WO2019201006A1 - Welding torch all-position angle identification method and system - Google Patents

Welding torch all-position angle identification method and system Download PDF

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WO2019201006A1
WO2019201006A1 PCT/CN2019/075017 CN2019075017W WO2019201006A1 WO 2019201006 A1 WO2019201006 A1 WO 2019201006A1 CN 2019075017 W CN2019075017 W CN 2019075017W WO 2019201006 A1 WO2019201006 A1 WO 2019201006A1
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value
torch
acceleration sensor
axis
welding
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PCT/CN2019/075017
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何江龙
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成都熊谷加世电器有限公司
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes

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  • the invention belongs to the technical field of welding torch angle detection, and particularly relates to a method for identifying the full position angle of a welding torch.
  • the technical solution adopted by the present invention is to provide a method for identifying the full position angle of the welding torch, comprising the following steps:
  • AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor
  • AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor
  • AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor
  • the calculation formula of the left torch angle value is:
  • a welding torch full position angle recognition system comprising:
  • the left welding torch is used to weld the left semicircular arc of the pipeline
  • the first three-axis acceleration sensor is mounted on the left welding torch for outputting three voltage values corresponding to the acceleration of the left welding torch on three coordinate axes;
  • a second three-axis acceleration sensor mounted on the right torch for outputting three voltage values corresponding to the acceleration of the right torch on three coordinate axes;
  • a processor for reading three voltage values of the output of the first three-axis acceleration sensor or the second three-axis acceleration sensor, and calculating an angle value of the left torch or the right torch according to the read voltage value specifically including The following program modules:
  • a voltage value reading program for reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor;
  • the square root calculation program is configured to calculate a square root value Value_y corresponding to the Y axis and a square root value Value_z corresponding to the Z axis according to the three voltage values, and the calculation formula is:
  • AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor
  • AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor
  • AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor
  • the arctangent calculation program is configured to calculate an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis according to the square root value, and the calculation formula is:
  • An angle calculation program configured to determine whether the voltage value is from a first triaxial acceleration sensor or a second triaxial acceleration sensor; if it is a first triaxial acceleration sensor, calculating a left torch according to the arc tangent value An angle value ⁇ ; if it is a second three-axis acceleration sensor, the angle value ⁇ of the right torch is calculated according to the arctangent value;
  • the calculation formula of the left torch angle value is:
  • the present invention has the following advantages:
  • the three-axis acceleration sensor can output voltage values corresponding to the three coordinate axes, and then automatically calculate the left welding torch and the right according to the subsequent formula.
  • the real-time actual angle of the torch, the obtained torch angle is more accurate, which facilitates the subsequent steps to accurately match the welding parameters and improve the welding quality of the pipe;
  • the welding parameters can be automatically called according to the calculated torch angle value, no manual intervention is required in the whole process, and the degree of automation is high, which can effectively reduce the labor cost.
  • Figure 1 is a schematic flow chart of the method of the present invention
  • Figure 2 is a schematic illustration of the framework of the system of the present invention.
  • the welding trolley In the actual pipeline welding process, the welding trolley is used to walk on the circular arc track, and the welding torch is clamped on the welding trolley, that is, there are left welding trolley, left welding torch, right welding trolley, right welding torch, and right welding torch adopting Clockwise downward welding, the welding trolley starts from the vicinity of the flat welding PA position, to the PB position of the flat welding, to the vertical welding PC position, to the elevation welding PD position, and then to the overhead welding PE position to achieve the semi-arc welding; The left torch is welded counterclockwise and is axisymmetric with the right torch welding position to achieve welding of the entire pipe.
  • the embodiment provides a method for identifying a full position angle of a welding torch, which includes the following steps:
  • AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor
  • AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor
  • AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor
  • the calculation formula of the left torch angle value is:
  • a torch full position angle recognition system including:
  • the left welding torch is used to weld the left semicircular arc of the pipeline
  • the first three-axis acceleration sensor is mounted on the left welding torch for outputting three voltage values corresponding to the acceleration of the left welding torch on three coordinate axes;
  • a second three-axis acceleration sensor mounted on the right torch for outputting three voltage values corresponding to the acceleration of the right torch on three coordinate axes;
  • a processor for reading three voltage values of the output of the first three-axis acceleration sensor or the second three-axis acceleration sensor, and calculating an angle value of the left torch or the right torch according to the read voltage value specifically including The following program modules:
  • a voltage value reading program for reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor;
  • the square root calculation program is configured to calculate a square root value Value_y corresponding to the Y axis and a square root value Value_z corresponding to the Z axis according to the three voltage values, and the calculation formula is:
  • AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor
  • AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor
  • AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor
  • the arctangent calculation program is configured to calculate an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis according to the square root value, and the calculation formula is:
  • An angle calculation program configured to determine whether the voltage value is from a first triaxial acceleration sensor or a second triaxial acceleration sensor; if it is a first triaxial acceleration sensor, calculating a left torch according to the arc tangent value An angle value ⁇ ; if it is a second three-axis acceleration sensor, the angle value ⁇ of the right torch is calculated according to the arctangent value;
  • the calculation formula of the left torch angle value is:
  • a parameter storage program for storing a one-to-one correspondence between the angle of the left torch and the welding parameters, and a one-to-one correspondence between the angle of the right torch and the welding parameters;
  • the parameter calling program is used to call the welding parameter corresponding to the angle value ⁇ to the left welding torch, and to call the welding parameter corresponding to the angle value ⁇ to the right welding torch for welding.

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Abstract

Related to a welding torch all-position angle identification method and system in the technical field of angle detection. A left welding torch and a right welding torch are each mounted with one triaxial acceleration sensor. The triaxial acceleration sensors output voltage values corresponding to three coordinate axes. A processor reads the voltage values and automatically calculates the real-time angle of the left welding torch and that of the right welding torch via a square root function, an arc tangent function, and an angle calculation function. Welding angles produced are of increased precision, the precise matching of welding parameters in a subsequent step is facilitated, and the quality of a pipe welding is increased.

Description

一种焊炬全位置角度识别方法和系统Welding torch full position angle recognition method and system 技术领域Technical field
本发明属于焊炬角度检测技术领域，具体涉及一种焊炬全位置角度识别方法。The invention belongs to the technical field of welding torch angle detection, and particularly relates to a method for identifying the full position angle of a welding torch.
背景技术Background technique
在管道焊接领域中，一个完整的焊缝是成圆弧形的。由于重力、焊缝宽度、焊炬高度等因素的影响，不同位置对应的焊接特性不同，需要在不同的位置采用适合此位置的参数进行焊接。然而，多数焊接设备没有角度识别功能，在焊接过程中，只能由焊工通过人眼判断焊炬的角度，然后根据判断出的角度来匹配对应的参数进行焊接，人眼观察的角度误差较大，会导致焊接参数应用不够准确，管道焊接质量不佳。In the field of pipe welding, a complete weld is rounded. Due to factors such as gravity, weld width, torch height, etc., the welding characteristics of different positions are different, and it is necessary to use the parameters suitable for this position at different positions for welding. However, most welding equipment does not have an angle recognition function. During the welding process, the angle of the welding torch can only be judged by the welder through the human eye, and then the corresponding parameters are matched according to the determined angle for welding, and the angle error of the human eye observation is large. Will result in inaccurate application of welding parameters and poor quality of pipe welding.
发明内容Summary of the invention
本发明的目的在于提供一种可以自动检测出焊炬位置的焊炬全位置角度识别方法。It is an object of the present invention to provide a method for identifying the full position angle of a torch that can automatically detect the position of the torch.
为达到上述要求，本发明采取的技术方案是：提供一种焊炬全位置角度识别方法，包括以下步骤：In order to achieve the above requirements, the technical solution adopted by the present invention is to provide a method for identifying the full position angle of the welding torch, comprising the following steps:
S1、读取第一三轴加速度传感器或第二三轴加速度传感器中寄存的三个坐标轴对应的电压值；其中，第一三轴加速度传感器安装在左焊炬上，第二三轴加速度传感器安装在右焊炬上；S1: reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor; wherein the first three-axis acceleration sensor is mounted on the left welding torch, and the second three-axis acceleration sensor is installed Installed on the right torch;
S2、根据读取到的三个电压值计算出Y轴对应的平方根值Value_y和Z轴对应的平方根值Value_z，计算公式为：S2: Calculate the square root value Value_y corresponding to the Y axis and the square root value Value_z corresponding to the Z axis according to the three voltage values read, and the calculation formula is:
Figure PCTCN2019075017-appb-000001
Figure PCTCN2019075017-appb-000001
Figure PCTCN2019075017-appb-000002
Figure PCTCN2019075017-appb-000002
其中，AglX_Value为三轴加速度传感器输出的X轴的电压值，AglY_Value为三轴加速度传感器输出的Y轴的电压值，AglZ_Value为三轴加速度传感器输出的Z轴的电压值；Wherein, AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor, AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor, and AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor;
S3、根据所述平方根值计算出Y轴对应的反正切值Value_y1和Z轴对应的反正切值Value_z1，计算公式为：S3. Calculate, according to the square root value, an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis, and the calculation formula is:
Figure PCTCN2019075017-appb-000003
Figure PCTCN2019075017-appb-000003
Figure PCTCN2019075017-appb-000004
Figure PCTCN2019075017-appb-000004
S4、如果读取的是第一三轴加速度传感器的电压值，则根据所述反正切值计算得到左焊 炬的角度值α；如果读取的是第二三轴加速度传感器的电压值，则根据所述反正切值计算得到右焊炬的角度值β；S4. If the voltage value of the first triaxial acceleration sensor is read, the angle value α of the left torch is calculated according to the arc tangent value; if the voltage value of the second triaxial acceleration sensor is read, Calculating an angle value β of the right torch according to the arctangent value;
其中，左焊炬角度值计算公式为：Among them, the calculation formula of the left torch angle value is:
Figure PCTCN2019075017-appb-000005
Figure PCTCN2019075017-appb-000005
右焊炬角度值计算公式为：The formula for calculating the right torch angle is:
Figure PCTCN2019075017-appb-000006
Figure PCTCN2019075017-appb-000006
一种焊炬全位置角度识别系统，包括：A welding torch full position angle recognition system, comprising:
左焊炬，用于实现管道左半圆弧的焊接；The left welding torch is used to weld the left semicircular arc of the pipeline;
右焊炬，用于实现管道右半圆弧的焊接；Right welding torch for welding the right half arc of the pipe;
第一三轴加速度传感器，安装在左焊炬上，用于输出三个与左焊炬在三个坐标轴上的加速度一一对应的电压值；The first three-axis acceleration sensor is mounted on the left welding torch for outputting three voltage values corresponding to the acceleration of the left welding torch on three coordinate axes;
第二三轴加速度传感器，安装在右焊炬上，用于输出三个与右焊炬在三个坐标轴上的加速度一一对应的电压值；a second three-axis acceleration sensor mounted on the right torch for outputting three voltage values corresponding to the acceleration of the right torch on three coordinate axes;
处理器，用于读取第一三轴加速度传感器或第二三轴加速度传感器输出的三个电压值，并根据读取到的电压值计算得到左焊炬或右焊炬的角度值，具体包括以下程序模块：a processor for reading three voltage values of the output of the first three-axis acceleration sensor or the second three-axis acceleration sensor, and calculating an angle value of the left torch or the right torch according to the read voltage value, specifically including The following program modules:
电压值读取程序，用于读取第一三轴加速度传感器或第二三轴加速度传感器中寄存的三个坐标轴对应的电压值；a voltage value reading program for reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor;
平方根计算程序，用于根据三个所述电压值计算出Y轴对应的平方根值Value_y和Z轴对应的平方根值Value_z，计算公式为：The square root calculation program is configured to calculate a square root value Value_y corresponding to the Y axis and a square root value Value_z corresponding to the Z axis according to the three voltage values, and the calculation formula is:
Figure PCTCN2019075017-appb-000007
Figure PCTCN2019075017-appb-000007
Figure PCTCN2019075017-appb-000008
Figure PCTCN2019075017-appb-000008
其中，AglX_Value为三轴加速度传感器输出的X轴的电压值，AglY_Value为三轴加速度传感器输出的Y轴的电压值，AglZ_Value为三轴加速度传感器输出的Z轴的电压值；Wherein, AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor, AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor, and AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor;
反正切计算程序，用于根据所述平方根值计算出Y轴对应的反正切值Value_y1和Z轴对 应的反正切值Value_z1，计算公式为：The arctangent calculation program is configured to calculate an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis according to the square root value, and the calculation formula is:
Figure PCTCN2019075017-appb-000009
Figure PCTCN2019075017-appb-000009
Figure PCTCN2019075017-appb-000010
Figure PCTCN2019075017-appb-000010
角度计算程序，用于判断所述电压值是来自于第一三轴加速度传感器还是第二三轴加速度传感器；如果是第一三轴加速度传感器，则根据所述反正切值计算得到左焊炬的角度值α；如果是第二三轴加速度传感器，则根据所述反正切值计算得到右焊炬的角度值β；An angle calculation program, configured to determine whether the voltage value is from a first triaxial acceleration sensor or a second triaxial acceleration sensor; if it is a first triaxial acceleration sensor, calculating a left torch according to the arc tangent value An angle value α; if it is a second three-axis acceleration sensor, the angle value β of the right torch is calculated according to the arctangent value;
其中，左焊炬角度值计算公式为：Among them, the calculation formula of the left torch angle value is:
Figure PCTCN2019075017-appb-000011
Figure PCTCN2019075017-appb-000011
右焊炬角度值计算公式为：The formula for calculating the right torch angle is:
Figure PCTCN2019075017-appb-000012
Figure PCTCN2019075017-appb-000012
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
(1)在左焊炬和右焊炬上各安装一个三轴加速度传感器，该三轴加速度传感器可以输出与三个坐标轴对应的电压值，再根据后续公式可以自动计算出左焊炬和右焊炬的实时实际角度，得到的焊炬角度更加精确，便于后续步骤精确匹配焊接参数，提高管道焊接质量；(1) Install a three-axis acceleration sensor on each of the left welding torch and the right welding torch. The three-axis acceleration sensor can output voltage values corresponding to the three coordinate axes, and then automatically calculate the left welding torch and the right according to the subsequent formula. The real-time actual angle of the torch, the obtained torch angle is more accurate, which facilitates the subsequent steps to accurately match the welding parameters and improve the welding quality of the pipe;
(2)可以根据计算得到的焊炬角度值自动调用焊接参数，全程无需人工干预，自动化程度高，可有效减少人力成本。(2) The welding parameters can be automatically called according to the calculated torch angle value, no manual intervention is required in the whole process, and the degree of automation is high, which can effectively reduce the labor cost.
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此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，在这些附图中使用相同的参考标号来表示相同或相似的部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The accompanying drawings, which are incorporated in and in in in in The explanation of the application does not constitute an undue limitation of the present application. In the drawing:
图1为本发明方法的流程示意图；Figure 1 is a schematic flow chart of the method of the present invention;
图2为本发明系统的框架示意图。Figure 2 is a schematic illustration of the framework of the system of the present invention.
具体实施方式detailed description
为使本申请的目的、技术方案和优点更加清楚，以下结合附图及具体实施例，对本申请作进一步地详细说明。为简单起见，以下描述中省略了本领域技术人员公知的某些技术特征。In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. For the sake of simplicity, certain technical features known to those skilled in the art are omitted from the following description.
在实际的管道焊接过程中，采用焊接小车在圆弧形轨道上行走，焊炬夹持在焊接小车上，即存在左焊接小车、左焊炬，右焊接小车、右焊炬，右焊炬采用顺时针向下焊，焊接小车从平焊PA位附近开始往下焊接，至平角焊PB位，至立焊PC位，至仰角焊PD位，再至仰焊PE位，实现半圆弧焊接；左焊炬采用逆时针向下焊接，则与右焊炬焊接位置轴对称，从而实现整个管道的焊接。In the actual pipeline welding process, the welding trolley is used to walk on the circular arc track, and the welding torch is clamped on the welding trolley, that is, there are left welding trolley, left welding torch, right welding trolley, right welding torch, and right welding torch adopting Clockwise downward welding, the welding trolley starts from the vicinity of the flat welding PA position, to the PB position of the flat welding, to the vertical welding PC position, to the elevation welding PD position, and then to the overhead welding PE position to achieve the semi-arc welding; The left torch is welded counterclockwise and is axisymmetric with the right torch welding position to achieve welding of the entire pipe.
如图1所示，本实施例提供一种焊炬全位置角度识别方法，包括以下步骤：As shown in FIG. 1 , the embodiment provides a method for identifying a full position angle of a welding torch, which includes the following steps:
S0、预设左焊炬角度与焊接参数的一一对应关系，预设右焊炬角度与焊接参数的一一对应关系；S0, a one-to-one correspondence between the preset left torch angle and the welding parameters, and a one-to-one correspondence between the right torch angle and the welding parameters;
S1、读取第一三轴加速度传感器或第二三轴加速度传感器中寄存的三个坐标轴对应的电压值；其中，第一三轴加速度传感器安装在左焊炬上，第一三轴加速度传感器会随着左焊炬的移动而对应输出三轴上的电压信号，第一三轴加速度传感器将该电压信号转换成数字信号，即转换成电压值存储在自身的DATA寄存器中；第二三轴加速度传感器安装在右焊炬上，第二三轴加速度传感器会随着右焊炬的移动而对应输出三轴上的电压信号，第二三轴加速度传感器将该电压信号转换成数字信号，即转换成电压值存储在自身的DATA寄存器中；S1: reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor; wherein the first three-axis acceleration sensor is mounted on the left welding torch, and the first three-axis acceleration sensor The voltage signal on the three axes is output corresponding to the movement of the left torch, and the first three-axis acceleration sensor converts the voltage signal into a digital signal, that is, converted into a voltage value and stored in its own DATA register; the second three axes The acceleration sensor is mounted on the right torch, and the second three-axis acceleration sensor outputs a voltage signal on the three axes corresponding to the movement of the right torch, and the second three-axis acceleration sensor converts the voltage signal into a digital signal, that is, the conversion The voltage value is stored in its own DATA register;
S2、根据读取到的三个电压值计算出Y轴对应的平方根值Value_y和Z轴对应的平方根值Value_z，计算公式为：S2: Calculate the square root value Value_y corresponding to the Y axis and the square root value Value_z corresponding to the Z axis according to the three voltage values read, and the calculation formula is:
Figure PCTCN2019075017-appb-000013
Figure PCTCN2019075017-appb-000013
Figure PCTCN2019075017-appb-000014
Figure PCTCN2019075017-appb-000014
其中，AglX_Value为三轴加速度传感器输出的X轴的电压值，AglY_Value为三轴加速度传感器输出的Y轴的电压值，AglZ_Value为三轴加速度传感器输出的Z轴的电压值；Wherein, AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor, AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor, and AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor;
S3、根据所述平方根值计算出Y轴对应的反正切值Value_y1和Z轴对应的反正切值Value_z1，计算公式为：S3. Calculate, according to the square root value, an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis, and the calculation formula is:
Figure PCTCN2019075017-appb-000015
Figure PCTCN2019075017-appb-000015
Figure PCTCN2019075017-appb-000016
Figure PCTCN2019075017-appb-000016
S4、如果读取的是第一三轴加速度传感器的电压值，则根据所述反正切值计算得到左焊 炬的角度值α；如果读取的是第二三轴加速度传感器的电压值，则根据所述反正切值计算得到右焊炬的角度值β；S4. If the voltage value of the first triaxial acceleration sensor is read, the angle value α of the left torch is calculated according to the arc tangent value; if the voltage value of the second triaxial acceleration sensor is read, Calculating an angle value β of the right torch according to the arctangent value;
其中，左焊炬角度值计算公式为：Among them, the calculation formula of the left torch angle value is:
Figure PCTCN2019075017-appb-000017
Figure PCTCN2019075017-appb-000017
右焊炬角度值计算公式为：The formula for calculating the right torch angle is:
Figure PCTCN2019075017-appb-000018
Figure PCTCN2019075017-appb-000018
S5、调用与角度值α对应的焊接参数给左焊炬进行焊接，或调用与角度值β对应的焊接参数给右焊炬进行焊接。S5. Call the welding parameter corresponding to the angle value α to weld the left welding torch, or call the welding parameter corresponding to the angle value β to the right welding torch for welding.
如图2所示，提供一种焊炬全位置角度识别系统，包括：As shown in FIG. 2, a torch full position angle recognition system is provided, including:
左焊炬，用于实现管道左半圆弧的焊接；The left welding torch is used to weld the left semicircular arc of the pipeline;
右焊炬，用于实现管道右半圆弧的焊接；Right welding torch for welding the right half arc of the pipe;
第一三轴加速度传感器，安装在左焊炬上，用于输出三个与左焊炬在三个坐标轴上的加速度一一对应的电压值；The first three-axis acceleration sensor is mounted on the left welding torch for outputting three voltage values corresponding to the acceleration of the left welding torch on three coordinate axes;
第二三轴加速度传感器，安装在右焊炬上，用于输出三个与右焊炬在三个坐标轴上的加速度一一对应的电压值；a second three-axis acceleration sensor mounted on the right torch for outputting three voltage values corresponding to the acceleration of the right torch on three coordinate axes;
处理器，用于读取第一三轴加速度传感器或第二三轴加速度传感器输出的三个电压值，并根据读取到的电压值计算得到左焊炬或右焊炬的角度值，具体包括以下程序模块：a processor for reading three voltage values of the output of the first three-axis acceleration sensor or the second three-axis acceleration sensor, and calculating an angle value of the left torch or the right torch according to the read voltage value, specifically including The following program modules:
电压值读取程序，用于读取第一三轴加速度传感器或第二三轴加速度传感器中寄存的三个坐标轴对应的电压值；a voltage value reading program for reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor;
平方根计算程序，用于根据三个所述电压值计算出Y轴对应的平方根值Value_y和Z轴对应的平方根值Value_z，计算公式为：The square root calculation program is configured to calculate a square root value Value_y corresponding to the Y axis and a square root value Value_z corresponding to the Z axis according to the three voltage values, and the calculation formula is:
Figure PCTCN2019075017-appb-000019
Figure PCTCN2019075017-appb-000019
Figure PCTCN2019075017-appb-000020
Figure PCTCN2019075017-appb-000020
其中，AglX_Value为三轴加速度传感器输出的X轴的电压值，AglY_Value为三轴加速度传感器输出的Y轴的电压值，AglZ_Value为三轴加速度传感器输出的Z轴的电压值；Wherein, AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor, AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor, and AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor;
反正切计算程序，用于根据所述平方根值计算出Y轴对应的反正切值Value_y1和Z轴对应的反正切值Value_z1，计算公式为：The arctangent calculation program is configured to calculate an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis according to the square root value, and the calculation formula is:
Figure PCTCN2019075017-appb-000021
Figure PCTCN2019075017-appb-000021
Figure PCTCN2019075017-appb-000022
Figure PCTCN2019075017-appb-000022
角度计算程序，用于判断所述电压值是来自于第一三轴加速度传感器还是第二三轴加速度传感器；如果是第一三轴加速度传感器，则根据所述反正切值计算得到左焊炬的角度值α；如果是第二三轴加速度传感器，则根据所述反正切值计算得到右焊炬的角度值β；An angle calculation program, configured to determine whether the voltage value is from a first triaxial acceleration sensor or a second triaxial acceleration sensor; if it is a first triaxial acceleration sensor, calculating a left torch according to the arc tangent value An angle value α; if it is a second three-axis acceleration sensor, the angle value β of the right torch is calculated according to the arctangent value;
其中，左焊炬角度值计算公式为：Among them, the calculation formula of the left torch angle value is:
Figure PCTCN2019075017-appb-000023
Figure PCTCN2019075017-appb-000023
右焊炬角度值计算公式为：The formula for calculating the right torch angle is:
Figure PCTCN2019075017-appb-000024
Figure PCTCN2019075017-appb-000024
参数存储程序，用于存储左焊炬角度与焊接参数的一一对应关系，以及右焊炬角度与焊接参数的一一对应关系；a parameter storage program for storing a one-to-one correspondence between the angle of the left torch and the welding parameters, and a one-to-one correspondence between the angle of the right torch and the welding parameters;
参数调用程序，用于调用与角度值α对应的焊接参数给左焊炬进行焊接，以及调用与角度值β对应的焊接参数给右焊炬进行焊接。The parameter calling program is used to call the welding parameter corresponding to the angle value α to the left welding torch, and to call the welding parameter corresponding to the angle value β to the right welding torch for welding.
以上实施例仅表示本发明的几种实施方式，其描述较为具体和详细，但并不能理解为对本发明范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明保护范围。因此本发明的保护范围应该以权利要求为准。The above embodiments are merely illustrative of several embodiments of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the claims.

Claims (4)

  1. 一种焊炬全位置角度识别方法，其特征在于，包括以下步骤：A method for identifying a full position angle of a welding torch, comprising the steps of:
    S1、读取第一三轴加速度传感器或第二三轴加速度传感器中寄存的三个坐标轴对应的电压值；其中，第一三轴加速度传感器安装在左焊炬上，第二三轴加速度传感器安装在右焊炬上；S1: reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor; wherein the first three-axis acceleration sensor is mounted on the left welding torch, and the second three-axis acceleration sensor is installed Installed on the right torch;
    S2、根据读取到的三个电压值计算出Y轴对应的平方根值Value_y和Z轴对应的平方根值Value_z，计算公式为：S2: Calculate the square root value Value_y corresponding to the Y axis and the square root value Value_z corresponding to the Z axis according to the three voltage values read, and the calculation formula is:
    Figure PCTCN2019075017-appb-100001
    Figure PCTCN2019075017-appb-100001
    Figure PCTCN2019075017-appb-100002
    Figure PCTCN2019075017-appb-100002
    其中，AglX_Value为三轴加速度传感器输出的X轴的电压值，AglY_Value为三轴加速度传感器输出的Y轴的电压值，AglZ_Value为三轴加速度传感器输出的Z轴的电压值；Wherein, AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor, AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor, and AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor;
    S3、根据所述平方根值计算出Y轴对应的反正切值Value_y1和Z轴对应的反正切值Value_z1，计算公式为：S3. Calculate, according to the square root value, an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis, and the calculation formula is:
    Figure PCTCN2019075017-appb-100003
    Figure PCTCN2019075017-appb-100003
    Figure PCTCN2019075017-appb-100004
    Figure PCTCN2019075017-appb-100004
    S4、如果读取的是第一三轴加速度传感器的电压值，则根据所述反正切值计算得到左焊炬的角度值α；如果读取的是第二三轴加速度传感器的电压值，则根据所述反正切值计算得到右焊炬的角度值β；S4. If the voltage value of the first triaxial acceleration sensor is read, the angle value α of the left torch is calculated according to the arc tangent value; if the voltage value of the second triaxial acceleration sensor is read, Calculating an angle value β of the right torch according to the arctangent value;
    其中，左焊炬角度值计算公式为：Among them, the calculation formula of the left torch angle value is:
    Figure PCTCN2019075017-appb-100005
    Figure PCTCN2019075017-appb-100005
    右焊炬角度值计算公式为：The formula for calculating the right torch angle is:
    Figure PCTCN2019075017-appb-100006
    Figure PCTCN2019075017-appb-100006
  2. 根据权利要求1所述的焊炬全位置角度识别方法，其特征在于，所述步骤S1之前还包括：The welding torch full position angle recognizing method according to claim 1, wherein before the step S1, the method further comprises:
    S0、预设左焊炬角度与焊接参数的一一对应关系，预设右焊炬角度与焊接参数的一一对应关系；S0, a one-to-one correspondence between the preset left torch angle and the welding parameters, and a one-to-one correspondence between the right torch angle and the welding parameters;
    所述步骤S4之后还包括：After the step S4, the method further includes:
    S5、调用与角度值α对应的焊接参数给左焊炬进行焊接，或调用与角度值β对应的焊接参数给右焊炬进行焊接。S5. Call the welding parameter corresponding to the angle value α to weld the left welding torch, or call the welding parameter corresponding to the angle value β to the right welding torch for welding.
  3. 一种焊炬全位置角度识别系统，其特征在于，包括：A welding torch full position angle recognition system, comprising:
    左焊炬，用于实现管道左半圆弧的焊接；The left welding torch is used to weld the left semicircular arc of the pipeline;
    右焊炬，用于实现管道右半圆弧的焊接；Right welding torch for welding the right half arc of the pipe;
    第一三轴加速度传感器，安装在左焊炬上，用于输出三个与左焊炬在三个坐标轴上的加速度一一对应的电压值；The first three-axis acceleration sensor is mounted on the left welding torch for outputting three voltage values corresponding to the acceleration of the left welding torch on three coordinate axes;
    第二三轴加速度传感器，安装在右焊炬上，用于输出三个与右焊炬在三个坐标轴上的加速度一一对应的电压值；a second three-axis acceleration sensor mounted on the right torch for outputting three voltage values corresponding to the acceleration of the right torch on three coordinate axes;
    处理器，用于读取第一三轴加速度传感器或第二三轴加速度传感器输出的三个电压值，并根据读取到的电压值计算得到左焊炬或右焊炬的角度值，具体包括以下程序模块：a processor for reading three voltage values of the output of the first three-axis acceleration sensor or the second three-axis acceleration sensor, and calculating an angle value of the left torch or the right torch according to the read voltage value, specifically including The following program modules:
    电压值读取程序，用于读取第一三轴加速度传感器或第二三轴加速度传感器中寄存的三个坐标轴对应的电压值；a voltage value reading program for reading a voltage value corresponding to three coordinate axes registered in the first three-axis acceleration sensor or the second three-axis acceleration sensor;
    平方根计算程序，用于根据三个所述电压值计算出Y轴对应的平方根值Value_y和Z轴对应的平方根值Value_z，计算公式为：The square root calculation program is configured to calculate a square root value Value_y corresponding to the Y axis and a square root value Value_z corresponding to the Z axis according to the three voltage values, and the calculation formula is:
    Figure PCTCN2019075017-appb-100007
    Figure PCTCN2019075017-appb-100007
    Figure PCTCN2019075017-appb-100008
    Figure PCTCN2019075017-appb-100008
    其中，AglX_Value为三轴加速度传感器输出的X轴的电压值，AglY_Value为三轴加速度传感器输出的Y轴的电压值，AglZ_Value为三轴加速度传感器输出的Z轴的电压值；Wherein, AglX_Value is the voltage value of the X-axis outputted by the three-axis acceleration sensor, AglY_Value is the voltage value of the Y-axis output by the three-axis acceleration sensor, and AglZ_Value is the voltage value of the Z-axis output by the three-axis acceleration sensor;
    反正切计算程序，用于根据所述平方根值计算出Y轴对应的反正切值Value_y1和Z轴对应的反正切值Value_z1，计算公式为：The arctangent calculation program is configured to calculate an arctangent value Value_y1 corresponding to the Y axis and an arctangent value Value_z1 corresponding to the Z axis according to the square root value, and the calculation formula is:
    Figure PCTCN2019075017-appb-100009
    Figure PCTCN2019075017-appb-100009
    Figure PCTCN2019075017-appb-100010
    Figure PCTCN2019075017-appb-100010
    角度计算程序，用于判断所述电压值是来自于第一三轴加速度传感器还是第二三轴加速度传感器；如果是第一三轴加速度传感器，则根据所述反正切值计算得到左焊炬的角度值α； 如果是第二三轴加速度传感器，则根据所述反正切值计算得到右焊炬的角度值β；An angle calculation program, configured to determine whether the voltage value is from a first triaxial acceleration sensor or a second triaxial acceleration sensor; if it is a first triaxial acceleration sensor, calculating a left torch according to the arc tangent value An angle value α; if it is a second three-axis acceleration sensor, the angle value β of the right torch is calculated according to the arctangent value;
    其中，左焊炬角度值计算公式为：Among them, the calculation formula of the left torch angle value is:
    Figure PCTCN2019075017-appb-100011
    Figure PCTCN2019075017-appb-100011
    右焊炬角度值计算公式为：The formula for calculating the right torch angle is:
    Figure PCTCN2019075017-appb-100012
    Figure PCTCN2019075017-appb-100012
  4. 根据权利要求3所述的焊炬全位置角度识别系统，其特征在于，所述处理器还包括：The torch full position angle recognition system according to claim 3, wherein the processor further comprises:
    参数存储程序，用于存储左焊炬角度与焊接参数的一一对应关系，以及右焊炬角度与焊接参数的一一对应关系；a parameter storage program for storing a one-to-one correspondence between the angle of the left torch and the welding parameters, and a one-to-one correspondence between the angle of the right torch and the welding parameters;
    参数调用程序，用于调用与角度值α对应的焊接参数给左焊炬进行焊接，以及调用与角度值β对应的焊接参数给右焊炬进行焊接。The parameter calling program is used to call the welding parameter corresponding to the angle value α to the left welding torch, and to call the welding parameter corresponding to the angle value β to the right welding torch for welding.
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