Welding method, device, electronic equipment and medium based on laser real-time tracking

Abstract

The present invention provides a welding method, device, electronic device and storage medium based on laser real-time tracking, which includes: determining a preset weld track length based on preset weld information; presetting a positioning start point and positioning end point of laser scanning, obtaining tracking point cloud data of laser scanning from the positioning start point to the positioning end point, and determining the tracking weld track length based on the tracking point cloud data; determining weld difference information according to the preset weld track length and the tracking weld track length in the current welding operation cycle; obtaining the position information of the welding robot, and determining the actual welding track of the welding robot in the current welding operation cycle according to the weld difference information and the position information of the welding robot. The present invention can use laser tracking of weld track to overcome the problem of changes in the preset track caused by vibration of the workpiece or changes in the weld position of large workpieces or large batches of workpieces, thereby replacing manual control and improving welding efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of laser real-time tracking welding, and in particular to a welding method, device, electronic equipment and storage medium based on laser real-time tracking. Background Art

[0002] The weld tracking sensor is mainly composed of a CCD camera, a semiconductor laser, a laser protection lens, an anti-splash baffle and an air cooling device. It uses the principles of optical propagation and imaging to obtain the position information of each point in the laser scanning area, and completes the online real-time detection of common welds through complex program algorithms. There are corresponding functional settings for the detection range, detection capability and common problems in the welding process. The sensor is usually installed in front of the welding gun at a preset distance (front), so it can observe the distance from the weld sensor body to the workpiece, that is, the installation height depends on the installed sensor model. The camera can only observe the weld when the welding gun is correctly positioned above the weld.

[0003] The equipment calculates the deviation between the detected weld and the welding gun, outputs the deviation data, and the motion actuator corrects the deviation in real time, accurately guides the welding gun to weld automatically, thereby achieving real-time communication with the robot control system to track the weld for welding, which is equivalent to installing eyes on the robot. Manual or semi-automatic welding relies on the operator's naked eye observation and manual adjustment to achieve tracking of the weld. For fully automated welding applications such as robots or automatic welding machines, the programming and memory capabilities of the machine, the accuracy and consistency of the workpiece and its assembly are mainly relied on to ensure that the welding gun can align the weld within the accuracy range allowed by the process. Usually, the machine's repeatability, programming and memory capabilities can meet the requirements of welding.

[0004] However, in many cases, the accuracy and consistency of workpieces and their assembly are not easy to meet the requirements of large workpieces or large-scale automatic welding production, and there are also stress and deformation caused by overheating. Therefore, once these situations are encountered, an automatic tracking device is required to perform a function similar to the coordinated tracking and adjustment of human eyes and hands in manual welding. Summary of the invention

[0005] In view of this, it is necessary to provide a welding method, device, electronic device and storage medium based on laser real-time tracking, which can solve the technical problem in the prior art that the preset trajectory of large workpieces or large batches of workpieces changes due to workpiece vibration or weld position changes.

[0006] In order to solve the above technical problems, the present invention provides a welding method based on laser real-time tracking, which is applied to large workpieces or large batches of workpieces, and is characterized by comprising:

[0007] Determine a preset weld trajectory length based on preset weld information;

[0008] Preset the positioning start point and positioning end point of the laser scanning, obtain the tracking point cloud data of the laser scanning from the positioning start point to the positioning end point, and determine the tracking weld track length based on the tracking point cloud data;

[0009] In the current welding operation cycle, the weld difference information is determined according to the preset weld track length and the tracked weld track length;

[0010] The position information of the welding robot is obtained, and the actual welding trajectory of the welding robot in the current welding operation cycle is determined according to the weld difference information and the position information of the welding robot.

[0011] Preferably, determining the preset weld track length based on the preset weld information includes:

[0012] Acquire image information of a large workpiece or a large batch of workpieces based on a CCD camera, and determine preset weld information according to the image information;

[0013] Based on the preset position relationship between the CCD camera and the welding robot and according to the preset weld information, the preset weld track length is determined.

[0014] Preferably, the tracking point cloud data includes weld point cloud data and non-weld point cloud data; the step of acquiring the weld point cloud data from the positioning start point to the positioning end point of the laser scanning, and determining the tracking weld trajectory length based on the weld point cloud data, comprises:

[0015] The weld point cloud data is formed by acquiring information of a plurality of intersection points between the laser bar and the weld bar in real time based on laser scanning, and the non-weld point cloud data is formed based on laser point cloud information that does not intersect the weld bar and is acquired in real time based on laser scanning;

[0016] A smoothing filter process is performed on a trajectory formed by the weld point cloud data and the non-weld point cloud data to obtain a weld tracking trajectory, and a length of the tracked weld trajectory is determined based on the weld tracking trajectory.

[0017] Preferably, in the current welding operation cycle, the determining of weld difference information according to the preset weld track length and the tracked weld track length includes:

[0018] The preset teaching track length of the track corresponding to the current welding operation cycle is intercepted on the preset weld track length, and the tracking teaching track length of the track corresponding to the current welding operation cycle is intercepted on the tracking weld track length;

[0019] The ratio of the tracking teaching trajectory length to the preset teaching trajectory length is calculated.

[0020] Preferably, the current welding operation cycle includes an interval start point and an interval end point; and the step of obtaining the position information of the welding robot includes:

[0021] Obtaining the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point;

[0022] The distance from the starting point of the interval to the end point of the interval is the preset teaching trajectory length.

[0023] Preferably, determining the actual welding trajectory of the welding robot in the current welding operation cycle according to the weld difference information and the position information of the welding robot includes:

[0024] Based on the ratio of the tracking teaching trajectory length to the preset teaching trajectory length, the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point, the actual welding trajectory of the welding robot in the current welding operation cycle is determined.

[0025] Preferably, based on the ratio of the tracking teaching trajectory length to the preset teaching trajectory length, the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point, determining the actual welding trajectory of the welding robot in the current welding operation cycle includes:

[0026] Determine the length of the actual welding trajectory based on a trajectory calculation formula;

[0027] The trajectory calculation formula is: S = start_distance + teach_length * r_teach2real;

[0028] S is the actual welding track length, start_distance is the distance from the welding robot to the positioning starting point, teach_length is the preset teaching track length, and r_teach2real is the ratio of the tracking teaching track length to the preset teaching track length.

[0029] The present invention also provides a welding device based on laser real-time tracking, and the welding device based on laser real-time tracking comprises:

[0030] A preset weld determination module, used to determine a preset weld trajectory length based on preset weld information;

[0031] A tracking weld determination module is used to preset a positioning start point and a positioning end point of the laser scan, obtain tracking point cloud data of the laser scan from the positioning start point to the positioning end point, and determine the tracking weld track length based on the tracking point cloud data;

[0032] A weld difference determination module, used to determine weld difference information according to the preset weld track length and the tracked weld track length during the current welding operation cycle;

[0033] The actual weld determination module is used to obtain the position information of the welding robot, and determine the actual welding trajectory of the welding robot in the current welding operation cycle according to the weld difference information and the position information of the welding robot.

[0034] The present invention also provides an electronic device, comprising a memory and a processor, wherein:

[0035] The memory is used to store programs;

[0036] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the welding method based on laser real-time tracking in any of the above implementations.

[0037] The present invention also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps of the welding method based on laser real-time tracking in any of the above-mentioned implementations can be implemented.

[0038] The beneficial effect of adopting the above-mentioned embodiment is that the welding method, device, electronic device and storage medium based on laser real-time tracking provided by the present invention can use laser to track the weld trajectory to overcome the problem of changes in the preset trajectory caused by workpiece vibration or weld position changes in large workpieces or large batches of workpieces, thereby replacing manual control and improving welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic flow chart of an embodiment of a welding method based on laser real-time tracking provided by the present invention;

[0041] Figure 2A schematic diagram of an embodiment of a preset weld track, a tracked weld track and a smoothed tracked weld track provided by the present invention;

[0042] Figure 3 A schematic diagram of an embodiment of the position of each node within the operating range provided by the present invention;

[0043] Figure 4 Comparison between the preset trajectory and the actual trajectory of the welding robot provided by the present invention during welding Figure 1 A schematic diagram of an embodiment;

[0044] Figure 5 A schematic structural diagram of an embodiment of a welding device based on laser real-time tracking provided by an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0047] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] The present invention provides a welding method, device, electronic device and storage medium based on laser real-time tracking, which are respectively described below.

[0049] like Figure 1 FIG. 1 is a flow chart of an embodiment of a welding method based on laser real-time tracking provided by an embodiment of the present invention, the method comprising:

[0050] Step S101, determining a preset weld track length based on preset weld information;

[0051] Step S102, presetting a positioning start point and a positioning end point of the laser scanning, obtaining tracking point cloud data of the laser scanning from the positioning start point to the positioning end point, and determining the tracking weld track length based on the tracking point cloud data;

[0052] Step S103, in the current welding operation cycle, determining weld difference information according to the preset weld track length and the tracked weld track length;

[0053] Step S104, acquiring the position information of the welding robot, and determining the actual welding trajectory of the welding robot in the current welding operation cycle according to the weld difference information and the position information of the welding robot.

[0054] As a specific embodiment, the preset weld information in step S101 generally refers to the weld information captured by a CCD camera or the laser point cloud weld information. These preset weld information are generally based on relevant information obtained when large workpieces or large batches of workpieces are not affected. Based on the preset weld information, relevant programs are set for the welding robot to control the welding robot to perform welding work on the workpiece according to the preset weld trajectory.

[0055] As a specific embodiment, in step S102, since the welds of large workpieces are long and complex, once the workpiece is subjected to vibration (such as abnormal bumps) or the weld changes due to temperature, the preset weld trajectory will be different from the actual welding trajectory. In order to solve this problem, real-time scanning is performed by laser, and the starting point and the end point are addressed and positioned, so that the robot can quickly locate to the accurate position after one operation cycle is completed through the reference of the positioning starting point for real-time tracking welding of the next cycle.

[0056] As a specific embodiment, in step S103, when the welding robot is in the operation cycle, the weld difference information can be determined by trajectory difference information such as the length difference between the preset weld trajectory length and the tracked weld trajectory length, the curve / straight line difference, etc., so that the welding robot can fully know the difference between the preset trajectory and the actual trajectory.

[0057] As a specific embodiment, in step S104, after determining the difference information between the preset trajectory and the actual trajectory in the current operation cycle, the current position information of the robot is combined to formulate a new welding trajectory.

[0058] In summary, the welding method based on laser real-time tracking provided by the present invention can provide information reference for the actual welding trajectory of the welding robot by utilizing laser to track the weld trajectory, so as to overcome the problem of changes in the preset trajectory caused by workpiece vibration or weld position changes in large workpieces or large batches of workpieces, thereby replacing manual control and improving welding efficiency.

[0059] As a preferred embodiment, the step of determining the preset weld trajectory length based on the preset weld information includes:

[0060] Acquire image information of large workpieces or large batches of workpieces based on a CCD camera, and determine preset weld information based on the image information; wherein the image information generally includes weld strip information, workpiece information, and the distance between the camera and the workpiece, and the coordinate information of each point of the weld strip can be determined by combining these information, so that the coordinate data is used as the output of the preset weld information, and output to the control system corresponding to the welding robot;

[0061] Based on the preset position relationship between the CCD camera and the welding robot, and according to the preset weld information, the preset weld trajectory length is determined, wherein, after the coordinate information of the preset weld information is obtained, combined with the preset position relationship (generally the physical position relationship) based on the CCD camera and the welding robot, the coordinates and length of the preset weld trajectory can be determined.

[0062] As a preferred embodiment, the tracking point cloud data includes weld point cloud data and non-weld point cloud data; the step of acquiring the weld point cloud data from the positioning start point to the positioning end point of the laser scanning, and determining the tracking weld trajectory length based on the weld point cloud data, comprises:

[0063] The weld point cloud data is formed by acquiring information of a plurality of intersection points between the laser bar and the weld bar in real time based on laser scanning, and the non-weld point cloud data is formed based on laser point cloud information that does not intersect the weld bar and is acquired in real time based on laser scanning;

[0064] A smoothing filter process is performed on a trajectory formed by the weld point cloud data and the non-weld point cloud data to obtain a weld tracking trajectory, and a length of the tracked weld trajectory is determined based on the weld tracking trajectory.

[0065] In a specific embodiment, please refer to Figure 2 , Figure 2 A schematic diagram of an embodiment of a preset weld track, a tracked weld track and a smoothed tracked weld track provided by the present invention, from Figure 2 It can be seen that there is an obvious difference between the preset weld trajectory (line A) and the tracked weld trajectory (line B), and the laser collection point fluctuation of the tracked weld trajectory is large due to the jitter of the robot. After filtering and smoothing, the smoothed tracked weld trajectory (line C) is smoother, which is convenient for the subsequent command selection and control of the welding robot.

[0066] In this embodiment, laser is generally used to obtain each point on the weld (such as point P), and then the data is window filtered (the purpose is to suppress the points with large disturbances. If no filtering is performed, the robot will vibrate violently during the welding process), and then stored in a queue manner, first in first out, last in last out. These points are all points on the weld. The storage and retrieval of points on the weld are described as follows:

[0067] (1) Regarding storage, the laser camera’s recognition and transmission to the robot system is done in a certain cycle, not continuously. Therefore, only one piece of data can be stored at a certain period and placed at the end of the storage queue (the head and tail data of the queue can be operated separately, retrieved or stored).

[0068] The point set recognized by the laser generally has some fluctuations. The points in the point set are connected to each other to form a broken line, not a smooth curve. Direct use will cause the robot to shake violently during the welding process. Therefore, before storage, a smoothing filter is used to process the point set recognized by the laser to make the trajectory to be used relatively smooth.

[0069] (2) Regarding retrieval, during welding operations, a large portion of the data in the current storage queue (not greater than the total amount of data in the current queue) will be retrieved from the beginning to the end, and then stored in another running queue for use. The area where these data are located is defined as an operating interval. In this motion interval, a connection between a broken line formed by connecting points and a preset trajectory will be established. Only when the robot has reached the last point in the operating interval will the data be retrieved from the storage queue again to establish a new operating interval.

[0070] As a preferred embodiment, in the current welding operation cycle, the determining of weld difference information according to the preset weld track length and the tracked weld track length includes:

[0071] The preset teaching track length of the track corresponding to the current welding operation cycle is intercepted on the preset weld track length, and the tracking teaching track length of the track corresponding to the current welding operation cycle is intercepted on the tracking weld track length;

[0072] The ratio of the tracking teaching trajectory length to the preset teaching trajectory length is calculated.

[0073] It should be noted that the preset weld track length generally refers to the entire workpiece (or part of the workpiece) in a large workpiece, which is generally far longer than the track that the welding robot can run in one operation cycle. In actual operation, one operation cycle is generally used as the analysis object. Therefore, when in the welding operation cycle, it is sufficient to intercept the preset teaching track length of the track corresponding to the current welding operation cycle. Based on the same reason, it is only necessary to intercept the tracking teaching track length of the track corresponding to the current welding operation cycle. However, by calculating the ratio of the tracking teaching track length to the preset teaching track length, the difference between the tracking track length and the preset track length can be determined, which can provide a reference for the subsequent operation track of the welding robot.

[0074] As a preferred embodiment, the current welding operation cycle includes an interval start point and an interval end point; the obtaining of the position information of the welding robot includes:

[0075] Obtaining the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point;

[0076] The distance from the starting point of the interval to the end point of the interval is the preset teaching trajectory length.

[0077] For specific embodiments, please refer to Figure 3 , Figure 3 This is a schematic diagram of an embodiment of the position of each node within the operating range provided by the present invention. Figure 3 It can be seen that there is a rough relationship between the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point.

[0078] As a preferred embodiment, determining the actual welding trajectory of the welding robot in the current welding operation cycle according to the weld difference information and the position information of the welding robot includes:

[0079] Based on the ratio of the tracking teaching trajectory length to the preset teaching trajectory length, the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point, the actual welding trajectory of the welding robot in the current welding operation cycle is determined.

[0080] Specifically, based on the ratio of the tracking teaching trajectory length to the preset teaching trajectory length, the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point, the actual welding trajectory of the welding robot in the current welding operation cycle is determined, including:

[0081] Determine the length of the actual welding trajectory based on a trajectory calculation formula;

[0082] The trajectory calculation formula is: S = start_distance + teach_length * r_teach2real;

[0083] S is the actual welding track length, start_distance is the distance from the welding robot to the positioning starting point, teach_length is the preset teaching track length, and r_teach2real is the ratio of the tracking teaching track length to the preset teaching track length.

[0084] You can also refer to Figure 3In a specific operation cycle, the welding robot must move from the current position of the robot to the positioning starting point, then from the positioning starting point to the interval starting point, and then from the interval starting point to the interval end point, thus completing the welding work of one operation cycle.

[0085] In the specific embodiment, please see Figure 4 , Figure 4 Comparison between the preset trajectory and the actual trajectory of the welding robot provided by the present invention during welding Figure 1 Schematic diagram of an embodiment. It should be noted that L represents the length

[0086] If the preset track length L is set, when a new motion interval is established, in addition to calculating the weld length distance (ΔS, i.e., tracking the teaching track length), another length (ΔL, i.e., the preset teaching track length) needs to be "estimated", which is first named the teaching length length. If the starting point and end point of the preset track are consistent with the positioning starting point and end point, then we expect the teaching length to be equal to the preset track length, but even in this case, the teaching length estimated in each motion interval is inconsistent with the preset track length, but fortunately, the difference between the two is not large, we can use the teaching length to represent the preset track length in the current motion interval, and then only process the difference between them in the last motion interval.

[0087] start_length=last_end_length;

[0088] end_length=start_length+length(estimate);

[0089] Wherein, start_distance is the distance from the welding robot to the positioning starting point, last_end_length is the polyline distance from the end point of the last operation interval to the positioning starting point, and end_length is the polyline length from the positioning starting point to the end point of the interval;

[0090] Ratio calculation formula:

[0091] In a specific embodiment, the length of the broken line corresponding to the starting point P0 (i.e., the first point of the laser point cloud) is set to: (1) S = 0; (2) L = 0; then the length of the broken line from the jth point to the j+1th point is Δj, and P(j+1) = P(j) + Δj; (Δi is the length of the straight line between P(j+1) and P(j), Δj = |P(j+1)-P(j)|;

[0092] Then, P1.S=P0.S+|P1-P0|; P2.S=P1.S+|P2-P1|; P3.S=P2.S+|P3-P2|.

[0093] Furthermore, Figure 4 The length ΔL between the current position of the robot and the current position of the laser scanning point is obtained by estimation. In this interval, ΔL and ΔS (i.e., the length of the tracking teaching trajectory) are not necessarily equal.

[0094] Generally, if ΔL or ΔS is a straight line, the length of the straight line can be estimated by:

[0095] (1) First, divide the motion interval into two parts, calculate the average value of the point set in each part, and obtain points P1 and P2;

[0096] (2) Length = |P1-P2|, the distance between the two points;

[0097] (3) The estimated length of the motion interval = Length*2;

[0098] In general, if ΔL or ΔS is a curve, the length of the curve can be estimated by:

[0099] (1) First, divide the motion interval into two parts, calculate the average value of the point set in each part, and obtain points P1 and P2;

[0100] (2) L1 = |P1-P2|, the distance between two points;

[0101] (3) The arc radian is Δr=2*asin(0.5*L1 / r), where r is the radius of the current arc, and Length=Δr*r.

[0102] It should be noted that the total length of the straight line or the total length of the destination obtained by estimation is different from the total length of the preset trajectory. If no processing is done, when the robot finishes welding, there will always be a certain range of deviation between the welding end point and the expected end point, and this deviation is floating and cannot be eliminated by compensation means.

[0103] In order to solve the deviation fluctuation between the welding end point and the expected end point, the following solutions can be adopted:

[0104] When the laser scans to the end point of the positioning, if the preset distance is greater than the actual remaining distance, the remaining length of the preset trajectory is reduced and re-planned.

[0105] When the laser scans to the end point of the positioning, if the preset distance is less than the actual remaining distance, the remaining part of the preset trajectory is increased and re-planned.

[0106] When the vehicle moves to the stage where it is ready to decelerate and stop according to the distance of the preset trajectory, if the end point has not been scanned at this time, the length of the preset trajectory is increased, and the vehicle continues to move according to the previous movement trend.

[0107] In order to better implement the welding method based on real-time laser tracking in the embodiment of the present invention, based on the welding method based on real-time laser tracking, correspondingly, Figure 4 As shown, the embodiment of the present invention further provides a welding device 500 based on laser real-time tracking, comprising:

[0108] A preset weld determination module 501, used to determine a preset weld trajectory length based on preset weld information;

[0109] The tracking weld determination module 502 is used to preset the positioning start point and positioning end point of the laser scanning, obtain the tracking point cloud data of the laser scanning from the positioning start point to the positioning end point, and determine the tracking weld trajectory length based on the tracking point cloud data;

[0110] A weld difference determination module 503, used to determine weld difference information according to the preset weld track length and the tracked weld track length during the current welding operation cycle;

[0111] The actual weld determination module 504 is used to obtain the position information of the welding robot, and determine the actual welding trajectory of the welding robot in the current welding operation cycle according to the weld difference information and the position information of the welding robot.

[0112] It should be noted here that: the welding device 500 based on laser real-time tracking provided in the above embodiment can implement the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above method embodiments, which will not be repeated here.

[0113] like Figure 6 As shown, based on the above-mentioned welding method based on laser real-time tracking, the present invention also provides an electronic device 600. The electronic device 600 includes a processor 601, a memory 602 and a display 603. Figure 6 Only some components of the electronic device 600 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0114] In some embodiments, the memory 602 may be an internal storage unit of the electronic device 600, such as a hard disk or memory of the electronic device 600. In other embodiments, the memory 602 may also be an external storage device of the electronic device 600, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 600.

[0115] Furthermore, the memory 602 may include both an internal storage unit of the electronic device 600 and an external storage device. The memory 602 is used to store application software installed on the electronic device 600 and various data.

[0116] In some embodiments, the processor 601 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run the program code or process data stored in the memory 602, such as the welding method based on laser real-time tracking in the present invention.

[0117] In some embodiments, the display 603 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 603 is used to display information on the electronic device 600 and to display a visual user interface. The components 601-603 of the electronic device 600 communicate with each other via a system bus.

[0118] In one embodiment, when the processor 601 executes the laser real-time tracking based welding program 604 in the memory 602, the following steps may be implemented:

[0119] Determine a preset weld trajectory length based on preset weld information;

[0120] Preset the positioning start point and positioning end point of the laser scanning, obtain the tracking point cloud data of the laser scanning from the positioning start point to the positioning end point, and determine the tracking weld track length based on the tracking point cloud data;

[0121] In the current welding operation cycle, the weld difference information is determined according to the preset weld track length and the tracked weld track length;

[0122] The position information of the welding robot is obtained, and the actual welding trajectory of the welding robot in the current welding operation cycle is determined according to the weld difference information and the position information of the welding robot.

[0123] It should be understood that: when the processor 602 executes the laser real-time tracking based welding program 604 in the memory 601, in addition to the above functions, other functions can also be realized. For details, please refer to the description of the corresponding method embodiment above.

[0124] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 600 mentioned, and the electronic device 600 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with iOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 600 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0125] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the method steps or functions provided by the above-mentioned method embodiments can be implemented.

[0126] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0127] The welding method, device, electronic device and storage medium based on laser real-time tracking provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A welding method based on real-time laser tracking, applied to large workpieces or large batches of workpieces, characterized in that: include: Determine a preset weld trajectory length based on preset weld information; Preset a positioning start point and a positioning end point of the laser scanning, obtain tracking point cloud data of the laser scanning from the positioning start point to the positioning end point, and determine the tracking weld track length based on the tracking point cloud data; In the current welding operation cycle, the weld difference information is determined according to the preset weld track length and the tracked weld track length; Acquire the position information of the welding robot, and determine the actual welding trajectory of the welding robot in the current welding operation cycle according to the weld difference information and the position information of the welding robot; In the current welding operation cycle, the weld difference information is determined according to the preset weld track length and the tracked weld track length, including: The preset teaching track length of the track corresponding to the current welding operation cycle is intercepted on the preset weld track length, and the tracking teaching track length of the track corresponding to the current welding operation cycle is intercepted on the tracking weld track length; The ratio of the tracking teaching trajectory length to the preset teaching trajectory length is calculated.

2. The welding method based on laser real-time tracking according to claim 1 is characterized in that: The step of determining a preset weld track length based on preset weld information includes: Acquire image information of a large workpiece or a large batch of workpieces based on a CCD camera, and determine preset weld information according to the image information; Based on the preset position relationship between the CCD camera and the welding robot and according to the preset weld information, the preset weld track length is determined.

3. The welding method based on laser real-time tracking according to claim 1, characterized in that: The tracking point cloud data includes weld point cloud data and non-weld point cloud data; the step of acquiring the weld point cloud data from the positioning start point to the positioning end point of the laser scanning, and determining the tracking weld track length based on the weld point cloud data, comprises: The weld point cloud data is formed by acquiring information of a plurality of intersection points between the laser bar and the weld bar in real time based on laser scanning, and the non-weld point cloud data is formed based on laser point cloud information that does not intersect the weld bar and is acquired in real time based on laser scanning; A smoothing filter process is performed on a trajectory formed by the weld point cloud data and the non-weld point cloud data to obtain a weld tracking trajectory, and a length of the tracked weld trajectory is determined based on the weld tracking trajectory.

4. The welding method based on laser real-time tracking according to claim 1, characterized in that: The current welding operation cycle includes an interval start point and an interval end point; The obtaining of the position information of the welding robot comprises: Obtaining the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point; The distance from the starting point of the interval to the end point of the interval is the preset teaching trajectory length.

5. The welding method based on laser real-time tracking according to claim 4 is characterized in that: Determining an actual welding trajectory of the welding robot in a current welding operation cycle according to the weld difference information and the position information of the welding robot includes: Based on the ratio of the tracking teaching trajectory length to the preset teaching trajectory length, the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point, the actual welding trajectory of the welding robot in the current welding operation cycle is determined.

6. The welding method based on laser real-time tracking according to claim 5 is characterized in that: Based on the ratio of the tracking teaching trajectory length to the preset teaching trajectory length, the distance from the welding robot to the positioning starting point, the distance from the positioning starting point to the interval starting point, and the distance from the interval starting point to the interval end point, the actual welding trajectory of the welding robot in the current welding operation cycle is determined, including: Determine the length of the actual welding trajectory based on a trajectory calculation formula; The trajectory calculation formula is: S = start_distance + teach_length * r_teach2real; S is the actual welding track length, start_distance is the distance from the welding robot to the positioning starting point, teach_length is the preset teaching track length, and r_teach2real is the ratio of the tracking teaching track length to the preset teaching track length.

7. A welding device based on laser real-time tracking, characterized in that: include: A preset weld determination module, used to determine a preset weld trajectory length based on preset weld information; A tracking weld determination module is used to preset a positioning start point and a positioning end point of the laser scan, obtain tracking point cloud data of the laser scan from the positioning start point to the positioning end point, and determine the tracking weld track length based on the tracking point cloud data; A weld difference determination module, used to determine weld difference information according to the preset weld track length and the tracked weld track length during the current welding operation cycle; An actual weld determination module is used to obtain the position information of the welding robot, and determine the actual welding trajectory of the welding robot in the current welding operation cycle according to the weld difference information and the position information of the welding robot; In the current welding operation cycle, the weld difference information is determined according to the preset weld track length and the tracked weld track length, including: The preset teaching track length of the track corresponding to the current welding operation cycle is intercepted on the preset weld track length, and the tracking teaching track length of the track corresponding to the current welding operation cycle is intercepted on the tracking weld track length; The ratio of the tracking teaching trajectory length to the preset teaching trajectory length is calculated.

8. An electronic device, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the welding method based on laser real-time tracking as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the welding method based on laser real-time tracking as described in any one of claims 1 to 6.

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