Laser Welding Point Generation Method, System, and Storage Medium

Abstract

The present invention discloses a method, a system and a storage medium for generating laser welding points. The method includes: positioning a target workpiece; determining a first central point according to a preset workpiece template and the target workpiece; determining first edge information of the target workpiece according to the first central point; determining a second central point of the target workpiece according to the first edge information; dividing the first edge information into multiple edge line segments; obtaining a target distance of each edge line segment from the second central point, and determining target edge line segments and non-target edge line segments from the edge line segments according to the target distance and a preset distance threshold range; performing fitting processing on the target edge line segments adjacent to the non-target edge line segments to obtain fitting edge line segments, and determining target laser welding points according to the target edge line segments and the fitting edge line segments. It can reduce the occurrence of problems such as missing trajectories caused by obstacles during laser welding, and improve the accuracy and welding quality of laser welding.

Description

Technical Field

[0001] The present application relates to the technical field of laser welding, and particularly relates to a method, a system and a storage medium for generating laser welding points. Background Art

[0002] In the process of welding the edge of a workpiece by laser, it is necessary to control the laser trajectory to be as close as possible to the middle position of the workpiece edge to ensure the accuracy of laser welding. In the prior art, through image recognition technology, the inner and outer edges of the workpiece are located, and then a line is found on each of the inner and outer walls through an edge grabbing tool, and the midpoints between several inner wall points and the corresponding outer wall points are calculated, and several midpoints are connected to obtain the laser trajectory for welding.

[0003] However, in actual operation, there is a situation where when the edge of the target workpiece is blocked by an obstacle, the edge grabbing tool cannot accurately locate the edge of the target workpiece, resulting in the occurrence of phenomena such as missing trajectory or trajectory deviation due to the inability to accurately locate the edge of the target workpiece when using the prior art, reducing the accuracy and welding quality of laser welding. Summary of the Invention

[0004] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of protection of the claims.

[0005] In a first aspect, an embodiment of the present invention provides a method for generating laser welding points, which is applied to a system for generating laser welding points. The method includes:

[0006] Positioning the target workpiece;

[0007] Determining a first center point according to a preset workpiece template and the target workpiece;

[0008] Determining first edge information of the target workpiece according to the first center point;

[0009] Determining a second center point of the target workpiece according to the first edge information;

[0010] Dividing the first edge information into multiple edge segments;

[0011] Obtaining the target distance of each edge segment from the second center point, and determining target edge segments and non-target edge segments from the edge segments according to the target distance and a preset distance threshold range;

[0012] Performing fitting processing on the target edge segments adjacent to the non-target edge segments to obtain a fitting edge segment, and determining target laser welding points according to the target edge segments and the fitting edge segment.

[0013] In a second aspect, an embodiment of the present invention provides a laser welding point generation system, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the laser welding point generation method described in any one of the first aspects is implemented.

[0014] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for executing the laser welding point generation method described in any one of the first aspects.

[0015] Embodiments of the present invention include a laser welding point generation method, system, and storage medium. The laser welding point generation method includes: positioning a target workpiece; determining a first center point according to a preset workpiece template and the target workpiece; determining first edge information of the target workpiece according to the first center point; determining a second center point of the target workpiece according to the first edge information; dividing the first edge information into multiple edge line segments; obtaining a target distance of each edge line segment from the second center point, and determining target edge line segments and non-target edge line segments from the edge line segments according to the target distance and a preset distance threshold range; performing fitting processing on the target edge line segments adjacent to the non-target edge line segments to obtain a fitting edge line segment, and determining target laser welding points according to the target edge line segments and the fitting edge line segment. According to the technical solution proposed in this application, when the edge of the target workpiece is blocked by an obstacle, the unblocked edge part can be screened through threshold judgment, and the blocked edge part can be automatically generated, effectively reducing problems such as trajectory loss or trajectory deviation caused by obstacles during laser welding of the workpiece, and improving the accuracy and welding quality of laser welding.

[0016] Other features and advantages of the present invention will be described in the following description, and the objectives and other advantages of the present invention can be realized and obtained through the structures specifically pointed out in the description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are used to provide a further understanding of the technical solutions of the present application, and constitute a part of the description. Together with the embodiments of the present application, they are used to explain the technical solutions of the present application, and do not constitute a limitation to the technical solutions of the present application.

[0018] Figure 1 is a flowchart of the steps of the laser welding point generation method provided by an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0023] Figure 6 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0024] Figure 7 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0025] Figure 8 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0026] Figure 9 It is a flowchart of the steps of the laser welding point generation method provided by another embodiment of the present invention;

[0027] Figure 10 It is a flowchart of the steps of the laser welding point generation method provided by another embodiment of the present invention;

[0028] Figure 11 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0029] Figure 12 It is a flowchart of the steps of the laser welding point generation method provided by another embodiment of the present invention;

[0030] Figure 13 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0031] Figure 14 It is a flowchart of the steps of the laser welding point generation method provided by another embodiment of the present invention;

[0032] Figure 15 It is a schematic diagram corresponding to the steps in the laser welding point generation method provided by another embodiment of the present invention;

[0033] Figure 16 It is a flowchart of the steps of the laser welding point generation method provided by another embodiment of the present invention;

[0034] Figure 17 It is a flowchart of the steps of a laser welding point generation method provided by another embodiment of the present invention;

[0035] Figure 18 It is a schematic diagram of a laser welding point generation system provided by an embodiment of the present invention. Detailed implementation manners

[0036] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] It should be noted that although the functional modules are divided in the system schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the system or the order in the flowchart. Terms such as "first" and "second" in the description, claims and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence.

[0038] In the traditional method of laser welding the edge of a workpiece, the outer edge and inner edge of the workpiece are identified by an edge grasping tool, and then the laser welding trajectory is determined through the outer edge and inner edge.

[0039] Among them, the edge grasping tool is a device with image recognition function or a camera device equipped with machine vision software. It can be understood that the edge grasping tool is a commonly used tool for those skilled in the relevant art and is prior art.

[0040] Among them, the outer edge and inner edge of the workpiece are identified by an edge grasping tool, and then the laser welding trajectory is determined through the outer edge and inner edge. The workpiece includes a housing, and generally a convex edge is provided at the edge of the housing for convenient welding. The inner edge of the convex edge is the inner edge of the housing, and the outer edge of the convex edge is the outer edge of the housing. When performing laser welding, it is required to make the edge of the housing welded tightly as much as possible. Therefore, it is required that the welding points selected for the laser trajectory are as close as possible to the center position of the convex edge, that is, the midpoint position between the selected points on the outer edge and the corresponding selected points on the inner edge. At the same time, connecting several such midpoint positions forms the laser welding trajectory.

[0041] However, in actual operation, there is a situation where when the edge of the target housing is blocked by an object and the edge grasping tool cannot accurately locate the edge of the target housing, resulting in the occurrence of phenomena such as trajectory missing or trajectory deviation due to the inability to accurately locate the edge of the target housing when using the prior art, which reduces the accuracy and welding quality of laser welding.

[0042] To solve the above problems, an embodiment of the present invention includes a method, a system, and a storage medium for generating laser welding points. The method for generating laser welding points includes: positioning a target workpiece; determining a first central point according to a preset workpiece template and the target workpiece; determining first edge information of the target workpiece according to the first central point; determining a second central point of the target workpiece according to the first edge information; dividing the outer edge trajectory and the inner edge trajectory of the first edge corresponding to the first edge information into a plurality of edge segments; obtaining a target distance of each edge segment from the second central point; determining an edge segment with a target distance within a preset distance range as a target edge segment; fitting each target edge segment with an adjacent target edge segment to obtain a first fitted edge segment and a second fitted edge segment; and generating a laser trajectory according to the first fitted edge segment and the second fitted edge segment. According to the technical solution proposed in this application, when the edge of the target workpiece is blocked by an obstacle, the unblocked edge part can be screened by threshold judgment, and the blocked edge part can be automatically generated, effectively reducing the occurrence of problems such as trajectory missing or trajectory deviation caused by obstacles during laser welding of the workpiece, and improving the accuracy and welding quality of laser welding.

[0043] The following further elaborates on the embodiments of this application with reference to the accompanying drawings.

[0044] Reference Figure 1 , Figure 1 is a flowchart of the steps of a method for generating laser welding points provided by an embodiment of the present invention, which is applied to a system for generating laser welding points. The method for generating laser welding points includes but is not limited to the following steps:

[0045] Step S110: Position the target workpiece.

[0046] Reference Figure 2 , it can be imagined that during the process of laser welding a workpiece, first, the specific position of the target workpiece needs to be determined among many workpieces to be processed, so that the laser welding tool can be aligned with the target workpiece for processing. It can be understood that this step of positioning the target workpiece is completed by a camera device with an image recognition function. The camera device with an image recognition function has an image processing function, and completes the positioning of the target workpiece by reading the feature information of the target workpiece and matching the database in the system.

[0047] Step S120: Determine a first central point according to a preset workpiece template and the target workpiece.

[0048] Reference Figure 3, it can be conceived that during the process of positioning the target workpiece, a preset workpiece template is used to match the target workpiece. The preset workpiece template can be understood as a model with the same characteristic attributes as the target workpiece but different specific parameters. At the same time, it can be conceived that the preset workpiece template combined with the target workpiece can determine the first center point position, and the first center point position is the center point position of the preset workpiece template.

[0049] In one embodiment, the specific process of determining the first center point position according to the preset workpiece template and the target workpiece is as follows. The initial positioning following space of the target workpiece is obtained through the preset workpiece template. The initial positioning following space includes the target workpiece and the edge space of the target workpiece, and the initial positioning following space remains relatively stationary with the target workpiece. The center point of the initial positioning following space is the first center point position.

[0050] It can be conceived that in one embodiment, the first center point position is not limited to the actual center of the target workpiece. The first center point position can be any point within the target workpiece, and those skilled in the relevant technical field can adjust it according to the actual situation.

[0051] Step S130, determine the first edge information of the target workpiece according to the first center point position.

[0052] Reference Figure 4 , it can be conceived that determining the first edge information of the target workpiece according to the first center point position includes: starting an edge finding tool according to the first center point position to determine the corresponding edge information of the target workpiece. Among them, the edge finding tool is an image processing software or hardware with image processing functions. The edge finding tool can generate a line segment representing the edge on the input picture, and this line segment is the first edge information.

[0053] It can be conceived that the edge finding tool is a common tool used by those skilled in the relevant field to handle relevant problems, and will not be elaborated here.

[0054] Step S140, determine the second center point position of the target workpiece according to the first edge information.

[0055] Reference Figure 5 , it can be conceived that the first center point position determined according to the preset workpiece template does not necessarily represent the center point of the target workpiece. Therefore, it is necessary to first determine the first edge information of the target workpiece through the first center point position, and then determine the second center point position representing the center position of the target workpiece through this first edge information.

[0056] In one embodiment, the target workpiece is a rectangular shell. The specific process of determining the first edge information of the target workpiece according to the first center point position and determining the second center point position of the target workpiece according to the first edge information is as follows: Start the edge-finding tool through the first center point position, determine the line segments corresponding to the two edges of the target workpiece, respectively obtain the midpoint coordinates of the line segments corresponding to the two edges, and find the midpoint between the two obtained midpoint coordinates. This midpoint is the second center point.

[0057] Step S150: Divide the first edge information into multiple edge segments.

[0058] Reference Figure 6 It can be imagined that in this application, the edge represents the entity of the edge of the target workpiece. In contrast, the edge information represents the inner edge trajectory and the outer edge trajectory of the edge. The first edge is divided into multiple edge segments according to the preset number of divisions. It can be imagined that the more the number of divisions, the higher the fineness of the subsequent generated laser trajectory.

[0059] It should be noted that during the division process, both the outer edge trajectory and the inner edge trajectory of the first edge are divided, and the first edge can be one side or a part of the edge of the target workpiece.

[0060] In one embodiment, during the process of dividing the first edge corresponding to the first edge information into multiple edge segments, each edge segment has the same length in the direction from the starting point to the ending point of the first edge. It can be imagined that dividing the first edge into edge segments with the same unit length facilitates subsequent fitting according to the length unit when processing each edge segment, making the generated laser trajectory smoother and improving the accuracy of laser welding.

[0061] Step S160: Obtain the target distance of each edge segment from the second center point position, and determine the target edge segment and the non-target edge segment from the edge segments according to the target distance and the preset distance threshold range.

[0062] Reference Figure 7 It can be imagined that the target distance of each edge segment from the second center point position is obtained, where the target distance is the uniquely determined perpendicular distance from the second center point position to the edge segment. At the same time, when each edge segment is a non-linear line segment, the edge segment can be divided into several straight line segments in combination with the specific trajectory of the edge segment. It can be understood that the solution proposed in this embodiment only considers the generation of the laser trajectory of the target workpiece in general cases. When the edge of the target workpiece involves too complex an edge trajectory, the target workpiece can be further divided and the edge trajectory can be processed in parts to make the generated laser trajectory smoother and improve the accuracy of laser welding.

[0063] In one embodiment, the edge segments with the target spacing within the preset spacing threshold range are determined as target edge segments, and the edge segments with the target spacing outside the preset spacing threshold range are determined as non-target edge segments.

[0064] Reference Figure 8 , it can be conceived that the edge segments with the target spacing meeting the preset spacing range are determined as target edge segments, where the edge segments among the edge segments with the target spacing not meeting the preset spacing range are determined as non-target edge segments, representing the edges corresponding to the incorrect edge information obtained by the edge grabbing tool due to the workpiece being blocked by an obstacle or stained, etc. After deleting this part of the edge, the occurrence of phenomena such as missing or offset of the trajectory can be reduced, making the generated laser trajectory smoother.

[0065] Step S170, perform fitting processing on the target edge segments adjacent to the non-target edge segments to obtain fitting edge segments, and determine the target laser welding points based on the target edge segments and the fitting edge segments.

[0066] It can be conceived that after obtaining multiple target edge segments and non-target edge segments, perform fitting processing on the target edge segments adjacent to the non-target edge segments to obtain fitting edge segments, and determine the target laser welding points based on the target edge segments and the fitting edge segments. Among them, the fitting edge segments represent the edge trajectory of the target workpiece to be processed, and the position of the laser welding is determined according to this edge trajectory, reducing the occurrence of phenomena such as missing or offset of the trajectory during the laser welding process and improving the welding quality during the laser welding process.

[0067] In some embodiments, when the ratio of the target edge segments to the non-target edge segments is less than the threshold, it is determined that the current target workpiece is a scrap workpiece, and the processing of the target workpiece is stopped.

[0068] Reference Figure 9 , Figure 9 is the step flowchart of the laser welding point generation method provided by an embodiment of the present invention, applied to a laser welding point generation system. The laser welding point generation method includes but is not limited to the following steps:

[0069] Step S910, obtain the first target spacing of each edge segment corresponding to the outer edge trajectory of the first edge from the second central point and the second target spacing of each edge segment corresponding to the inner edge trajectory of the first edge from the second central point.

[0070] Step S920, determine the target edge segments and non-target edge segments of the outer edge trajectory of the first edge from the edge segments according to the first target spacing and the preset spacing threshold.

[0071] Step S930: Determine the target edge segments and non-target edge segments of the first inner-edge trajectory from the edge segments according to the second target distance and the preset distance threshold.

[0072] Among them, the first target distance and the second target distance are the target distances corresponding to the first outer-edge trajectory and the first inner-edge trajectory respectively.

[0073] It can be conceived that the first target distance of each edge segment corresponding to the first outer-edge trajectory from the second central point position and the second target distance of each edge segment corresponding to the first inner-edge trajectory from the second central point position are obtained. Through threshold judgment, the edge segments whose first target distance meets the threshold range are determined as the target edge segments and non-target edge segments corresponding to the first outer-edge trajectory, and the edge segments whose second target distance meets the threshold range are determined as the target edge segments and non-target edge segments corresponding to the first inner-edge trajectory. Subsequent operations are performed on each target edge segment and non-target edge segment respectively.

[0074] It can be conceived that the preset distance range is the distance range corresponding to the second central point position, and the target distance of the edge segment meeting the preset distance range means that the edge segment meets the requirements for the laser welding trajectory and can be retained for obtaining the target laser welding points during the subsequent line fitting process, and the system performs laser welding according to the target laser welding points.

[0075] It can be conceived that each edge segment is composed of countless points, and all the points on the edge segments whose target distance does not meet the preset distance range are abnormal points. Deleting the abnormal points achieves the effect of deleting the edge segments whose target distance does not meet the preset distance range among the edge segments and determining the target edge segments.

[0076] It can be conceived that during the process of dividing the first edge of the target workpiece, there is a situation where only some line segments in the same edge segment meet the preset distance range. Determining the line segment part whose target distance meets the preset distance range in the edge segment as the target edge segment means screening out the part that meets the preset distance range in the edge segment and deleting the part that does not meet the preset distance range, and only processing the part that meets the preset distance range subsequently.

[0077] Reference Figure 10 , Figure 10 is the flowchart of the steps of the laser welding point generation method provided by an embodiment of the present invention, which is applied to a laser welding point generation system. The laser welding point generation method includes but is not limited to the following steps:

[0078] Step S1010: Fit the non-target edge segments of the outer edge trajectory of the first edge with adjacent target edge segments to obtain the first fitted edge segment, and determine the outer edge point position information based on the target edge segments and the first fitted edge segment of the outer edge trajectory of the first edge.

[0079] Step S1020: Fit the non-target edge segments of the inner edge trajectory of the first edge with adjacent target edge segments to obtain the second fitted edge segment, and determine the inner edge point position information based on the target edge segments of the first fitted edge segment and the second fitted edge segment. The inner edge point position information corresponds to the outer edge point position information.

[0080] Step S1030: Determine the target laser welding point positions based on the outer edge point position information and the inner edge point position information.

[0081] Reference Figure 11 It can be conceived that the non-target edge segments of the outer edge trajectory of the first edge are fitted with adjacent target edge segments to obtain the first fitted edge segment, and the outer edge point position information is determined based on the target edge segments and the first fitted edge segment of the outer edge trajectory of the first edge. The non-target edge segments of the inner edge trajectory of the first edge are fitted with adjacent target edge segments to obtain the second fitted edge segment, and the inner edge point position information is determined based on the target edge segments of the first fitted edge segment and the second fitted edge segment. The inner edge point position information corresponds to the outer edge point position information. Among them, this process corresponds to obtaining the corresponding point positions of the inner and outer edges of the edge through line segment fitting, then determining the target laser welding point positions based on the outer edge point position information and the inner edge point position information, and finally performing welding according to the laser point positions to complete the welding operation.

[0082] It can be conceived that after obtaining multiple target edge segments and non-target edge segments, the non-target edge segments are fitted with adjacent target edge segments to obtain the fitted edge segments, and the target laser welding point positions are determined based on the target edge segments and the fitted edge segments. Among them, the fitted edge segments represent the edge trajectories of the target workpiece to be processed, and the target laser welding point positions, that is, the positions of laser welding, are determined through the corresponding point positions on the edge trajectories, reducing the occurrence of phenomena such as missing trajectories or trajectory offsets during the laser welding process and improving the welding quality during the laser welding process.

[0083] It can be conceived that after determining the first fitted edge segment and the second fitted edge segment, multiple outer edge point positions and inner edge point positions are set on the first fitted edge segment and the second fitted edge segment, and each outer edge point position and each inner edge point position correspond to each other. The midpoints of each outer edge point position and each inner edge point position are calculated, and these midpoints are the laser trajectory points. Connecting each laser trajectory point to generate a laser trajectory can make the laser trajectory be in the middle position of the edge, improving the welding quality and effect.

[0084] It can be conceived that a laser trajectory is generated based on the edge outer trajectory and the edge inner trajectory corresponding to the outer edge point information and the inner edge point information. Among them, the edge outer trajectory and the edge inner trajectory corresponding to the outer edge point information and the inner edge point information are both trajectories generated only after threshold screening and fitting, meeting the laser trajectory standard corresponding to the target workpiece, making the corresponding edge outer trajectory and edge inner trajectory generate a laser trajectory smoother and with higher accuracy, reducing the occurrence of phenomena such as missing trajectories or trajectory offsets during the laser welding process, and improving the welding quality during the laser welding process.

[0085] It can be conceived that generally, the closer the laser trajectory is to the center between the edge outer trajectory and the edge inner trajectory, the better the welding effect. And to determine the laser trajectory, it is necessary to clearly determine the edge outer trajectory and the edge inner trajectory. Therefore, the method proposed in this application accurately determines the edge trajectory by means of threshold screening of line segments and line segment fitting, and then generates a more accurate laser trajectory, achieving the effect of reducing the occurrence of phenomena such as missing trajectories or trajectory offsets during the laser welding process.

[0086] In an embodiment, the system is built-in with a fitting script corresponding to the fitting step. And during the process of dividing the edge, the number of divided segments can be set according to requirements, or the corresponding number of divided segments can be automatically generated by the built-in script according to historical data.

[0087] Reference Figure 12 , Figure 12 is the step flowchart of the laser welding point generation method provided by an embodiment of the present invention, which is applied to a laser welding point generation system. The laser welding point generation method includes but is not limited to the following steps:

[0088] Step S1210, when the proportion of the target line segment part in the edge line segment is greater than one-half, connect the end point of the edge line segment corresponding to the target edge line segment with the start point of the adjacent target edge line segment to obtain a fitted edge line segment, where the target line segment part is the part of the edge line segment with the target distance within the preset distance threshold range.

[0089] Reference Figure 13, the lengths of the edge line segments in the figure are all set to L, and the length of the target line segment part in the edge line segment is greater than L / 2. Therefore, by connecting the edge line segment corresponding to the target edge line segment with the adjacent target edge line segment, a smooth and continuous first fitted edge line segment and a second fitted edge line segment are obtained. It can be imagined that when the proportion of the target line segment part in the edge line segment is greater than one-half, it means that except for the eliminated part, the edge line segment can still clearly represent the edge trajectory of the corresponding part of the workpiece. Therefore, connect the end point of the edge line segment corresponding to the target edge line segment with the start point of the adjacent target edge line segment, fit each line segment, and obtain the first fitted edge line segment and the second fitted edge line segment. The first fitted edge line segment and the second fitted edge line segment are composed of several outer edge points and inner edge points. Figure 13 The black dots on the fitted edge line segment in are the outer edge points or inner edge points. Then, determine the target laser welding points according to the outer edge point information and the inner edge point information. Finally, perform welding according to the laser points to complete the welding operation. It can ensure the accuracy of the edge trajectory of the target workpiece and make the trajectory smoother, which is convenient for laser welding and improves the welding quality of laser operation.

[0090] It can be imagined that one-half is only a proportional threshold provided in this application as a judgment basis, which can intuitively judge the effectiveness of the target line segment. Relevant technical personnel can adjust it according to the actual situation, and the specific value does not limit this solution.

[0091] It can be imagined that during the fitting process, the connection lines of each target edge line segment are composed of points that meet the corresponding requirements of the target workpiece. The processor generates the points corresponding to the connection lines of each target edge line segment, and then connects each target edge line segment to obtain the first fitted edge line segment and the second fitted edge line segment.

[0092] Reference Figure 14 , Figure 14 is the step flow chart of the laser welding point generation method provided by an embodiment of the present invention, which is applied to a laser welding point generation system. The laser welding point generation method includes but is not limited to the following steps:

[0093] Step S1410, when the proportion of the target line segment part in the edge line segment is less than or equal to one-half, the edge line segment is a non-target edge line segment. Connect the start point of the first target edge line segment adjacent to the non-target edge line segment and the end point of the second target edge line segment to obtain a fitted edge line segment.

[0094] Step S1420, connect each target edge line segment to obtain a first fitted edge line segment and a second fitted edge line segment.

[0095] Reference Figure 15, the lengths of the edge line segments in the figure are all set to L, and the length of the target line segment part in the edge line segment is less than L / 2. The black dots on the fitted edge line segment are the outer edge points or inner edge points. Therefore, connect the end point of the edge line segment corresponding to the target edge line segment to the start point of the adjacent target edge line segment to the fitted edge line segment. The target line segment part is the part of the edge line segment in which the target spacing in the edge line segment is within the preset spacing threshold range, and the smooth and continuous first fitted edge line segment and second fitted edge line segment are obtained. Then, determine the target laser welding points according to the outer edge point information and inner edge point information on the first fitted edge line segment and the second fitted edge line segment, and finally perform welding according to the laser points.

[0096] It can be imagined that when the proportion of the target line segment part in the edge line segment is less than or equal to one-half, it means that the edge trajectory of the corresponding part of the workpiece cannot be clearly represented after removing the eliminated part. Therefore, connect the start points and end points of adjacent line segments, and fit each line segment to obtain the first fitted edge line segment and the second fitted edge line segment. It is possible to fill the missing part of the edge trajectory while ensuring the accuracy of the edge trajectory of the target workpiece, make the trajectory smoother, facilitate laser welding, and improve the welding quality of laser operation.

[0097] Reference Figure 16 , Figure 16 is the flowchart of the steps of the laser welding point generation method provided by another embodiment of the present invention, which is applied to a laser welding point generation system. The laser welding point generation method includes but is not limited to the following steps:

[0098] Step S1610, when the non-target edge line segment is the edge line segment closest to the start point position corresponding to the first edge information, extend the start point of the target edge line segment adjacent to the non-target edge line segment to the start point position.

[0099] Step S1620, or,

[0100] When the non-target edge line segment is the edge line segment closest to the end point position corresponding to the first edge information, extend the end point of the target edge line segment adjacent to the non-target edge line segment to the end point position.

[0101] It can be imagined that when the non-target edge line segment is the target edge line segment closest to the start point position corresponding to the first edge information, fit each target edge line segment to the adjacent target edge line segment to obtain the first fitted edge line segment and the second fitted edge line segment, extend the start point of the target edge line segment adjacent to the non-target edge line segment to the start point position, fill the missing part of the edge trajectory, make the trajectory smoother, facilitate laser welding, and improve the welding quality of laser operation

[0102] It can be conceived that in the case where the non-target edge segment is the target edge segment closest to the end position corresponding to the first edge information, the target edge segments are fitted with adjacent target edge segments to obtain the first fitted edge segment and the second fitted edge segment, and the end of the target edge segment adjacent to the non-target edge segment is extended to the end position to fill the missing part of the edge trajectory, making the trajectory smoother, facilitating laser welding, and improving the welding quality of the laser operation.

[0103] Reference Figure 17 , Figure 17 FIG. is a flowchart of the steps of a laser welding point generation method provided by another embodiment of the present invention, which is applied to a laser welding point generation system. The laser welding point generation method includes but is not limited to the following steps:

[0104] Step S1710, calculate the differences between the target spacing corresponding to the second line segment and the target spacing corresponding to the first line segment and the target spacing corresponding to the third line segment respectively to obtain a first difference and a second difference.

[0105] Step S1720, calculate the difference between the target spacing corresponding to the first line segment and the target spacing corresponding to the third line segment to obtain a third difference.

[0106] Step S1730, in the case where the third difference meets the first threshold range and both the first difference and the second difference meet the second threshold range, determine the second line segment as the non-target edge segment.

[0107] It can be conceived that the target edge segment includes the first line segment, the second line segment, and the third line segment arranged in sequence. Calculate the difference between the target spacing corresponding to the first line segment and the target spacing corresponding to the third line segment to obtain a third difference. The first difference and the second difference represent the differences in the target spacing between the first line segment and the adjacent line segments. The larger the first difference and the second difference, the less tightly the first line segment is connected to the surrounding circuits. The larger the third difference, the higher the inclination degree of the first line segment. By judging whether the third difference meets the first threshold range and whether both the first difference and the second difference meet the second threshold range, it is possible to determine whether the differences between the spacings of each segment during the fitting of the line segments are too large, and discard all the points of the segments with large differences, making the subsequent generated laser trajectory smoother. Among them, the first threshold range and the second threshold range can be adjusted according to the actual situation.

[0108] It can be conceived that after determining the first fitted edge segment and the second fitted edge segment, the laser trajectory corresponding to the second edge can be determined according to the first fitted edge segment and the second fitted edge segment, where the second edge represents the convex edge or the edge to be welded outside the first edge of the target workpiece. Combining the first fitted edge segment and the second fitted edge segment can reduce the occurrence of problems such as incorrect trajectory or deviation of the subsequently generated laser trajectory due to incorrect edge information.

[0109] In one embodiment, according to the welding requirements, the position of the laser trajectory points can be adjusted between the corresponding outer edge points and inner edge points, such as at one-third, one-half, etc. of the distance from the inner edge point to the corresponding outer edge point.

[0110] In one embodiment, the system determines the edge information through an edge finding tool. The number of edge finding tools can be adjusted according to the characteristics of the corresponding target workpiece. At the same time, the preset spacing range can also be adjusted according to the characteristics of the corresponding target workpiece, and when unilateral offset is enabled, it is offset according to the specific offset amount input.

[0111] It can be conceived that in one embodiment, the edge segments with the target spacing within the preset spacing threshold range are determined as target edge segments; the edge segments with the target spacing outside the preset spacing threshold range are determined as non-target edge segments.

[0112] In addition, referring to Figure 18 , one embodiment of the present application also provides a laser welding point generation system 1800. The laser welding point generation system 1800 includes a memory 1820, a processor 1810, and a computer program stored on the memory 1820 and executable on the processor 1810. When the processor 1810 executes the computer program, it can implement the laser welding point generation method of any one of the foregoing, for example, execute the method steps S110 to S170 described above Figure 1 in Figure 9 the method steps S910 to S930 in Figure 10 the method steps S1010 to S1030 in Figure 12 the method step S1210 in Figure 14 the method steps S1410 to S1420 in Figure 16 the method steps S1610 to S1620 in Figure 17 the method steps S1710 to S1730 in

[0113] In addition, one embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control processors. For example, execute the above-described Figure 1Method steps S110 to S170 in Figure 9 Method steps S910 to S930 in Figure 10 Method steps S1010 to S1030 in Figure 12 Method step S1210 in Figure 14 Method steps S1410 to S1420 in Figure 16 Method steps S1610 to S1620 in Figure 17 Method steps S1710 to S1730...

[0114] Those of ordinary skill in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or be implemented as hardware, or be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0115] The above has specifically described the preferred embodiments of the present application, but the present application is not limited to the above embodiments. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present application.

Claims

1. A method for generating laser welding points, applied to a laser welding point generation system, characterized in that, The method includes: Positioning the target workpiece; Determining a first center point according to a preset workpiece template and the target workpiece; Determining first edge information of the target workpiece according to the first center point; Determining a second center point of the target workpiece according to the first edge information; Dividing the first edge information into a plurality of edge line segments; Obtaining a target distance of each of the edge line segments from the second center point, and determining a target edge line segment and a non-target edge line segment from the edge line segments according to the target distance and a preset distance threshold range; Performing fitting processing on the target edge line segments adjacent to the non-target edge line segments to obtain a fitting edge line segment, and determining a target laser welding point according to the target edge line segment and the fitting edge line segment; Among them, the determining of the first center point according to the preset workpiece template and the target workpiece, the determining of the first edge information of the target workpiece according to the first center point, and the determining of the second center point of the target workpiece according to the first edge information include: obtaining an initial positioning following space of the target workpiece through the preset workpiece template, and determining the center point of the initial positioning following space as the first center point; starting an edge finding tool through the first center point, determining line segments corresponding to two edge sides of the target workpiece, respectively obtaining the midpoint coordinates of the line segments corresponding to the two edge sides, and then obtaining the midpoint of the two midpoint coordinates, and determining the midpoint as the second center point; The determining of the target edge line segment and the non-target edge line segment from the edge line segments according to the target distance and the preset distance threshold range includes: determining the edge line segments with the target distance within the preset distance threshold range as the target edge line segments; determining the edge line segments with the target distance outside the preset distance threshold range as the non-target edge line segments.

2. The method according to claim 1, characterized in that, The first edge information includes a first outer edge trajectory and a first inner edge trajectory, and the obtaining of the target distance of each of the edge line segments from the second center point, and the determining of the target edge line segment and the non-target edge line segment from the edge line segments according to the target distance and the preset distance threshold include: Obtaining a first target distance of each of the edge line segments corresponding to the first outer edge trajectory from the second center point and a second target distance of each of the edge line segments corresponding to the first inner edge trajectory from the second center point; Determining the target edge line segment and the non-target edge line segment of the first outer edge trajectory from the edge line segments according to the first target distance and the preset distance threshold; Determining the target edge line segment and the non-target edge line segment of the first inner edge trajectory from the edge line segments according to the second target distance and the preset distance threshold.

3. The method according to claim 2, characterized in that, Performing fitting processing on the target edge line segments adjacent to the non-target edge line segments to obtain a fitting edge line segment, and determining a target laser welding point according to the target edge line segment and the fitting edge line segment includes: Perform fitting processing on the non-target edge segment of the outer edge trajectory of the first edge and the adjacent target edge segment to obtain a first fitted edge segment, and determine outer edge point position information according to the target edge segment and the first fitted edge segment of the outer edge trajectory of the first edge; Perform fitting processing on the non-target edge segment of the inner edge trajectory of the first edge and the adjacent target edge segment to obtain a second fitted edge segment, and determine inner edge point position information according to the target edge segment and the second fitted edge segment of the first fitted edge segment, and the inner edge point position information corresponds to the outer edge point position information; Determine the target laser welding point position according to the outer edge point position information and the inner edge point position information.

4. The method according to claim 1, characterized in that, The performing fitting processing on the target edge segment adjacent to the non-target edge segment to obtain a fitted edge segment further includes: When the proportion of the target segment part in the edge segment is greater than one half, connect the end point of the target edge segment corresponding to the edge segment and the start point of the adjacent target edge segment to obtain a fitted edge segment, and the target segment part is the part of the edge segment where the target spacing is within a preset spacing threshold range in the edge segment.

5. The method according to claim 4, characterized in that, The performing fitting processing on the target edge segment adjacent to the non-target edge segment to obtain a fitted edge segment further includes: When the proportion of the target segment part in the edge segment is less than or equal to one half, the edge segment is a non-target edge segment, connect the start point of the first target edge segment adjacent to the non-target edge segment and the end point of the second target edge segment to obtain a fitted edge segment; After connecting each target edge segment, a first fitted edge segment and a second fitted edge segment are obtained.

6. The method according to claim 1, characterized in that, The performing fitting processing on the target edge segment adjacent to the non-target edge segment to obtain a fitted edge segment further includes: When the non-target edge segment is the edge segment closest to the start point position corresponding to the first edge information, extend the start point of the target edge segment adjacent to the non-target edge segment to the start point position; Or, When the non-target edge segment is the edge segment closest to the end point position corresponding to the first edge information, extend the end point of the target edge segment adjacent to the non-target edge segment to the end point position.

7. The method according to claim 1, characterized in that, The target edge segment includes a first segment, a second segment, and a third segment arranged in sequence. Before performing fitting processing on the target edge segment adjacent to the non-target edge segment to obtain a fitted edge segment, it further includes: Perform difference calculation on the target spacing corresponding to the second segment and the target spacing corresponding to the first segment and the target spacing corresponding to the third segment respectively to obtain a first difference and a second difference; Perform difference calculation on the target spacing corresponding to the first segment and the target spacing corresponding to the third segment to obtain a third difference; When the third difference meets the first threshold range and both the first difference and the second difference meet the second threshold range, the second line segment is determined as a non-target edge line segment.

8. The method according to claim 1, characterized in that, Each of the edge line segments has the same length in the direction from the starting point to the ending point of the first edge.

9. A laser welding point generation system, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the laser welding point generation method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions for causing a computer to execute the laser welding point generation method according to any one of claims 1 to 8.

Images