CN115255738A

CN115255738A - Method, system and equipment for gantry welding by double robots

Info

Publication number: CN115255738A
Application number: CN202211070123.3A
Authority: CN
Inventors: 陈烈臻; 陈聚运; 李辰潼; 韦卓光; 许曦
Original assignee: Shenzhen Qianhai Ruiji Technology Co ltd; China International Marine Containers Group Co Ltd; CIMC Containers Holding Co Ltd
Current assignee: Shenzhen Qianhai Ruiji Technology Co ltd; China International Marine Containers Group Co Ltd; CIMC Containers Holding Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-11-01

Abstract

The application provides a method, a system and equipment for gantry welding of a double-robot, wherein the method comprises the following steps: triggering point cloud information acquisition operation on a to-be-welded workpiece placed in the interval between the two longitudinal rails to obtain point cloud information of the to-be-welded workpiece; acquiring welding seam position information according to the point cloud information of the workpiece to be welded; dividing respective working spaces of the double robots according to the welding seam position information of the workpieces to be welded; selecting respective optimal welding paths of the double robots by planning collision-free welding paths according to the welding seam position information of the workpieces to be welded, wherein the respective optimal welding paths do not exceed respective working spaces; and driving the double robots which are arranged in one-to-one correspondence with the two lifting mechanisms to weld along the respective optimal welding paths. The application provides and can handle the complicated work piece of waiting to weld in a flexible way high efficiency, promote the welding performance of robot.

Description

Method, system and equipment for gantry welding by double robots

Technical Field

The application relates to the technical field of automatic welding, in particular to a method, a system and equipment for gantry welding by two robots.

Background

In industrial manufacturing, welding is an indispensable processing technology and technique. In the actual welding process, the fume and dust cover the welding materials and splash everywhere, so that the welding environment is dirty and the human organs are damaged. Meanwhile, along with the problems of low welding efficiency, high cost and the like, the welding robot gradually replaces the manual work to complete the welding task, and the adoption of the robot to realize automatic welding is also great tendency.

At present, welding robots have been widely used in various fields, but conventional welding robots can perform only a single-machine operation or a multi-machine line-type operation. Although conventional welding robots have improved welding efficiency compared to manual work, it is still difficult to flexibly and efficiently process complicated workpieces to be welded.

Disclosure of Invention

One purpose of this application is to solve the technical problem that traditional welding robot is difficult to handle the complicated work piece that waits to weld in a flexible way high-efficiently.

According to an aspect of the embodiments of the present application, there is provided a method for welding a dual-robot gantry, where the gantry includes two longitudinal rails arranged in parallel at intervals, a support frame capable of sliding on the longitudinal rails, two traverse mechanisms arranged at the upper part of the support frame at intervals along the longitudinal direction, two lifting mechanisms arranged in one-to-one correspondence with the two traverse mechanisms, and dual robots arranged in one-to-one correspondence with the two lifting mechanisms, and the method includes:

triggering point cloud information acquisition operation on a to-be-welded workpiece placed in the interval between the two longitudinal rails to obtain point cloud information of the to-be-welded workpiece;

acquiring the position information of the welding seam of the workpiece to be welded according to the point cloud information of the workpiece to be welded;

dividing respective working spaces of the double robots according to the welding seam position information of the workpieces to be welded;

selecting respective optimal welding paths of the double robots by planning collision-free welding paths according to the welding seam position information of the workpieces to be welded, wherein the respective optimal welding paths do not exceed respective working spaces;

and driving the double robots which are arranged in one-to-one correspondence with the two lifting mechanisms to weld along the respective optimal welding paths.

According to an aspect of the embodiment of the application, before the obtaining the weld position information of the workpiece to be welded according to the point cloud information of the workpiece to be welded, the method further includes:

and simplifying the point cloud information of the workpiece to be welded by simplifying the point cloud information.

According to an aspect of the embodiment of the present application, the dividing the respective work spaces of the two robots according to the weld position information of the workpieces to be welded includes:

determining a virtual anti-collision surface between the two robots according to the welding seam position information of the workpiece to be welded, wherein the virtual anti-collision surface is a plane which can not be reached by the two robots;

and dividing the respective working spaces of the double robots by taking the virtual anti-collision surfaces as cutting surfaces.

According to an aspect of an embodiment of the present application, selecting respective optimal welding paths of the two robots by planning collision-free welding paths according to the weld position information of the workpieces to be welded, the respective optimal welding paths not exceeding respective working spaces, includes:

obtaining the length values of the shortest path and the minimum energy consumption path of the double-robot collision-free welding according to the welding seam position information of the workpiece to be welded;

multiplying the length values of the shortest path and the minimum energy consumption path by weight coefficients respectively to obtain important values corresponding to the shortest path and the minimum energy consumption path respectively;

and comparing the important values to obtain the part with a larger value, wherein the path corresponding to the part with the larger value is the respective optimal welding path of the double robots.

According to an aspect of the embodiments of the present application, the obtaining the length values of the shortest path and the minimum energy consumption path of the dual-robot collision-free welding according to the weld position information of the workpiece to be welded includes:

establishing an artificial potential field for the double robots according to the welding seam position information of the workpieces to be welded;

and planning a shortest path and a minimum energy consumption path of the double-robot collision-free welding under the action of the artificial potential field, and obtaining length values of the shortest path and the minimum energy consumption path.

According to an aspect of an embodiment of the present application, there is provided a dual robot gantry welding system, including:

a point cloud information acquisition module: the device comprises a control system, a control system and a control system, wherein the control system is used for triggering point cloud information acquisition operation on a to-be-welded workpiece placed in a gap between two longitudinal rails to obtain point cloud information of the to-be-welded workpiece;

a working space and weld position information acquisition module: the system comprises a robot, a robot controller, a data acquisition module and a data transmission module, wherein the robot controller is used for controlling the robot to work in a working space and acquiring point cloud information of a workpiece to be welded;

an optimal welding path acquisition module: the system comprises a plurality of robots, a plurality of welding paths and a plurality of control devices, wherein the robots are used for planning the welding paths according to the welding position information of the workpieces to be welded;

the driving execution module: and the double robots are used for driving the double robots which are arranged in one-to-one correspondence to the two lifting mechanisms to execute welding tasks along the respective optimal welding paths.

According to an aspect of an embodiment of the present application, the dual-robot gantry welding system further includes:

the double robots comprise six-shaft mechanical hands arranged at the bottoms of the lifting mechanisms; the wire feeder is arranged on the lifting slide way; the welding gun is arranged at the tail end of the six-axis manipulator;

and the three-dimensional vision module is used for acquiring point cloud information of a workpiece to be welded, is arranged at the tail end of the six-axis manipulator and is fixedly connected with the welding gun.

According to an aspect of the embodiments of the present application, the dual robot gantry welding system further includes:

the gantry motion module comprises two longitudinal rails arranged in parallel at intervals, a support frame capable of sliding on the longitudinal rails, two transverse moving mechanisms arranged at the upper part of the support frame at intervals along the longitudinal direction, two lifting mechanisms arranged in one-to-one correspondence with the two transverse moving mechanisms and two robots arranged in one-to-one correspondence with the two lifting mechanisms;

establishing a space rectangular coordinate system by taking the direction of the transverse moving mechanism as an x axis, the direction of the longitudinal track as a y axis and the direction of the support frame as a z axis, wherein the space rectangular coordinate system can be used for the two lifting mechanisms to move in a direction parallel to the x axis; the support frame moves in a direction parallel to the y axis; the welding robot can move in the direction parallel to the z-axis.

and the real-time monitoring module is positioned on one side outside the gantry movement module and can monitor the welding process in real time in an interactive visual interface of the module.

According to an aspect of the embodiments of the present application, the present application provides a dual robot gantry welding device, including:

a memory storing computer readable instructions;

a processor reading computer readable instructions stored by the memory to perform the method as previously described.

In the embodiment of the application, photographing points are preset for workpieces to be welded which are placed in a space between two longitudinal rails, the workpieces to be welded are subjected to surface scanning through photographing to execute point cloud information acquisition operation, point cloud information of the workpieces to be welded is obtained, then welding seam position information is obtained according to the point cloud information, respective working spaces of the double robots are divided through the welding seam position information, collision-free welding paths of the double robots are planned according to the welding seam position information of the workpieces to be welded, respective optimal welding paths of the double robots are selected from the collision-free welding paths, and after the respective optimal welding paths of the double robots are obtained, the double robots which are arranged in one-to-one correspondence with the two lifting mechanisms are driven to execute welding tasks along the respective optimal welding paths, so that welding of the double robots is achieved, application scenes of the welding robots are enriched, and the efficiency of automatic welding is improved.

Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 shows a schematic system structure diagram of a dual-robot gantry welding method according to an embodiment of the present application.

Fig. 2 shows a flow chart of a dual robot gantry welding method according to an embodiment of the present application.

Fig. 3 is a schematic diagram illustrating multi-station division along the Y-axis in a spatial rectangular coordinate system according to an embodiment of the present application.

Fig. 4 shows a flow chart of a dual robot gantry welding method according to another embodiment of the present application.

FIG. 5 illustrates a partitioned robot workspace of a virtual collision avoidance surface in accordance with one embodiment of the present application.

Fig. 6 shows a flow chart of a dual robot gantry welding method according to another embodiment of the present application.

Fig. 7 shows a flow chart of a dual robot gantry welding method according to another embodiment of the present application.

Fig. 8 is a diagram illustrating an overall architecture of a dual robot gantry welding system according to an embodiment of the present application.

Fig. 9 shows a hardware configuration diagram of a dual robot gantry welding apparatus according to an embodiment of the present application.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. In the following description, numerous specific details are provided to give a thorough understanding of example embodiments of the application. One skilled in the relevant art will recognize, however, that the embodiments of the present application can be practiced without one or more of the specific details, or with other methods, components, steps, etc. In other instances, well-known structures, methods, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating a system structure applied to a dual-robot gantry welding method according to an embodiment of the present application. The dual robot gantry welding system 100 can include:

the robot comprises two longitudinal rails 1 arranged in parallel at intervals, a support frame 4 capable of sliding on the longitudinal rails, two transverse moving mechanisms 5 arranged on the upper portion of the support frame at intervals along the longitudinal direction, two lifting mechanisms 2 arranged in one-to-one correspondence with the two transverse moving mechanisms, and robots 3 arranged in one-to-one correspondence with the two lifting mechanisms.

The robot welding the workpiece to be welded may include the following scenarios: only one robot is driven to weld the workpiece to be welded, namely, the robot is in a single-machine motion mode; driving the double robots to respectively weld different workpieces to be welded, namely, a double-machine single-welding mode; and (3) driving the double robots to weld the same workpiece to be welded, namely, a double-machine common welding mode.

Some of the technical solutions of the embodiments of the present application may be embodied based on the system configuration as shown in fig. 1 or a modified configuration thereof.

Referring to fig. 2, fig. 2 is a flowchart illustrating a dual robot gantry welding method according to an embodiment of the present application, including:

step S210, triggering point cloud information acquisition operation on the to-be-welded workpieces placed in the interval between the two longitudinal rails to obtain point cloud information of the to-be-welded workpieces;

step S220, acquiring the welding seam position information of the workpiece to be welded according to the point cloud information of the workpiece to be welded;

step S230, dividing the respective working spaces of the double robots according to the welding seam position information of the workpieces to be welded;

step S240, selecting respective optimal welding paths of the double robots by planning collision-free welding paths according to the welding seam position information of the workpieces to be welded, wherein the respective optimal welding paths do not exceed respective working spaces;

and 250, driving the double robots which are arranged corresponding to the two lifting mechanisms one by one to weld along the respective optimal welding paths.

These five steps are described in detail below.

Before step S210, it is necessary to divide the work stations according to the number of the workpieces to be welded, where the area of the work stations is adapted to the size of one workpiece to be welded.

Referring to fig. 3, fig. 3 is a schematic diagram illustrating a multi-station division along the Y-axis in a spatial rectangular coordinate system according to an embodiment of the present application. It is noted that the stations are rectangular in shape and are divided by virtual dividing lines, with stations adjacent to each other.

After the station is divided, the workpieces to be welded in the station are distributed to the double robots as respective welding tasks. It should be noted that the workpieces to be welded in one station and the workpieces to be welded in the adjacent station should be distributed to different robots for completion, because when the two robots perform welding independently, the portal frame is located between the two stations, the two robots respectively complete the workpieces to be welded in the different stations, and after the workpieces to be welded in the adjacent two stations are welded, the two robots can move along the ground rail through the portal frame to sequentially complete the workpieces to be welded in the remaining stations. If there is a workpiece to be welded in the last remaining station, welding can be carried out by one robot alone or by two robots together.

For example, if the workpiece to be welded in station 2 in the figure is a welding task of one robot, the workpieces to be welded in station 1 and station 3 are welding tasks of the other robot. When the two robots finish the workpieces to be welded in the station 1 and the station 2 and only the workpieces to be welded in the station 3 are left, one robot can weld alone or the two robots weld together.

In step S210, the workpiece to be welded is placed in the space between the two longitudinal rails, and the welding robot can make a transverse motion and a vertical motion relative to the supporting frame independently. A plurality of photographing points are preset according to the specific conditions of the workpiece to be welded, the specific conditions can include the size or the number of the workpieces, then the welding robot moves to the preset plurality of groups of photographing points automatically, the three-dimensional vision module fixedly connected with the welding gun scans the workpiece to be welded from different photographing points respectively, and therefore point cloud information of the workpiece to be welded is obtained.

The point cloud information acquisition operation refers to a series of steps of photographing and scanning a workpiece to be welded by the three-dimensional vision module, and point cloud information of the workpiece to be welded can be obtained after the series of steps are completed. The point cloud information of the workpieces to be welded can include position information, intensity information, category information and the like of the workpieces to be welded, the point cloud information specifically reflects the specific conditions of the workpieces to be welded, the position conditions of the workpieces to be welded can be reflected through the position information, the intensity conditions of the workpieces to be welded can be reflected through the intensity information, and the category conditions of the workpieces to be welded can be reflected through the category information. When the workpieces to be welded are placed in the interval between the two longitudinal rails, after a plurality of photographing points are set according to the specific situation of the workpieces to be welded, step S210 is executed, where the specific situation may include the size or the number of the workpieces.

After step S210 and before step S220, simplification processing may be performed on the to-be-welded workpiece point cloud information acquired in step S210, the acquired to-be-welded workpiece point cloud information is simplified, and the amount of calculation may be reduced by simplifying the processing operation.

For example, the simplification process may include filtering and denoising the point cloud information of the workpiece to be welded and/or extracting feature information in the point cloud information of the workpiece to be welded to obtain simplified point cloud information.

The filtering and noise reduction processing mode may include gaussian filtering, conditional filtering, radius filtering, and the like. And Gaussian filtering, wherein in consideration of the characteristics of outliers, the point cloud of the workpiece to be welded is defined to be less than a certain density, namely the point cloud is invalid, the average distance from each point of the workpiece to be welded to the nearest k points is calculated, the distances of all the points in the point cloud form Gaussian distribution, and the points outside the standard deviation can be removed by giving the average value and the variance, but the method is only suitable for the point cloud in normal distribution. And conditional filtering, wherein filtering conditions are set in a conditional filter for filtering according to the point cloud information of the workpiece to be welded, the point cloud can be retained when meeting the filtering conditions, and the point cloud needs to be discarded when not meeting the filtering conditions. And radius filtering, namely randomly selecting a point from the point cloud of the workpiece to be welded, drawing a circle by taking the point as the center, calculating the number of the points falling in the circle, keeping the point when the number is greater than a given value, and removing the point when the number is less than the given value.

Besides, the acquired point cloud information can be simplified by extracting the characteristic information in the point cloud information of the workpiece to be welded. The feature information is information that most reflects the features of the workpiece to be welded.

For example, the characteristic point cloud information may be extracted by using a normal vector, where the normal vector is a normal vector of a point of the workpiece to be welded, and if the normal vector of the point in the local region changes smoothly, the region on the surface is relatively flat, and if the normal vector changes greatly, the fluctuation of the region on the surface is relatively large. And selecting a proper threshold value, and removing a relatively flat part in the point cloud to extract the characteristic point cloud information. The extraction method of the characteristic point cloud information can also extract the characteristic point cloud information by utilizing the curvature, the obtained local average curvature is compared with the average curvature by calculating the main curvature, the average curvature and the Gaussian curvature of the point cloud of the workpiece to be welded, if the local average curvature is smaller than the average curvature, the point distribution of the area is relatively flat, and if the local average curvature is larger than the average curvature, the point distribution of the area of the point is relatively steep. And the points with the curvature larger than the local average curvature are extracted as the characteristic points, so that the characteristic point cloud information can be effectively extracted. And after extracting the characteristic information in the point cloud information of the workpiece to be welded, taking the characteristic information as the point cloud information of the subsequent point cloud registration and weld joint identification.

After step S210 and before step S220, a point cloud registration operation is performed on the acquired point cloud information, the essence of the point cloud registration is space coordinate conversion, and scanning needs to be performed from a plurality of photographing points, and during scanning, data of each photographing point is centered on a position of the scanner, which is called a scanner coordinate system, and the purpose of the registration is to convert them into the same coordinate system. For example, a PointNetLK deep learning neural network can be selected to establish the corresponding relationship between the point clouds, but it should be noted that the overall implementation of the system is not affected by the difference of network models.

In step S220, the weld position information indicates a specific position where a weld of the workpiece to be welded is located. The process of acquiring the welding seam position information of the workpiece to be welded according to the point cloud information of the workpiece to be welded comprises the following steps:

(1) performing point cloud segmentation according to the obtained point cloud information of the to-be-welded workpieces, then performing curved surface reconstruction on the two segmented point clouds to obtain the surfaces of the two to-be-welded workpieces, and judging the intersection line between the surfaces of the two to-be-welded workpieces as a welding line;

(2) the strategy that the intersection of the surface and the surface is a welding seam only meets the common condition, and when a workpiece to be welded with an inclined angle exists, the fillet of the inclined workpiece may extend during reconstruction, so the curvature normal strategy is adopted in the condition.

Specifically, the execution process corresponding to the surface normal policy includes: calculating the curvature and the normal of the point cloud of the workpiece to be welded, identifying a continuous area with the change of the curvature and the normal, and fitting according to the change rate of the curvature and the normal to obtain the position of a welding line;

(3) the deep learning target recognition network YOLO is used as a back-end network model to perform welding seam positioning and obtain the position of a welding seam, and the whole realization can be completed by adopting different network models.

In step S230, respective working spaces need to be divided for the two robots to avoid collision of the two robots during welding operation, where the working space refers to a three-dimensional space range within which the robots can move freely. And determining a virtual collision avoidance surface according to the welding seam position information of the workpiece to be welded, and dividing respective working spaces of the double robots by the determined virtual collision avoidance surface.

Referring to fig. 4, fig. 4 is a flowchart illustrating a dual robot gantry welding method according to another embodiment of the present application. The present embodiment provides the step S230 of dividing the respective work spaces of the dual robots according to the bead position information of the workpieces to be welded, including:

step S231, determining a virtual anti-collision surface between the two robots according to the welding seam position information of the workpiece to be welded, wherein the virtual anti-collision surface is a plane which can not be reached by the two robots during working;

and step S232, dividing respective working spaces of the double robots by taking the virtual anti-collision surfaces as cutting surfaces.

These two steps are described in detail below.

In step S231, according to the weld joint position information of the workpiece to be welded, the constraint conditions that the two robots cannot collide are defined in combination with the dynamics and statics problems of the robots, and then the mathematical model is solved to obtain a function formula describing the virtual collision avoidance surface. The virtual collision avoidance surface is invisible to human eyes and does not exist really, but the double robots can sense the virtual collision avoidance surface. It should be noted that the two robots should be located on different sides of the virtual collision-prevention surface, so that collision of the two robots in the working process can be effectively avoided.

In step S232, after the virtual collision surface is determined between the two robots, the working area of the gantry welding system is divided by using the virtual collision surface as a dividing plane, so as to divide two spaces, and the two spaces obtained after the division are used as respective working spaces of the two robots.

Referring to fig. 5, fig. 5 illustrates a schematic view of a robot workspace for segmenting a virtual collision avoidance surface according to an embodiment of the present application. The working space comprises two robots 310, two longitudinal rails 320, two transverse moving mechanisms 330 and two lifting mechanisms 340, wherein a quadrangle formed by closing dotted lines is a virtual anti-collision surface area. It is worth noting that one or more virtual collision avoidance surfaces can be set according to different application scenes, but the division of the working area of the double robots only needs to be carried out according to one of the virtual collision avoidance surfaces. The virtual anti-collision surface is an area which can not be reached by the two robots, so that the working space of the welding robot on the left side of the figure is left as the virtual anti-collision surface, and the working space of the welding robot on the right side is right as the virtual anti-collision surface.

In step S240, a welding path is planned according to the position information of the weld to be welded, and it should be understood that the length of the welding path is not necessarily in direct proportion to the energy consumed by welding, and some welding paths are shorter but may consume more energy, and some welding paths are longer but may consume less energy. The optimal weld path refers to an optimal choice made under the trade-off of weld path length and weld energy consumption. The method for selecting the best welding path from the collision-free welding paths can be summarized as the following formula:

wherein D represents the total length of the path, E represents the energy consumption for executing the welding task according to a certain path, a and b represent the selection weight coefficient of the minimum path strategy or the minimum energy consumption strategy respectively, aD represents the important value corresponding to the shortest path, bE represents the important value corresponding to the minimum energy consumption path, x represents the pose of the welding gun at the tail end of the robot, and Tb represents the motion forbidden area of the robot.

The formula represents that when the pose of the welding gun at the tail end of the robot does not exceed the working space, the larger one of two important values of aD and bE is selected, and the path corresponding to the side with the larger important value is the optimal welding path.

Referring to fig. 6, fig. 6 is a flowchart illustrating a dual robot gantry welding method according to another embodiment of the present application. The embodiment of the application provides a step S240 of selecting respective optimal welding paths of the dual robots by planning a collision-free welding path according to the weld joint position information of the workpieces to be welded, where the respective optimal welding paths do not exceed respective working spaces, and the step includes:

step S241, obtaining the length values of the shortest path and the minimum energy consumption path of the double-robot collision-free welding according to the welding seam position information of the workpiece to be welded;

step S242, multiplying the length values of the shortest path and the minimum energy consumption path by weight coefficients, respectively, to obtain important values corresponding to the shortest path and the minimum energy consumption path, respectively;

in step S243, the important values are compared to obtain the one with a larger value, and the path corresponding to the one with a larger value is the optimal welding path of each of the two robots.

These three steps are described in detail below.

In step S241, according to the obtained position information of the weld of the workpiece to be welded, the shortest path length value of the robot end welding gun in the working space range is calculated according to the shortest path principle, and the minimum energy consumption length value of the robot end welding gun in the working space range is calculated according to the minimum energy consumption principle.

In step S242, the weight coefficient indicates the degree of importance of the optimal route for displaying the route, and the weight coefficient is increased as the degree of importance is increased. And multiplying the length values of the obtained shortest path and the minimum energy consumption path by a weight coefficient to obtain two important values, wherein the two important values are used for comparing the two values.

Illustratively, the length value of the shortest path of the single robot for collision-free welding is 5 meters, the length value of the minimum energy consumption path of the collision-free welding is 7 meters, if the shortest path is considered to be more important, a selection weight coefficient of 0.7 can be attached, the selection weight coefficient of 0.3 is attached to the minimum energy consumption path, and two important values of 3.5 and 2.1 are obtained after the selection weight coefficient is attached.

In step S243, the two obtained important values are compared in magnitude, and the path corresponding to the one having the larger important value is the optimal welding path. As shown in the above example, comparing the two important values of 3.2 and 2.1, the important value of 3.2 is larger, and the path corresponding to 3.2 is the shortest welding path of 5 meters, that is, the optimal welding path.

Referring to fig. 7, fig. 7 is a flowchart illustrating a dual robot gantry welding method according to another embodiment of the present application. The embodiment of the application provides a step S241 of obtaining the length values of the shortest path and the minimum energy consumption path of the collision-free welding of the dual robots according to the weld joint position information of the workpiece to be welded, including:

step S2411, establishing an artificial potential field for the double robots according to the welding seam position information of the workpieces to be welded;

step S2412, planning out the shortest path and the minimum energy consumption path of the double-robot collision-free welding under the action of the artificial potential field, and obtaining the length values of the shortest path and the minimum energy consumption path.

These two steps are described in detail below.

In step S2411, an artificial potential field is established for the two robots according to the weld position information of the workpiece to be welded, the artificial potential field can be understood as setting one of the robots as an obstacle, thereby generating a "repulsive force" with respect to the other robot, limiting the two robots from colliding with each other during operation, setting the weld position information of the workpiece to be welded as a target point, and generating an "attractive force" with respect to the two robots by the target point. The establishment of the artificial potential field needs to combine the current position of the robot, the hardware parameters of the robot and other factors besides the welding seam position information of the workpiece to be welded.

In step S2412, since the set target point generates "attraction" for the two robots and the obstacle generates "repulsion" for the other robot, the robots are subjected to the combined action of the two and advance toward the target point. And planning collision-free paths for the two robots under the action of the artificial potential field, and then planning the shortest path and the minimum energy consumption path from the collision-free paths to the target point of the two robots, so as to obtain the length values of the shortest path and the minimum energy consumption path.

In step S250, when the optimal welding path information of each of the two robots is obtained through calculation, the two robots are driven to weld along the optimal welding paths according to the optimal welding path information.

Referring to fig. 8, fig. 8 is a diagram illustrating an overall architecture of a dual robot gantry welding system according to an embodiment of the present application. Before the modules work formally, a three-dimensional vision module arranged on a welding gun at the tail end of the robot photographs workpieces to be welded from preset different photographing points respectively to obtain information such as depths, colors and three-dimensional point clouds of the workpieces to be welded and the surrounding environment thereof. After the visual preprocessing module inputs information such as the depth, color and three-dimensional point cloud of the workpiece to be welded and the surrounding environment thereof, the image with noise removed and the point cloud information after registration and feature extraction are finished can be output.

And then, acquiring welding seam position information through a welding seam identification algorithm in a welding seam identification module according to the point cloud information of the to-be-welded workpiece preprocessed in the visual preprocessing module. According to the position information and the distribution condition of the welding seam, a proper welding mode is selected from a single-machine movement mode, a double-machine single-welding mode and a double-machine common-welding mode, and the robot is driven to perform welding through a double-machine movement planning and execution module. The gantry motion module mainly provides three motion degrees of freedom for the robot, so that the robot can have a larger motion range and a larger working area and can be applied to more welding scenes.

The real-time monitoring module is positioned at one side of the gantry system, and can monitor important information in the welding process in real time in an interactive visual interface of the module, so that an operator can conveniently make adjustment when the robot does not work according to an ideal condition or temporarily adjusts a welding task.

The double-robot gantry welding method according to the embodiment of the application can be realized by a system applied to the double-robot gantry welding method shown in fig. 9. A system applied to the dual robot gantry welding method according to the embodiment of the present application is described below with reference to fig. 9. The system applied to the double-robot gantry welding method shown in fig. 9 is only an example, and should not bring any limitation to the function and the application range of the embodiment of the present application.

As shown in fig. 9, the system applied to the dual robot gantry welding method is represented in the form of a general purpose computing device. Components of the system to which the dual robot gantry welding method applies may include, but are not limited to: the at least one processing unit 810, the at least one memory unit 820, and a bus 830 that couples the various system components including the memory unit 820 and the processing unit 810.

Wherein the storage unit stores program code that can be executed by the processing unit 810 such that the processing unit 810 performs the steps according to various exemplary embodiments of the present invention described in the description part of the above exemplary methods of the present specification. For example, the processing unit 810 may perform the various steps as shown in fig. 2.

The memory unit 820 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM) 8201 and/or a cache memory unit 8202, and may further include a read only memory unit (ROM) 8203.

The storage unit 820 may also include a program/utility 8204 having a set (at least one) of program modules 8205, such program modules 8205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 830 may be any one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The system for the dual robot gantry welding method application can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the system for the dual robot gantry welding method application, and/or with any device (e.g., router, modem, etc.) that enables the system for the dual robot gantry welding method application to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 850. Also, the system to which the dual robot gantry welding method applies may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 860. As shown, network adapter 860 communicates with other modules of the system for the two robot gantry welding process application over bus 830. It should be understood that although not shown, other hardware and/or software modules may be used in conjunction with the system as applied in the dual robot gantry welding process, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, and may also be implemented by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to make a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) execute the method according to the embodiments of the present application.

In an exemplary embodiment of the present application, there is also provided a computer program medium having stored thereon computer readable instructions which, when executed by a processor of a computer, cause the computer to perform the method described in the above method embodiment section.

According to an embodiment of the present application, there is also provided a program product for implementing the method in the above method embodiment, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this respect, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In situations involving remote computing devices, the remote computing devices may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computing devices (e.g., through the internet using an internet service provider).

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Moreover, although the steps of the methods herein are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

Claims

1. A method for welding a gantry with two robots is characterized in that the gantry comprises two longitudinal rails arranged in parallel at intervals, a support frame capable of sliding on the longitudinal rails, two transverse moving mechanisms arranged on the upper portion of the support frame at intervals along the longitudinal direction, two lifting mechanisms arranged in one-to-one correspondence with the two transverse moving mechanisms, and two robots arranged in one-to-one correspondence with the two lifting mechanisms, and the method in the gantry comprises the following steps:

2. The method according to claim 1, wherein before the obtaining of the weld position information of the workpieces to be welded from the point cloud information of the workpieces to be welded, the method further comprises:

3. The method according to claim 1, wherein the dividing of the respective work spaces of the dual robots according to the weld position information of the workpieces to be welded comprises:

4. The method according to claim 1, wherein the selecting respective optimal welding paths of the two robots by planning collision-free welding paths according to the weld position information of the workpieces to be welded, the respective optimal welding paths not exceeding the respective working spaces, comprises:

and comparing the important values to obtain the part with a larger value, wherein the path corresponding to the part with the larger value is the optimal welding path of each of the double robots.

5. The method according to claim 4, wherein the obtaining of the length values of the shortest path and the minimum energy consumption path of the dual robot collision-free welding according to the weld position information of the workpieces to be welded comprises:

6. The utility model provides a duplex robot longmen welding system which characterized in that, duplex robot longmen welding system includes:

a point cloud information acquisition module: the device comprises a control system, a control system and a control system, wherein the control system is used for triggering point cloud information acquisition operation on workpieces to be welded placed in a gap between two longitudinal rails to obtain point cloud information of the workpieces to be welded;

an optimal welding path acquisition module: the system comprises a controller, a controller and a display, wherein the controller is used for selecting respective optimal welding paths of the double robots according to welding line position information of the workpieces to be welded by planning the welding paths, and the respective optimal welding paths do not exceed respective working spaces;

7. The system of claim 6, wherein the dual robot gantry welding system further comprises:

8. The system of claim 6, wherein the dual robot gantry welding system further comprises:

9. The system of claim 6, wherein the dual robot gantry welding system further comprises:

and the real-time monitoring module is positioned on one side outside the gantry movement module, and can monitor and intervene the welding process in real time in an interactive visual interface of the module.

10. The utility model provides a duplex robot longmen welding equipment which characterized in that includes:

a memory storing computer readable instructions;

a processor reading computer readable instructions stored by the memory to perform the method of claims 1-5.