A method, system, apparatus, and computer readable storage medium for welding positioning

Abstract

The present application relates to a kind of welding positioning method, system, device and computer readable storage medium.The welding positioning method includes: obtaining the workpiece program of workpiece to be welded, wherein the workpiece program includes the theoretical position of weld in workpiece, welding starting point and welding end point;Three-dimensional coordinates of the weld in the workpiece to be welded are collected;The actual position of the weld is positioned using the three-dimensional coordinates and the theoretical position is compared and verified;The workpiece program is run, according to the actual position of the weld, from the welding starting point and welds until the welding end point.Through the above-mentioned welding positioning method, the position of the weld in the workpiece to be welded can be accurately positioned using the theoretical position of the weld, and the workpiece to be welded can be welded according to the welding starting point and the welding end point in the workpiece program, reducing the process of manual demonstration, improving the accuracy and efficiency of welding positioning.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to a welding positioning method, system, apparatus, and computer-readable storage medium. Background Technology

[0002] Ship hull welding is complex and varied, with inherent dimensional and assembly deviations. Traditional welding methods still rely on manual welding. Even when robotic welding is used in some cases, the existence of workpiece and assembly deviations necessitates individual teaching of each workpiece before welding. This teaching process before welding each workpiece consumes a significant amount of manpower and time, failing to demonstrate the superiority of automated robotic welding. Summary of the Invention

[0003] This application provides a welding positioning method, system, apparatus, and computer-readable storage medium.

[0004] This application provides a welding positioning method, which includes: obtaining a workpiece program for a workpiece to be welded, wherein the workpiece program includes the theoretical position of the weld in the workpiece, the welding start point, and the welding end point;

[0005] Collect the three-dimensional coordinates of the weld in the workpiece to be welded;

[0006] The actual position of the weld is located by comparing and verifying the three-dimensional coordinates with the theoretical position.

[0007] Run the workpiece program and weld from the starting point to the ending point according to the actual position of the weld.

[0008] The three-dimensional coordinates of the weld in the workpiece to be welded are acquired.

[0009] The point cloud of the workpiece to be welded is acquired using a binocular structured light camera;

[0010] The three-dimensional coordinates of the weld seam are extracted from the point cloud of the workpiece to be welded.

[0011] The step of extracting the three-dimensional coordinates of the weld seam from the point cloud of the workpiece to be welded includes:

[0012] Identify the weld seam and its type from the point cloud of the workpiece to be welded;

[0013] Extract the corresponding weld start position and weld end position for each type of weld.

[0014] The workpiece program also includes the welding path of the weld seam in the workpiece;

[0015] The process of running the workpiece program, welding from the welding start point to the welding end point according to the actual position of the weld seam, includes:

[0016] Run the workpiece program and weld the actual position of the weld according to the welding path.

[0017] The welding positioning method further includes:

[0018] Obtain the workpiece to be configured;

[0019] According to the workpiece type of the workpiece to be configured, check if there is a corresponding workpiece model;

[0020] If so, use simulation software to output the weld location in the workpiece model, as well as the simulation data of the planned shooting location;

[0021] The simulation data is used to configure parameters for each weld location and the planned shooting location to obtain workpiece configuration parameters;

[0022] The workpiece program is generated based on the workpiece configuration parameters.

[0023] The welding positioning method further includes:

[0024] When a corresponding workpiece model cannot be found according to the workpiece type to be configured, robot teaching is used to plan the shooting position and weld position to obtain teaching data.

[0025] The teaching data is used to configure parameters for each weld position and the planned shooting position to obtain workpiece configuration parameters;

[0026] The workpiece program is generated based on the workpiece configuration parameters.

[0027] The process for obtaining the workpiece to be welded includes:

[0028] Obtain the workpiece type of the workpiece to be welded;

[0029] Find the corresponding workpiece program according to the workpiece type of the workpiece to be welded.

[0030] This application also provides a welding positioning system, comprising: a robot, a camera, and a computing terminal, wherein the camera is mounted on the robot, and the computing terminal is communicatively connected to both the camera and the robot; wherein...

[0031] The computing terminal is used to acquire the workpiece program of the workpiece to be welded, wherein the workpiece program includes the theoretical position of the weld in the workpiece, the welding start point and the welding end point;

[0032] The camera is used to acquire the three-dimensional coordinates of the weld in the workpiece to be welded;

[0033] The computing terminal is also used to compare and verify the three-dimensional coordinates with the theoretical position to locate the actual position of the weld.

[0034] The computing terminal is also used to run the workpiece program and control the robot to weld from the welding start point to the welding end point according to the actual position of the weld.

[0035] This application also provides a welding positioning device, wherein the data processing device includes a processor and a memory, the memory stores program data, and the processor is used to execute the program data to implement the welding positioning method as described above.

[0036] This application also provides a computer-readable storage medium for storing program data, which, when executed by a processor, is used to implement the above-described welding positioning method.

[0037] The beneficial effects of this application are as follows: the welding positioning device acquires the workpiece program of the workpiece to be welded, wherein the workpiece program includes the theoretical position of the weld seam in the workpiece, the welding start point, and the welding end point; it collects the three-dimensional coordinates of the weld seam in the workpiece to be welded; it compares and verifies the three-dimensional coordinates with the theoretical position to locate the actual position of the weld seam; it runs the workpiece program and welds from the welding start point to the welding end point according to the actual position of the weld seam. Through the above welding positioning method, the theoretical position of the weld seam in the workpiece to be welded can be accurately located, and welding can be performed on the workpiece according to the welding start point and welding end point in the workpiece program, reducing the manual teaching process and improving the accuracy and efficiency of welding positioning. Attached Figure Description

[0038] The above and other objects, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the present disclosure are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0039] Figure 1 This is a schematic flowchart of an embodiment of the welding positioning method provided in this application;

[0040] Figure 2 yes Figure 1 The diagram shows a detailed process flow of the welding positioning method.

[0041] Figure 3 This is a schematic flowchart of another embodiment of the welding positioning method provided in this application;

[0042] Figure 4 yes Figure 3 The diagram shows a detailed process flow of the welding positioning method.

[0043] Figure 5 This is a schematic diagram of the structure of an embodiment of the welding positioning system provided in this application;

[0044] Figure 6 This is a schematic diagram of the structure of an embodiment of the welding positioning device provided in this application;

[0045] Figure 7 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation

[0046] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0047] The specific embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0048] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic flowchart of an embodiment of the welding positioning method provided in this application. Figure 2 yes Figure 1 The diagram shows the specific process flow of the welding positioning method.

[0049] The welding positioning method of this application is applied to a welding positioning device, which can be a server or a system consisting of a server and a terminal device working together. Accordingly, the various parts of the welding positioning device, such as units, subunits, modules, and submodules, can all be located in the server, or they can be located separately in the server and the terminal device.

[0050] Furthermore, the aforementioned server can be either hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When the server is software, it can be implemented as multiple software programs or software modules, such as software or software modules used to provide distributed servers, or as a single software program or software module; no specific limitation is made here. In some possible implementations, the welding positioning method of this application embodiment can be implemented by a processor calling computer-readable instructions stored in memory.

[0051] Specifically, such as Figure 1 As shown, the welding positioning method of this application embodiment specifically includes the following steps:

[0052] Step S11: Obtain the workpiece program of the workpiece to be welded, wherein the workpiece program includes the theoretical position of the weld in the workpiece, the welding start point and the welding end point.

[0053] In this embodiment, the worker places the workpiece to be welded at the welding position. The process proceeds as follows: Figure 2 The illustrated procedure flow shows that the welding positioning device can obtain the workpiece type of the workpiece to be welded through image recognition or other methods, or through manually input information. The welding positioning device obtains the corresponding workpiece program based on the workpiece type. This workpiece program is pre-configured before the welding positioning method runs. It can be configured for the specific workpiece to be welded, or for workpieces of the same type; that is, workpieces of the same type can use the same workpiece program, i.e., the corresponding automatic welding program.

[0054] Specifically, the workpiece program in this application embodiment includes process parameters for each shooting position, such as the theoretical position of each weld, including the welding start point and welding end point.

[0055] Step S12: Collect the three-dimensional coordinates of the weld in the workpiece to be welded.

[0056] In this embodiment of the application, the welding positioning device starts the shooting program, that is, turns on the camera to take pictures of the workpiece to be welded at the welding position.

[0057] It should be noted that the camera used in this application can be a 3D binocular structured light camera. Compared with welding using a laser displacement sensor, it shortens the time of the sensor scanning path. Using a 3D binocular structured light camera only requires taking one picture to replace one scan.

[0058] In addition, a 3D binocular structured light camera can be mounted on the robotic arm of a welding robot, such as the sixth axis of the welding robot, i.e., the end of the robotic arm, which can effectively replace the welding perspective of the welding robot.

[0059] Furthermore, the welding positioning device can construct a point cloud of the workpiece to be welded based on multiple images acquired by a 3D binocular structured light camera. This point cloud includes the coordinates of data points at each position on the workpiece. The welding positioning device runs a point cloud processing program to extract the three-dimensional coordinates of the weld position from the point cloud. This extraction can be achieved by inputting the point cloud into an image segmentation model or an image recognition model to segment or identify points classified as weld positions. The image segmentation model or image recognition model can also distinguish multiple weld positions within the workpiece and differentiate between different weld types. The welding positioning device then needs to extract the start and end positions of the corresponding weld based on its type.

[0060] Step S13: Compare and verify the three-dimensional coordinates with the theoretical position to locate the actual position of the weld.

[0061] In this embodiment, the welding positioning device locates the actual position of the weld in the workpiece to be welded by comparing and verifying the three-dimensional coordinates of the weld position output by the image segmentation model or image recognition model with the theoretical position of the weld in the workpiece program.

[0062] Specifically, the welding positioning device can establish a mapping relationship between the point cloud of the workpiece to be welded and the theoretical model of the workpiece in the workpiece program, and compare the three-dimensional coordinates with the theoretical position based on the mapping relationship, thereby adjusting the three-dimensional coordinates and obtaining the precise actual position of the weld.

[0063] Step S14: Run the workpiece program and weld from the starting point to the end point according to the actual position of the weld.

[0064] In this embodiment, the welding positioning device runs a welding program and controls the welding robot to start welding from the welding start point of each weld in the workpiece program according to the actual position of the weld seam until the welding end point. After completing the welding of all weld seams in the workpiece to be welded, the welding positioning task is completed.

[0065] In other embodiments, the process parameters of the workpiece program may also include the welding path of the welding position. The welding positioning device can directly perform welding according to the welding path in the workpiece program during the program usage process without having to re-plan the welding path.

[0066] In this embodiment, the welding positioning device acquires the workpiece program of the workpiece to be welded, wherein the workpiece program includes the theoretical position of the weld seam in the workpiece, the welding start point, and the welding end point; it collects the three-dimensional coordinates of the weld seam in the workpiece to be welded; it compares and verifies the three-dimensional coordinates with the theoretical position to locate the actual position of the weld seam; it runs the workpiece program and welds from the welding start point to the welding end point according to the actual position of the weld seam. Through the above welding positioning method, the theoretical position of the weld seam in the workpiece to be welded can be accurately located, and welding can be performed on the workpiece according to the welding start point and welding end point in the workpiece program, reducing the manual teaching process and improving the accuracy and efficiency of welding positioning.

[0067] The welding positioning method of this application can be specifically divided into a program configuration process and a program usage process. For details of the program usage process, please refer to the above. Figure 1 and Figure 2 For details regarding its specific implementation and program configuration process, please refer to the following: Figure 3 and Figure 4 .in, Figure 3 This is a schematic flowchart of another embodiment of the welding positioning method provided in this application. Figure 4 yes Figure 3 The diagram shows the specific process flow of the welding positioning method.

[0068] Specifically, such as Figure 3 As shown, the welding positioning method of this application embodiment specifically includes the following steps:

[0069] Step S21: Obtain the workpiece to be configured.

[0070] In this application embodiment, the program configuration process is used to configure a workpiece program for a new type of workpiece when a new type of workpiece appears. That is, in this application, the workpiece programs corresponding to the same type of workpiece are generally the same.

[0071] Specifically, when the welding positioning device receives a welding positioning task, it should first check whether there is a pre-configured workpiece program for the workpiece type to be welded. If so, it can directly enter the program usage process; otherwise, it needs to start the program configuration process to configure the workpiece program for that workpiece type.

[0072] Step S22: Search for the existence of a corresponding workpiece model according to the workpiece type of the workpiece to be configured.

[0073] In this embodiment, the welding positioning device searches the database for a workpiece model corresponding to the workpiece to be configured. If a workpiece model exists, proceed to steps S23 to S24; if no workpiece model exists, proceed to steps S25 to S26.

[0074] Step S23: Use simulation software to output the weld location in the workpiece model, as well as the simulation data of the planned shooting location.

[0075] In this embodiment, when a workpiece model exists, the welding positioning device can be directly configured online using simulation software. In this case, robot teaching is unnecessary to generate all workpiece programs. Simulating the workpiece model using simulation software reduces the time required for manual teaching of each workpiece compared to robot-taught welding, thus shortening the cycle time.

[0076] Step S24: Use simulation data to configure parameters for each weld location and the planned shooting location to obtain workpiece configuration parameters.

[0077] In this embodiment, the welding positioning device uses simulation software to plan the shooting position and the theoretical welding position, and configures process parameters, i.e. workpiece configuration parameters, for each shooting position.

[0078] Step S25: Use robot teaching to plan the shooting position and weld position to obtain teaching data.

[0079] In the embodiments of this application, when there is no workpiece model, the welding positioning device needs to use a robot to teach and photograph the position and the theoretical welding position on site to obtain teaching data.

[0080] Specifically, during the teaching process, the welding positioning device can also simultaneously build a workpiece model of this type of workpiece and store it in the database for later use.

[0081] Step S26: Configure parameters for each weld location and the planned shooting location using the teaching data to obtain workpiece configuration parameters.

[0082] Step S27: Generate the workpiece program based on the workpiece configuration parameters.

[0083] In this embodiment, the welding positioning device generates a shooting program and a welding program based on the workpiece configuration parameters, saves the programs, and assigns them a number. Specifically, after configuring the process parameters, the welding positioning device generates a program configuration file and assigns an ID to this program configuration file, thereby generating an automatic welding program for this type of workpiece, i.e., a workpiece program.

[0084] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0085] To implement the welding positioning method of the above embodiments, this application also proposes a welding positioning system, please refer to the details below. Figure 5 , Figure 5 This is a schematic diagram of an embodiment of the welding positioning system provided in this application.

[0086] The welding positioning system 500 of this application embodiment includes a robot 51, a camera 52, and a computing terminal 53. The camera 52 is mounted on the robot 51, and the computing terminal 53 is communicatively connected to both the camera 52 and the robot 51.

[0087] The computing terminal 53 is used to acquire the workpiece program of the workpiece to be welded, wherein the workpiece program includes the theoretical position of the weld in the workpiece, the welding start point and the welding end point.

[0088] The camera 52 is used to acquire the three-dimensional coordinates of the weld seam in the workpiece to be welded.

[0089] The computing terminal 53 is also used to compare and verify the three-dimensional coordinates with the theoretical position to locate the actual position of the weld.

[0090] The computing terminal 53 is also used to run the workpiece program and control the robot 51 to weld from the welding start point to the welding end point according to the actual position of the weld.

[0091] Specifically, the aforementioned camera 52 can be a 3D structured light camera 52, which can be mounted together with the welding torch on the end plate of the sixth axis of the robot 51. The robot 51 can be a combination of an industrial welding robot and a matching robot controller. The camera 52 can be a combination of the 3D structured light camera 52 and a matching industrial control computer.

[0092] To implement the welding positioning method of the above embodiments, this application also proposes a welding positioning device, please refer to the following for details. Figure 6 , Figure 6 This is a schematic diagram of an embodiment of the welding positioning device provided in this application.

[0093] The welding positioning device 600 of this application embodiment includes a memory 61 and a processor 62, wherein the memory 61 and the processor 62 are coupled together.

[0094] The memory 61 is used to store program data, and the processor 62 is used to execute the program data to implement the welding positioning method described in the above embodiments.

[0095] In this embodiment, processor 62 can also be referred to as a CPU (Central Processing Unit). Processor 62 may be an integrated circuit chip with signal processing capabilities. Processor 62 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or processor 62 can be any conventional processor.

[0096] To implement the welding positioning method of the above embodiments, this application also provides a computer-readable storage medium, such as... Figure 7 As shown, the computer-readable storage medium 700 is used to store program data 71, which, when executed by a processor, is used to implement the welding positioning method as described in the above embodiments.

[0097] This application also provides a computer program product, wherein the computer program product includes a computer program operable to cause a computer to perform the welding positioning method as described in the embodiments of this application. The computer program product may be a software installation package.

[0098] The welding positioning method described in the above embodiments of this application, when implemented as a software functional unit and sold or used as an independent product, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0099] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "linked" should be interpreted broadly. For example, the term "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0100] Based on the above description in this specification, those skilled in the art will also understand that terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the devices or elements involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0101] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0102] While various embodiments of the invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The appended claims are intended to define the scope of protection of the invention and therefore cover modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A welding positioning method, characterized in that, The welding positioning method includes: obtaining the workpiece program of the workpiece to be welded, wherein the workpiece program includes the theoretical position of the weld in the workpiece, the welding start point and the welding end point; Collect the three-dimensional coordinates of the weld in the workpiece to be welded; The actual position of the weld is located by comparing and verifying the three-dimensional coordinates with the theoretical position. Run the workpiece program and weld from the welding start point to the welding end point according to the actual position of the weld. The acquisition of the three-dimensional coordinates of the weld in the workpiece to be welded includes: The point cloud of the workpiece to be welded is acquired using a binocular structured light camera; Extract the three-dimensional coordinates of the weld seam from the point cloud of the workpiece to be welded; Extracting the three-dimensional coordinates of the weld from the point cloud of the workpiece to be welded includes: identifying the weld and its type from the point cloud of the workpiece to be welded. Extract the corresponding weld start and end positions for each type of weld. The welding positioning method further includes: acquiring the workpiece to be configured; According to the workpiece type of the workpiece to be configured, check if there is a corresponding workpiece model; If so, use simulation software to output the weld location in the workpiece model, as well as the simulation data of the planned shooting location; The simulation data is used to configure parameters for each weld location and the planned shooting location to obtain workpiece configuration parameters; The workpiece program is generated based on the workpiece configuration parameters; The welding positioning method further includes: when a corresponding workpiece model cannot be found according to the workpiece type of the workpiece to be configured, robot teaching is used to plan the shooting position and the weld position to obtain teaching data; The teaching data is used to configure parameters for each weld position and the planned shooting position to obtain workpiece configuration parameters; The workpiece program is generated based on the workpiece configuration parameters.

2. The welding positioning method according to claim 1, characterized in that, The workpiece program also includes the welding path of the weld seam in the workpiece; Running the workpiece program to weld from the welding start point to the welding end point according to the actual position of the weld seam includes: running the workpiece program to weld the actual position of the weld seam according to the welding path.

3. The welding positioning method according to claim 1, characterized in that, The process for obtaining the workpiece to be welded includes: obtaining the workpiece type of the workpiece to be welded; Find the corresponding workpiece program according to the workpiece type of the workpiece to be welded.

4. A welding positioning device, characterized in that, The welding positioning device includes a processor and a memory, the memory storing program data, and the processor executing the program data to implement the welding positioning method as described in any one of claims 1-3.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program data, which, when executed by a processor, is used to implement the welding positioning method according to any one of claims 1-3.

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