CN117182408A - Welding control method and related device - Google Patents
Welding control method and related device Download PDFInfo
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Abstract
The embodiment of the application provides a welding control method and a related device. According to the embodiment of the application, the first target motion trail matched with the actual welding seam is obtained by sampling the welding seam in real time, the target position corresponding to the current position of the welding robot is determined in real time according to the first target motion trail, the deviation vector is further determined, the first target compensation vector is calculated according to the deviation vector, and the motion compensation control is carried out on the welding robot according to the first target compensation vector in real time, so that the motion trail of the welding robot approaches to and even coincides with the first target motion trail, and therefore whether the welding seam is deformed or not, the actual welding position of the welding robot approaches to and coincides with the actual position of the welding seam can be guaranteed, accurate welding is realized, and bias welding is avoided. The embodiment of the application also corrects the deviation vector based on the speed and the sensitivity of the welding robot to obtain a first target compensation vector, and limits the compensation value by presetting the upper compensation limit to realize accurate and stable control.
Description
Technical Field
The application relates to the technical field of welding, in particular to a welding control method and a related device.
Background
With the development of welding technology, welding robots can be used for welding according to teaching tracks in many occasions. However, in the welding process, the welding seam may be deformed due to factors such as a plurality of welding beads of the workpiece, large welding current and the like, and deviation from the teaching track may occur. Moreover, the deformation of the weld joint is related to various factors such as the structure, the size, the material, the welding specification and the like of the workpiece, and cannot be predicted in advance. Therefore, in the related art, when welding is performed by the welding robot according to the teaching track, a bias welding phenomenon often occurs, and the welding quality is seriously affected.
Disclosure of Invention
Aiming at the technical problems, the embodiment of the application provides a welding control method and a related device.
In a first aspect, an embodiment of the present application provides a welding control method, including:
sampling a welding line of a workpiece to be welded, and determining a first target motion track corresponding to the welding line;
determining a first target position corresponding to the current position of the welding robot on the first target motion trail;
determining a first deviation vector according to the current position and a first target position of the welding robot;
determining a first target compensation vector according to the first deviation vector;
And performing motion compensation control on the welding robot according to the first target compensation vector.
In an optional embodiment, the sampling the weld joint of the workpiece to be welded to determine a first target motion track corresponding to the weld joint includes:
acquiring the coordinates of the front weld corresponding to the current position of the welding robot in real time to obtain a front weld coordinate queue;
and performing curve fitting according to the preposed weld joint coordinate queue to obtain the first target motion trail.
In an optional embodiment, the determining the first target position corresponding to the current position of the welding robot on the first target motion trajectory includes:
determining a normal plane perpendicular to the normal vector by taking the current position of the welding robot as an origin and the current advancing direction as the normal vector;
and determining an intersection point of the first target motion trail and the normal plane as the first target position.
In an alternative embodiment, the determining the first target compensation vector according to the first deviation vector includes:
correcting the first deviation vector according to at least one of the movement speed and the sensitivity of the welding robot to obtain a first reference compensation vector;
And taking the first reference compensation vector as the first target compensation vector, or determining the first target compensation vector according to the first reference compensation vector and a preset upper compensation limit.
In an alternative embodiment, the determining the first target compensation vector according to the first reference compensation vector and a preset compensation upper limit includes:
judging whether the first reference compensation vector exceeds the preset compensation upper limit or not;
if the first reference compensation vector does not exceed the preset upper compensation limit, the first reference compensation vector is used as a first target compensation vector;
and if the first reference compensation vector exceeds the preset compensation upper limit, correcting the first reference compensation vector according to the preset compensation upper limit, and taking the corrected first reference compensation vector as a first target compensation vector.
In an alternative embodiment, the method further comprises:
acquiring actual coordinates after compensation control in the motion process of the welding robot to obtain an actual motion trail queue;
after receiving a holding control instruction, fitting according to the actual motion trail queue to obtain a second target motion trail;
Determining a second target position corresponding to the current position of the welding robot on the second target motion trail;
determining a second deviation vector according to the current position and a second target position of the welding robot;
determining a second target compensation vector according to the second deviation vector;
and performing motion compensation control on the welding robot according to the second target compensation vector.
In a second aspect, an embodiment of the present application provides a welding control apparatus, including:
the sampling unit is used for sampling the welding seam of the workpiece to be welded and determining a first target motion track corresponding to the welding seam;
the first compensation unit is used for determining a first target position corresponding to the current position of the welding robot on the first target motion track; determining a first deviation vector according to the current position and a first target position of the welding robot; determining a first target compensation vector according to the first deviation vector;
and the control unit is used for performing motion compensation control on the welding robot according to the first target compensation vector.
In an optional embodiment, the sampling unit is configured to sample a weld of a workpiece to be welded, and determine a first target motion track corresponding to the weld, which may specifically include:
The sampling unit is used for collecting the coordinates of the front weld corresponding to the current position of the welding robot in real time to obtain a front weld coordinate queue; and performing curve fitting according to the preposed weld joint coordinate array to obtain the first target motion trail.
In an optional embodiment, the first compensation unit is configured to determine a first target position corresponding to a current position of the welding robot on the first target motion trajectory, and may specifically include:
the first compensation unit is used for determining a normal plane perpendicular to the normal vector by taking the current position of the welding robot as an origin and the current advancing direction as the normal vector; and determining an intersection point of the first target motion trail and the normal plane as the first target position.
In an alternative embodiment, the first compensation unit is configured to determine a first target compensation vector according to the first deviation vector, and may specifically include:
the first compensation unit is used for correcting the first deviation vector according to at least one of the movement speed and the sensitivity of the welding robot to obtain a first reference compensation vector; and taking the first reference compensation vector as the first target compensation vector, or determining the first target compensation vector according to the first reference compensation vector and a preset upper compensation limit.
In an alternative embodiment, the first compensation unit is configured to determine the first target compensation vector according to the first reference compensation vector and a preset compensation upper limit, and may specifically include:
the first compensation unit is used for judging whether the first reference compensation vector exceeds the preset compensation upper limit; if the first reference compensation vector does not exceed the preset upper compensation limit, the first reference compensation vector is used as a first target compensation vector; and if the first reference compensation vector exceeds the preset compensation upper limit, correcting the first reference compensation vector according to the preset compensation upper limit, and taking the corrected first reference compensation vector as a first target compensation vector.
In an alternative embodiment, the welding control device further includes:
the recording unit is used for acquiring the actual coordinates after compensation control in the motion process of the welding robot to obtain an actual motion track queue;
the second compensation unit is used for obtaining a second target motion track according to the actual motion track queue after receiving the holding control instruction; determining a second target position corresponding to the current position of the welding robot on the second target motion trail; determining a second deviation vector according to the current position and a second target position of the welding robot; and determining a second target compensation vector based on the second bias vector.
The control unit is further configured to: and performing motion compensation control on the welding robot according to the second target compensation vector.
In a third aspect, an embodiment of the present application provides a welding robot, including: the welding control device according to the above embodiment.
In a fourth aspect, an embodiment of the present application provides an electronic device, including:
a memory for storing a computer program product;
a processor for executing the computer program product stored in the memory, and when the computer program product is executed, implementing the method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, on which computer program instructions are stored, which when executed, implement the method according to the first aspect.
In summary, in the embodiment of the application, the first target motion track matched with the actual welding seam is obtained by sampling the welding seam in real time, the real-time position deviation of the welding robot is determined according to the first target motion track, the first target compensation vector is further determined according to the real-time position deviation, and the motion compensation control is performed on the welding robot according to the first target compensation vector in real time, so that the actual motion track of the welding robot approaches to and even overlaps with the first target motion track, thereby ensuring that the actual welding position of the welding robot approaches to and even overlaps with the actual position of the welding seam no matter whether the welding seam is deformed, realizing accurate welding and avoiding partial welding.
Secondly, the embodiment of the application establishes a real-time coordinate system based on the position of the welding robot, is used for quantitatively calculating the deviation vector and the compensation vector, and simultaneously corrects the deviation vector by combining the motion speed, the sensitivity and the like of the welding robot to determine the compensation vector, so that the finally determined compensation vector is matched with the real-time position, the speed, the performance and the like of the welding robot, and the accurate control of the welding robot is realized; and the compensation value of the compensation vector is limited by setting the upper compensation limit, so that the jump of the welding robot caused by the overlarge compensation value is avoided, and the stable movement of the welding robot is ensured.
In addition, the embodiment of the application not only determines the first target motion track based on the position of the front welding seam and determines the first target compensation vector based on the first target motion track to realize tracking control of the welding robot, but also can record the actual coordinates of the welding robot in real time and form an actual motion track array in the tracking control process, and obtain the second target motion track according to the actual motion track array in a fitting way, and then determine the second target compensation vector based on the second target motion track to realize the holding control of the welding robot, thereby meeting different control requirements in actual application scenes and expanding the application range of the welding robot.
Drawings
FIG. 1 is a flow chart of a welding control method according to one embodiment of the present application;
fig. 2 is a schematic view of an application scenario provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of determining a bias vector according to one embodiment of the present application;
FIG. 4 is a schematic diagram of determining a compensation vector according to one embodiment of the present application;
FIG. 5 is a schematic diagram of a welding control device according to an embodiment of the present application;
fig. 6 is a schematic diagram of a result of an electronic device according to an embodiment of the application.
Detailed Description
The application is further described in detail below by means of the figures and examples. The features and advantages of the present application will become more apparent from the description.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not collide with each other.
The welding control method, the related device and the system provided by the embodiment of the application are described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
Fig. 1 is a flowchart of a welding control method according to an embodiment of the present application. The welding control method can be applied to the welding robot to solve the problem of partial welding of the welding robot caused by welding line deformation. Referring to fig. 1, the method includes the steps of:
step 101, sampling a welding line of a workpiece to be welded, and determining a first target motion track corresponding to the welding line;
in the embodiment of the application, the image information of the welding seam to be welded by the welding robot can be acquired through the self-contained or external sensor of the welding robot, such as a laser sensor, a visual camera and the like, and the position information of one or more welding seam sampling points can be obtained through analyzing the influence information. As shown in the schematic view of the welding scenario in fig. 2, the direction indicated by the dashed arrow is the advancing direction of the welding robot 10, and along with the movement of the welding robot 10, the position information of the weld seam 20 of the workpiece to be welded in the advancing direction, that is, the position information of the front weld seam, is collected in real time. For example, when the welding robot 10 moves to the point a, position information of A1, A2, and the like of the front weld sampling points located in front of the point a may be acquired; when the welding robot moves to the point B, the position information of the front welding seam sampling points such as B1, B2 and the like in front of the point B can be acquired. It should be noted that, the sampling control parameters such as the sampling time interval and the number of sampling points collected by the welding robot at each position are related to factors such as the sampling precision requirement in the actual application scenario or the performance of the sampling device, which is not limited by the embodiment of the present application.
Therefore, through the real-time sampling process, even if the welding seam is deformed in the welding process, the deformed welding seam position information can be obtained in real time, so that the first target movement track is determined in real time according to the deformed welding seam position information, and through the subsequent control step, the welding robot is controlled in movement according to the first target movement track, the accurate welding of the welding seam is ensured, and the problem of partial welding is avoided.
102, determining a first target position corresponding to the current position of the welding robot on the first target motion trail;
step 103, determining a first deviation vector according to the current position and a first target position of the welding robot;
step 104, determining a first target compensation vector according to the first deviation vector;
because the first target motion trail is determined according to the welding seam position information acquired in real time, the first target motion trail is an ideal motion trail of the welding robot, namely, the welding robot moves along the first target motion trail, so that the welding seam can be accurately welded, the current position of the welding robot may deviate from the first target motion trail, and compensation control is needed to be carried out on the welding robot, so that the actual position and the actual motion trail of the welding robot approach to even coincide with the first target motion trail as much as possible.
Thus, for any control moment, the current position of the welding robot can be obtained, and a point on the first target movement trajectory is determined as the first target position, i.e. the position to which the welding robot should move at the control moment in the ideal case. The first deviation vector is formed by the deviation distance and the deviation direction between the first target position and the current position of the welding robot; and then a first target compensation vector for performing motion compensation on the welding robot can be determined according to the first deviation vector.
And 105, performing motion compensation control on the welding robot according to the first target compensation vector.
Along with the movement of the welding robot, at each control moment, a corresponding first deviation vector and a first target compensation vector can be determined, namely, the position deviation of the welding robot can be determined in real time in the movement process of the welding robot, further, the first target compensation vector for correcting the position deviation is determined in real time, the movement of the welding robot is subjected to real-time compensation control according to the first target compensation vector, and the deviation of the welding position and the welding seam of the welding robot is corrected in time.
As can be seen from the above description, in the embodiment of the present application, by sampling the weld in real time, a first target motion track matched with the actual weld is obtained, and a real-time position deviation of the welding robot is determined according to the first target motion track, and then a first target compensation vector is determined according to the real-time position deviation, and motion compensation control is performed on the welding robot according to the first target compensation vector in real time, so that the actual motion track of the welding robot approaches or even overlaps with the first target motion track, and therefore, whether the weld deforms or not, the actual welding position of the welding robot approaches or overlaps with the actual position of the weld can be ensured, accurate welding is realized, and bias welding is avoided.
In an optional embodiment of the present application, sampling the weld seam of the workpiece to be welded in the step 101, and determining the first target motion track corresponding to the weld seam includes:
step 1011, acquiring the coordinates of a front weld corresponding to the current position of the welding robot in real time, and obtaining a front weld coordinate array;
and step 1012, performing curve fitting according to the pre-weld coordinate queue to obtain the first target motion trail.
Along with the movement of the welding robot, coordinates of a plurality of sampling points on the welding line, namely the coordinates of the front welding line, can be obtained successively to form a front welding line coordinate array, and then the front welding line coordinate array can be fitted into a curve through a curve fitting algorithm, namely the first target movement track is obtained. The fitted first target motion trail can be expressed by a form of a linear function or a nonlinear function.
Optionally, the process of performing curve fitting on the pre-weld coordinate queue may specifically include: and smoothing the data in the front weld coordinate queue through algorithms such as filtering and noise reduction, and performing curve fitting by utilizing the smoothed front weld coordinate queue, so that the obtained first target motion track is smoother, abnormal fluctuation such as saw teeth and the like of a fitted curve caused by noise data is avoided, and stable control of the welding robot is ensured.
Optionally, in the case of welding a new workpiece to be welded by the welding robot, after the welding robot is started, the welding robot may be controlled to move according to the teaching track, sample the weld in the moving process through the step 101 or the steps 1011 to 1012, and fit according to the sampling result to obtain the first target movement track.
Since there may be a large deviation in the curve obtained by fitting under the condition of fewer sampling points, in an alternative embodiment of the present application, in order to ensure the control accuracy, the shortest sampling distance L0 may be preset, and after the first target motion trajectory is obtained in step 1012, the following determination step is performed:
step 1013, judging whether the track length L of the first target motion track S1 is not less than L0, if L1 is not less than L0, i.e. L1 is not less than L0, executing the subsequent step 102, i.e. entering a tracking control stage, and performing real-time tracking control on the motion track of the welding robot by taking the first target motion track as a standard; if L1 is less than L0, it is indicated that the sampling points are too few at this time, and it is difficult to ensure the accuracy of the fitting result, so that the tracking control is not performed temporarily, but the process returns to step 1011 to continue the sampling, and then the curve is re-fitted through step 1012 until the track length L1 of the first target motion track obtained by fitting is no longer less than the preset shortest sampling distance L0.
It should be noted that, in the actual control scenario, each step in the welding control method may be performed cyclically or repeatedly. For example, the real-time sampling of the welding seam can penetrate through the whole control process, namely, in the process of judging that L1 is more than or equal to L0 and entering the tracking control stage, in the process of carrying out real-time motion compensation control on the welding robot through steps 102-105, along with the motion of the welding robot, the front welding seam coordinates of the position of the welding robot can be acquired in real time still through executing steps 1011-1012 so as to correct the first target motion track in real time, the accuracy of track fitting is improved, and meanwhile, under the condition that the welding seam is deformed, the deformed welding seam coordinates are acquired in time, so that curve fitting can be carried out again according to the deformed welding seam coordinates, the correction of the first target motion track is realized, the matching of the welding seam with the deformed welding seam is ensured, and the bias welding is avoided.
In an optional embodiment of the present application, the determining, in step 102, the first target position corresponding to the current position of the welding robot on the first target motion trajectory includes:
step 1021, determining a normal plane perpendicular to the normal vector by taking the current position of the welding robot as an origin and the current advancing direction as the normal vector;
step 1022, determining an intersection point of the first target motion trajectory and the normal plane as the first target position.
Referring to a schematic diagram of a welding control principle shown in fig. 3, in a moving process of the welding robot, a current position of the welding robot is taken as an origin O, and a current advancing direction of the welding robot is taken as a normal vector I; from the normal vector I, a normal plane, i.e. a plane perpendicular to the normal vector I, can be determined; the intersection point P of the first target motion track S1 and the normal plane may be the first target position corresponding to the current position of the welding robot.
In order to conveniently represent the positions of each point and calculate relevant data such as distance, a real-time three-dimensional coordinate system moving along with the welding robot can be established according to the normal vector and the normal plane, as shown in fig. 3: the current position of the welding robot is the origin O of the real-time three-dimensional coordinate system, the axis of the normal vector I is used as one coordinate axis I of the real-time three-dimensional coordinate system, and two coordinate axes of the two-dimensional rectangular coordinate system perpendicular to the normal plane I are used as the other two coordinate axes of the real-time three-dimensional coordinate system; alternatively, a straight line where a welding gun on the welding robot is projected on the normal plane may be used as the second coordinate axis V of the real-time three-dimensional coordinate system, and a straight line perpendicular to V in the normal plane may be used as the third coordinate axis H of the real-time three-dimensional coordinate system, so as to obtain the real-time three-dimensional coordinate system H-V-I. Based on the H-V-I coordinate system, the current position of the welding robot, namely the origin O, is the coordinate (0, 0), the first target position determined as the intersection point P, and the coordinates are (H) p ，V p 0), then in step 103 a first deviation vector, i.e. a vector, of the welding robot in the current position is obtained
In an alternative embodiment of the present application, the determining the first target compensation vector according to the first position deviation vector in step 104 includes:
step 1041, correcting the first deviation vector according to at least one of the motion speed and the sensitivity of the welding robot to obtain a first reference compensation vector;
in theory, the first deviation vector may be directly used as a compensation vector to implement motion compensation for the welding robot. However, in practice, the compensation control effect is affected by factors such as the motion speed and sensitivity of the welding robot, for example, under the control of the same compensation vector, the greater the motion speed or sensitivity of the welding robot, the higher the approach degree of the welding robot to the target in the same time, so in order to avoid the situation of overcompensation or undercompensation, the embodiment of the application determines the compensation vector by combining the factors such as the motion speed or sensitivity of the welding robot.
Specifically, as shown in FIG. 3, a first deviation vectorThe projections on the coordinate axes H and V, namely the deviation components of the first deviation vector in the H axis direction and the V axis direction are respectively H p And V p The process of correcting it can be expressed as the following formula:
in the above formula, H p ' reference compensation component in H-axis direction for the first reference compensation vector, V p ' reference compensation component in V-axis direction for the first reference compensation vector, f 1 For correcting the function in the direction of H axis, f 2 The function is modified for the V-axis direction. Wherein the correction function f in both directions of the H axis and the V axis 1 And f 2 Related to the real-time motion speed u, sensitivity k and other factors of the welding robot, can be expressed as f 1 (u, k,) and f 2 (u, k.). In addition, f 1 And f 2 The welding robot may be the same or different, and may be specifically determined according to the motion characteristics of the welding robot, the correction requirements in two directions, and the like in an actual application scene. Based on the above formula, reference compensation components H in the directions of the H axis and the V axis are calculated respectively p ' and V p ' obtaining the first reference compensation vector.
In an alternative embodiment, after performing step 1041, the following may be performed:
Step 1042, using the first reference compensation vector as the first target compensation vector.
In an alternative embodiment of the present application, in order to avoid the welding robot jumping, the compensation value should not be too large, so a preset upper compensation limit may be set, and after executing step 1041, the following steps are continued:
step 1043, determining the first target compensation vector according to the first reference compensation vector and a preset upper compensation limit.
Specifically, the determining, in step 1043, the first target compensation vector according to the first reference compensation vector and a preset compensation upper limit includes:
step 10431, determining whether the first reference compensation vector exceeds the preset upper compensation limit;
step 10432, if the first reference compensation vector does not exceed the preset upper compensation limit, using the first reference compensation vector as a first target compensation vector;
step 10433, if the first reference compensation vector exceeds the preset upper compensation limit, correcting the first reference compensation vector according to the preset upper compensation limit, and taking the corrected first reference compensation vector as a first target compensation vector.
Alternatively, the preset upper compensation limit may be a compensation vector value t, and accordingly, step 10431 is comparing the vector values of the first reference compensation vector With t, if->Then taking the first reference compensation vector as a first target compensation vector; if->And modifying the vector value of the first reference compensation vector to t, wherein the vector direction is unchanged, and taking the modified first compensation vector as the first target compensation vector.
Alternatively, the preset upper compensation limit may include upper compensation component limit t in two directions of H axis and V axis H And t V Correspondingly, step 10431 is comparing H p ' and t H Is of the size of V p ' and t V If the compensation component in any direction is greater than or equal to the corresponding compensation component upper limit value, the compensation component in that direction is modified to the corresponding compensation upper limit value. Assume that the target compensation components of the first target compensation vector in the H-axis and V-axis directions are T respectively H And T V The embodiment of the application is based on the compensation component upper limit value t through the steps 10431-10433 H And t V Determining T H And T V The procedure of (2) can be expressed as follows:
the compensation control process according to the embodiment of the present application can be represented as a control diagram shown in fig. 4. Referring to fig. 4, a first deviation vector is calculated according to a first target position and a current position of the welding robot (i.e., an actual position of the welding robot acquired in real time), then a first target compensation vector is determined according to a real-time motion speed u, a sensitivity k, a preset upper compensation limit, etc., and the first target compensation vector is sent to an actuator for controlling motion of the welding robot, such as a motor for controlling motion or steering of the welding robot, etc., so that the welding robot approaches to a first target motion track according to the first target compensation vector. The embodiment of the application is provided with the preset upper compensation limit, and when the compensation value calculated according to the deviation vector, the speed and the sensitivity exceeds the preset upper compensation limit, the compensation is carried out according to the preset upper compensation limit, so that the welding robot can be ensured to stably move and turn, and the welding robot is prevented from jumping.
In an alternative embodiment of the present application, the welding control method may further include:
and 106, acquiring actual coordinates after compensation control in the movement process of the welding robot, and obtaining an actual movement track queue.
The actual motion trail of the welding robot is acquired and recorded in real time through the above step 106. In practical application, the control effect can be analyzed according to the actual motion trail, and then relevant parameters in the control process, such as the correction function, the preset upper compensation limit and the like, are optimized to achieve a better control effect.
During the welding process, the control mode may be changed by sending a related instruction to the welding robot; for example, the welding robot stops the tracking control process in steps 102 to 105 after receiving the stop control command, or the welding robot enters the hold control stage after receiving the hold control command. In an alternative embodiment of the present application, based on the actual motion trajectory queue recorded in step 106, the welding control method may further include the following steps related to the control stage:
step 107, after receiving a hold control instruction, fitting according to the actual motion trail queue to obtain a second target motion trail;
According to the actual motion trajectory queue of the welding robot acquired and recorded in step 106, the second target motion trajectory may be obtained by fitting, and the specific fitting method may refer to the method of obtaining the first target motion trajectory by fitting in step 1012 in the foregoing embodiment, for example, may include smoothing the actual motion trajectory queue, performing curve fitting through a preset curve fitting algorithm, and so on.
Step 108, determining a second target position corresponding to the current position of the welding robot on the second target motion trail;
step 109, determining a second deviation vector according to the current position and a second target position of the welding robot;
step 110, determining a second target compensation vector according to the second deviation vector;
and step 111, performing motion compensation control on the welding robot according to the second target compensation vector.
The process of determining the second target compensation vector in real time according to the second target motion trajectory in steps 108 to 110 may refer to steps 102 to 104 in the foregoing embodiments and the related description of fig. 4, including the method for establishing the real-time coordinate system of the welding robot, the process of determining the second target compensation vector according to the second deviation vector in combination with the motion speed, sensitivity, preset upper compensation limit, etc. of the welding robot, etc., and the data processing principle and the processing process thereof are the same or similar, which are not repeated in this embodiment.
As can be seen from the above embodiments, the whole control process of the welding control method provided by the present application includes a sampling stage, a tracking control stage and a holding control stage; in the sampling stage, controlling a welding robot to move according to a teaching track, collecting coordinate information of a front welding line to obtain a first target movement track, and entering a tracking control stage when the track length exceeds a preset sampling distance; in the tracking control stage, a first target compensation vector is determined based on the first target motion track, and the motion process of the welding robot is subjected to real-time compensation control according to the first target compensation vector until a stop control instruction or a hold control instruction is received; after receiving the holding control instruction, the welding robot enters a holding control stage, a second target movement track is determined according to the actual movement track acquired and recorded in the tracking control stage, a second target compensation vector is determined based on the second target movement track, and then real-time compensation control is carried out on the movement process of the welding robot according to the second target compensation vector until a stop control instruction is received. In an actual application scene, the welding robot is controlled to enter different control modes through the control instruction, so that different control requirements are met, accurate control of the welding process of the welding robot is guaranteed, the welding seam deformation condition in the welding process is met, the phenomenon of partial welding is avoided, the welding quality is improved, and the application scene of the welding robot is expanded.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Based on the same inventive concept, one or more embodiments of the present disclosure further provide a welding control device, and since the principle of the problem solved by the welding control device is similar to that of the welding control method described above, the implementation of the welding control device may refer to the implementation of the welding control method described above, and the repetition is omitted.
Fig. 5 is a schematic structural diagram of a welding control device according to an embodiment of the present application. The welding control apparatus may be applied to a welding robot. Referring to fig. 5, the welding control apparatus 400 includes:
the sampling unit 401 is configured to sample a weld of a workpiece to be welded, and determine a first target motion track corresponding to the weld;
A first compensation unit 402, configured to determine a first target position corresponding to a current position of the welding robot on the first target motion trajectory; determining a first deviation vector according to the current position and a first target position of the welding robot; determining a first target compensation vector according to the first deviation vector;
and a control unit 403, configured to perform motion compensation control on the welding robot according to the first target compensation vector.
In an optional embodiment of the present application, the sampling unit 401 is configured to sample a weld of a workpiece to be welded, and determine a first target motion track corresponding to the weld, which may specifically include:
the sampling unit 401 is configured to collect, in real time, coordinates of a front weld corresponding to the current position where the welding robot is located, to obtain a front weld coordinate queue; and performing curve fitting according to the preposed weld joint coordinate array to obtain the first target motion trail.
In an alternative embodiment of the present application, the first compensation unit 402 is configured to determine a first target position corresponding to a current position of the welding robot on the first target motion trajectory, and may specifically include:
the first compensation unit 402 is configured to determine a normal plane perpendicular to the normal vector, with the current position of the welding robot as an origin and a current advancing direction as a normal vector; and determining an intersection point of the first target motion trail and the normal plane as the first target position.
In an alternative embodiment of the present application, the first compensation unit 402 is configured to determine a first target compensation vector according to the first deviation vector, and may specifically include:
the first compensation unit 402 is configured to correct the first deviation vector according to at least one of a motion speed and a sensitivity of the welding robot, so as to obtain a first reference compensation vector; and taking the first reference compensation vector as the first target compensation vector, or determining the first target compensation vector according to the first reference compensation vector and a preset upper compensation limit.
In an alternative embodiment of the present application, the first compensation unit 402 is configured to determine the first target compensation vector according to the first reference compensation vector and a preset upper compensation limit, and may specifically include:
the first compensation unit 402 is configured to determine whether the first reference compensation vector exceeds the preset compensation upper limit; if the first reference compensation vector does not exceed the preset upper compensation limit, the first reference compensation vector is used as a first target compensation vector; and if the first reference compensation vector exceeds the preset compensation upper limit, correcting the first reference compensation vector according to the preset compensation upper limit, and taking the corrected first reference compensation vector as a first target compensation vector.
In an alternative embodiment of the present application, the welding control apparatus 400 further includes:
the recording unit is used for acquiring the actual coordinates after compensation control in the motion process of the welding robot to obtain an actual motion track queue;
the second compensation unit is used for obtaining a second target motion track according to the actual motion track queue after receiving the holding control instruction; determining a second target position corresponding to the current position of the welding robot on the second target motion trail; determining a second deviation vector according to the current position and a second target position of the welding robot; and determining a second target compensation vector based on the second bias vector.
The control unit 403 is further configured to: and performing motion compensation control on the welding robot according to the second target compensation vector.
The embodiment of the application also provides a welding robot, which comprises: according to the welding control device 400 of the foregoing embodiment, the welding robot is subjected to motion compensation control by the welding control device 400, so that the motion track of the welding robot approaches the actual weld position, and therefore, under the condition of weld deformation, the welding can be accurately performed without the occurrence of the off-set welding phenomenon, and the welding quality is improved.
In addition, the welding robot provided by the embodiment of the application further comprises: front camera unit, motor etc. The front camera unit is arranged at the front end of the welding robot and is used for imaging a welding line in front of the welding robot in real time so as to enable the sampling unit 401 in the welding control device 400 to collect position information of the front welding line; the front-facing camera unit may be a laser sensor, a binocular or multi-view structured light vision camera, or the like. The motor is used for providing power for the motion and the steering of the welding robot, and the control unit 403 in the welding control device 400 in the embodiment of the application controls the motor according to the first target compensation vector or the second target compensation vector, so as to finally realize the motion compensation control of the welding robot.
The embodiment of the present application further provides an electronic device, referring to fig. 6, where the electronic device 500 includes a processor 501, a memory 502, and a program or an instruction stored in the memory 502 and capable of running on the processor 501, where the program or the instruction implements each process of the embodiment of the welding control method when executed by the processor 501, and the process can achieve the same technical effect, so that repetition is avoided and no further description is given here. In one possible embodiment, the electronic device may be a welding robot.
In one possible implementation, the functionality of the welding control apparatus 400 may be integrated into the processor 501. Wherein the processor 501 may be configured to:
sampling a welding line of a workpiece to be welded, and determining a first target motion track corresponding to the welding line;
determining a first target position corresponding to the current position of the welding robot on the first target motion trail;
determining a first deviation vector according to the current position and a first target position of the welding robot;
determining a first target compensation vector according to the first deviation vector;
and performing motion compensation control on the welding robot according to the first target compensation vector.
In another possible implementation manner, the welding control apparatus 400 may be configured separately from the processor 501, for example, the welding control apparatus 400 may be configured as a chip connected to the processor 501, and the welding control method described in the foregoing embodiment is implemented by control of the processor 501.
Furthermore, in some alternative implementations, the electronic device 500 may further include: communication module, input unit, audio processor, display, power etc.. It is noted that the electronic device 500 need not include all of the components shown in fig. 6; in addition, the electronic device 500 may further include components not shown in fig. 6, to which reference is made to the related art.
In some alternative implementations, the processor 501, also sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, with the processor 501 receiving inputs and controlling the operation of the various components of the electronic device 500.
The memory 502 may be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information about the welding control apparatus 400 may be stored, and a program for executing the information may be stored. And the processor 501 can execute the program stored in the memory 502 to realize information storage or processing, etc.
The input unit may provide input to the processor 501. The input unit is for example a key or touch input device, an imaging device. The power source may be used to provide power to the electronic device 500. The display can be used for displaying display objects such as images and characters. The display may be, for example, but not limited to, an LCD display.
The memory 502 may be a solid state memory such as Read Only Memory (ROM), random Access Memory (RAM), SIM card, and the like. But also a memory which holds information even when powered down, can be selectively erased and provided with further data, an example of which is sometimes referred to as EPROM or the like. Memory 502 may also be some other type of device. Memory 502 includes a buffer memory (sometimes referred to as a buffer). The memory 502 may include an application/function storage for storing application programs and function programs or a flow chart for executing operations of the electronic device 500 by the processor 501.
Memory 502 may also include a data store for storing data, such as contacts, digital data, pictures, sounds, and/or any other data used by the computing device. The driver store of memory 502 may include various drivers for the computer device for communication functions and/or for performing other functions of the computer device (e.g., messaging applications, address book applications, etc.).
The communication module is a transmitter/receiver that transmits and receives signals via an antenna. A communication module (transmitter/receiver) is coupled to the processor 501 to provide input signals and receive output signals, as may be the case with conventional mobile communication terminals.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the processes of the welding control method embodiment described above, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.
The processor is a processor in the electronic device in the above embodiment. Readable storage media include computer readable storage media such as Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic or optical disks, and the like.
The embodiment of the application further provides a chip, the chip comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions, the processes of the welding control method embodiment can be realized, the same technical effects can be achieved, and the repetition is avoided, and the description is omitted here.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.
While the application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
Although the application provides method operational steps as an example or a flowchart, more or fewer operational steps may be included based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented by an actual device or client product, the instructions may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment) as shown in the embodiments or figures.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, apparatus (system) or computer program product. Accordingly, the present specification embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments. 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "left", "right", etc. are directions or positional relationships based on the operation state of the present application are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the description of the present application, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, unless otherwise specifically defined and limited. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The application has been described above in connection with preferred embodiments, which are, however, exemplary only and for illustrative purposes. On this basis, the application can be subjected to various substitutions and improvements, and all fall within the protection scope of the application.
Claims (10)
1. A welding control method, comprising:
sampling a welding line of a workpiece to be welded, and determining a first target motion track corresponding to the welding line;
determining a first target position corresponding to the current position of the welding robot on the first target motion trail;
determining a first deviation vector according to the current position and a first target position of the welding robot;
determining a first target compensation vector according to the first deviation vector;
and performing motion compensation control on the welding robot according to the first target compensation vector.
2. The method of claim 1, wherein the sampling the weld of the workpiece to be welded to determine the first target motion profile corresponding to the weld comprises:
Acquiring the coordinates of the front weld corresponding to the current position of the welding robot in real time to obtain a front weld coordinate queue;
and performing curve fitting according to the preposed weld joint coordinate queue to obtain the first target motion trail.
3. The method of claim 1, wherein determining a first target position on the first target motion trajectory that corresponds to a current position of a welding robot comprises:
determining a normal plane perpendicular to the normal vector by taking the current position of the welding robot as an origin and the current advancing direction as the normal vector;
and determining an intersection point of the first target motion trail and the normal plane as the first target position.
4. The method of claim 1, wherein said determining a first target compensation vector from said first bias vector comprises:
correcting the first deviation vector according to at least one of the movement speed and the sensitivity of the welding robot to obtain a first reference compensation vector;
and taking the first reference compensation vector as the first target compensation vector, or determining the first target compensation vector according to the first reference compensation vector and a preset upper compensation limit.
5. The method of claim 4, wherein said determining the first target compensation vector based on the first reference compensation vector and a preset upper compensation limit comprises:
judging whether the first reference compensation vector exceeds the preset compensation upper limit or not;
if the first reference compensation vector does not exceed the preset upper compensation limit, the first reference compensation vector is used as a first target compensation vector;
and if the first reference compensation vector exceeds the preset compensation upper limit, correcting the first reference compensation vector according to the preset compensation upper limit, and taking the corrected first reference compensation vector as a first target compensation vector.
6. The method as recited in claim 1, further comprising:
acquiring actual coordinates after compensation control in the motion process of the welding robot to obtain an actual motion trail queue;
after receiving a holding control instruction, fitting according to the actual motion trail queue to obtain a second target motion trail;
determining a second target position corresponding to the current position of the welding robot on the second target motion trail;
determining a second deviation vector according to the current position and a second target position of the welding robot;
Determining a second target compensation vector according to the second deviation vector;
and performing motion compensation control on the welding robot according to the second target compensation vector.
7. A welding control device, comprising:
the sampling unit is used for sampling the welding seam of the workpiece to be welded and determining a first target motion track corresponding to the welding seam;
the first compensation unit is used for determining a first target position corresponding to the current position of the welding robot on the first target motion track; determining a first deviation vector according to the current position and a first target position of the welding robot; determining a first target compensation vector according to the first deviation vector;
and the control unit is used for performing motion compensation control on the welding robot according to the first target compensation vector.
8. A welding robot, comprising: the welding control apparatus according to claim 7.
9. An electronic device, comprising:
a memory for storing a computer program product;
a processor for executing a computer program product stored in said memory, which, when executed, implements the method of any of the preceding claims 1-6.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer program instructions, which when executed, implement the method of any of the preceding claims 1-6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311172030.6A CN117182408A (en) | 2023-09-12 | 2023-09-12 | Welding control method and related device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311172030.6A CN117182408A (en) | 2023-09-12 | 2023-09-12 | Welding control method and related device |
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| CN117182408A true CN117182408A (en) | 2023-12-08 |
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