteristics of the H-beam and the rib plate and the default condition that the H-beam workpiece is laid on the floor, it can be known that the first upper vertex T1, the second upper vertex T6, the left vertex T3 and the right vertex T4 are necessarily coplanar, and it can be known that the straight line connecting line between the first upper vertex T1 and the second upper vertex T6 and the straight line connecting line between the left vertex T3 and the right vertex T4 are parallel to the projection plane of the horizontal ground. Therefore, it is necessary to calculate the first slope K of the straight line connection line formed by the first upper vertex T1 and the second upper vertex T6.

Firstly, judging whether the y-axis coordinate values of a T1 point and a T6 point are the same, if so, indicating that a bottom-edge welding seam is just parallel to the X axis of a robot base coordinate system, and at the moment, K =0, the coordinates of a left concave surface point Q1 are (T1.X, T7.y, T7.z), and the coordinates of a right concave surface point Q2 are (T6.X, T7.y, T7. z); the cases shown in fig. 8 are both this solution.

Wherein, T1.x represents the x-axis coordinate value of the first upper vertex; t7.y represents the y-axis coordinate value of the midpoint; t7.z represents the z-coordinate value of the midpoint; and t6.x represents the x-axis coordinate value of the second upper vertex.

K=（T6.y-T1.y）/( T6.x-T1.x);

Specifically, let the linear equation of L1 be: y = (-1/K) x + b 1;

the linear equation for L2 is: y = (-1/K) x + b 2;

combining the linear equation of L1 and the linear equation of L2 to obtain:

b1=T1.y+T1.x/K；

b2=T6.y+T6.x/K;

because the bottom edge welding line is parallel to the straight line connecting line formed by the first upper vertex and the second upper vertex, the straight line equation of the bottom edge welding line can be set as follows: y = Kx + b 3;

substituting the position data of the midpoint can obtain: b3= t7.y-K × t7.x;

where t7.x represents the x-axis coordinate value of the midpoint.

Q1=（K*(b1-b3)/(1+K*K),(b3+b1*K*K)/(1+K*K), T7.z）;

Q2=（K*(b2-b3)/(1+K*K),(b3+b2*K*K)/(1+K*K), T7.z）;

in a further embodiment, step S503 includes:

With continued reference to fig. 7, in practical applications, the lower left and lower right corners of the rib are chamfered, so the position data of the first lower vertex T2, the left vertex T3, the right vertex T4, and the second lower vertex T5 are calculated. Wherein, the first lower vertex T2 is the lower end point of the first connecting line; the second lower vertex T5 is a lower endpoint of the second connection line. The equal ratio property of the vectors can be utilized, the distance from the first upper vertex T1 to the left concave point Q1 is equal to the ratio of the corresponding vector magnitudes than the distance from the first lower vertex T2 to the left concave point Q1, that is:

D/C=（T1.x- Q1.x）/(T2.x- Q1.x)

= （T1.y- Q1.y）/(T2.y- Q1.y)

= （T1.z- Q1.z）/(T2.z- Q1.z)

wherein D represents the distance from T1 to Q1; c represents the distance from T2 to Q1; q1.x represents the x-axis coordinate value of the left concave point; q1.y represents the x-axis coordinate value of the left concave point; q1.z represents the z-axis coordinate value of the left concave point; t2.x represents the x-axis coordinate value of the first lower vertex; t2.y represents the y-axis coordinate value of the first lower vertex; z represents the z-axis coordinate value of the first lower vertex.

The positional data of the first lower vertex T2 can be obtained from the above expression, and the positional data of T3, T4 and T5 can be obtained in the same manner.

Therefore, the welding seam track calculation device for the H-shaped steel obtains image information of an H-shaped steel workpiece to be welded through the first obtaining module 201; the second acquisition module 202 acquires position data of four angular points at a joint between the H-section steel and the rib plate according to the image information of the H-section steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively; the third obtaining module 203 obtains a normal vector of a first upper vertex of the first side edge weld, a normal vector of a second upper vertex of the second side edge weld and a normal vector of a midpoint of the bottom edge weld; the fourth obtaining module 204 obtains position data of a first upper vertex of the first side edge weld joint, position data of a second upper vertex of the second side edge weld joint and position data of a midpoint of the bottom edge weld joint according to position data of four angular points between the H-shaped steel and the rib plate based on a position finding algorithm; the fifth obtaining module 205 obtains position data of a first lower vertex of the first side edge weld, position data of a second lower vertex of the second side edge weld, position data of a left vertex of the bottom edge weld, and position data of a right vertex; calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge welding seam track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point. The complicated process of manual teaching is avoided, and the efficiency and the production efficiency of obtaining the welding seam track data of the H-shaped steel workpiece are improved.

Referring to fig. 10, fig. 10 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 being interconnected and communicating with each other via a communication bus 303 and/or other form of connection mechanism (not shown), the memory 302 storing a computer program executable by the processor 301, the processor 301 executing the computer program when the computing device is running to perform the method in any alternative implementation of the above embodiments when executed to implement the following functions: acquiring image information of an H-shaped steel workpiece to be welded; acquiring position data of four angular points at a connecting part between the H-shaped steel and the rib plate according to the image information of the H-shaped steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively; acquiring a normal vector of a first upper vertex of a first side edge welding seam, a normal vector of a second upper vertex of a second side edge welding seam and a normal vector of a middle point of a bottom edge welding seam; based on a locating algorithm, acquiring position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between the H-shaped steel and the rib plate; acquiring position data of a first lower vertex of a first side edge welding seam, position data of a second lower vertex of a second side edge welding seam, position data of a left vertex of a bottom edge welding seam and position data of a right vertex; calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge welding seam track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point.

The embodiment of the application provides a storage medium, wherein a computer program is stored on the storage medium, and when being executed by a processor, the computer program executes the method in any optional implementation manner of the embodiment to realize the following functions of acquiring the image information of an H-shaped steel workpiece to be welded; acquiring position data of four angular points at a connecting part between the H-shaped steel and the rib plate according to the image information of the H-shaped steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively; acquiring a normal vector of a first upper vertex of a first side edge welding seam, a normal vector of a second upper vertex of a second side edge welding seam and a normal vector of a middle point of a bottom edge welding seam; based on a locating algorithm, acquiring position data of a first upper vertex of a first side edge welding seam, position data of a second upper vertex of a second side edge welding seam and position data of a middle point of a bottom edge welding seam according to position data of four angular points between the H-shaped steel and the rib plate; acquiring position data of a first lower vertex of a first side edge welding seam, position data of a second lower vertex of a second side edge welding seam, position data of a left vertex and position data of a right vertex of a bottom edge welding seam; calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; calculating second side edge welding seam track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; and calculating the bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point. 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 system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the division of the units is merely a logical division, and there may be other divisions in actual implementation, 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 systems 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 embodiment.

In addition, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, 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 embodiment 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 welding seam track calculation method of H-shaped steel is used for obtaining welding seam track data of an H-shaped steel workpiece, the H-shaped steel workpiece comprises the H-shaped steel and at least two rib plates, and the rib plates are vertically connected with two wing plates and web plates of the H-shaped steel, and the method is characterized by comprising the following steps:

s1, acquiring image information of an H-shaped steel workpiece to be welded;

s4, based on a position finding algorithm, acquiring position data of a first upper vertex of a first side edge welding line, position data of a second upper vertex of a second side edge welding line and position data of a middle point of a bottom edge welding line according to position data of four angular points between the H-shaped steel and the rib plate;

s5, acquiring position data of a first lower peak of a first side edge welding line, position data of a second lower peak of a second side edge welding line, position data of a left peak and position data of a right peak of the bottom edge welding line; calculating first side welding seam track data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

calculating bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point;

before step S3, step S2 includes:

A1. acquiring a first side vector according to the position data of the upper left corner point and the position data of the lower left corner point; acquiring a second side vector according to the position data of the upper right corner point and the position data of the lower right corner point; acquiring a bottom edge vector according to the position data of the left lower corner point and the position data of the right lower corner point;

A2. calculating a first normal vector according to the first side vector and the bottom vector; calculating a second normal vector according to the second side edge vector and the bottom edge vector; calculating a third normal vector according to the bottom edge vector;

step S3 includes:

rotating the second normal vector towards the bottom edge vector by a third preset angle, and warping the second normal vector upwards by a fourth preset angle to obtain a normal vector of a second upper vertex;

2. The method for calculating the weld bead locus of the H-shaped steel according to claim 1, wherein the step S4 includes:

s401, presetting a first moving distance and a second moving distance;

3. The method for calculating the weld bead locus of the H-shaped steel according to claim 1, wherein the step S5 includes:

s502, calculating position data of a left concave point and position data of a right concave point of the H-shaped steel according to the first slope, the position data of the first upper peak, the position data of the second upper peak and the position data of the middle point;

s504, calculating the first side welding seam track data according to the position data of the first upper vertex, the normal vector of the first upper vertex and the position data of the first lower vertex;

4. The method of calculating the weld bead locus of the H-shaped steel according to claim 3, wherein the step S503 includes:

calculating position data of the second lower vertex according to the position data of the second upper vertex and the position data of the right concave point based on geometric characteristics of the vectors;

5. The utility model provides a welding seam orbit calculation device of H shaped steel for obtain the welding seam orbit data of H shaped steel work piece, H shaped steel work piece includes H shaped steel and two piece at least gussets, the gusset perpendicularly with two pterygoid laminas and the web of H shaped steel are connected, its characterized in that includes following module:

a fourth obtaining module: the positioning method is used for acquiring position data of a first upper vertex of a first side edge welding line, position data of a second upper vertex of a second side edge welding line and position data of a middle point of a bottom edge welding line according to position data of four angular points between the H-shaped steel and the rib plate based on a positioning algorithm;

a calculation module: the first side edge vector and the bottom edge vector are used for calculating a first normal vector; calculating a second normal vector according to the second side vector and the bottom vector; calculating a third normal vector according to the bottom edge vector;

the third acquisition module is used for acquiring a normal vector of a first upper vertex of the first side edge welding seam, a normal vector of a second upper vertex of the second side edge welding seam and a normal vector of a middle point of the bottom edge welding seam, and specifically comprises the following steps:

6. An electronic device comprising a processor and a memory, the memory storing computer readable instructions, when executed by the processor, performing the steps in the method of calculating a weld trace of an H-shaped steel according to any one of claims 1 to 4.

7. A storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, executes the steps in the method for calculating a weld trajectory of an H-section steel according to any one of claims 1 to 4.