A method and device for acquiring a model data of a flat-bulb steel for a middle group robot

Abstract

The application discloses a kind of for middle group robot's ball flat steel model data acquisition method and device, by the ball flat steel profile parts into web parts and panel parts, obtain and based on the part shape size data corresponding to web parts and panel parts, extract the web part vertex coordinate information of web part and the panel part vertex coordinate information of panel part, and set part stretching direction, adjust the thickness of web part and panel part, obtain first web part thickness and first panel part thickness;Subsequently by integrating the web part vertex coordinate information of web part and its first web part thickness, and integrating the panel part vertex coordinate information of panel part and its first panel part thickness, obtain ball flat steel model data.Compared with prior art, the technical scheme of the application simplifies the structure of ball flat steel profile parts, reduces the data processing of ball flat steel profile parts, and improves the acquisition efficiency of ball flat steel model data.

Description

Technical Field

[0001] This invention relates to the technical field of three-dimensional modeling for mid-assembly, and in particular to a method and apparatus for acquiring data of a spherical flat steel model for mid-assembly robots. Background Technology

[0002] The intelligent welding robot for mid-section assembly is a robot specifically designed for welding welds on mid-sections of ship assemblies. It can automatically weld by setting the weld trajectory and welding process parameters based on a provided mid-section assembly model. Mid-section assembly can be divided into planar mid-section assembly and curved mid-section assembly, but research on mid-section assembly welding robots focuses on planar mid-section assembly. The biggest difference between the two is that the components of planar mid-section assembly are all horizontally and vertically aligned, while the base panel of curved mid-section assembly is curved, requiring a jig to be set according to the curvature of the surface during manufacturing.

[0003] The composition of assembled parts in a plane is mainly divided into plate parts and profile parts. All plate parts are flat. When extracting the characteristic elements of plate parts, only the outline and thickness are needed to express the model information of the plate parts. However, this method cannot be used to express bulb flat steel profile parts.

[0004] In the mid-assembly model, bulb flat steel profiles are mainly attached to flat plates. Welding between the profiles and plates is completed during the assembly stage. The mid-assembly welds are primarily between components. The cross-sectional shape of bulb flat steel is quite complex, unlike flat plate parts. Different specifications of bulb flat steel have different bulb head size parameters. The thickness of bulb flat steel is generally used to express the web thickness, while the bulb head of the face plate expresses more data and cannot be treated the same way as sheet metal. If the shape and dimensions of bulb flat steel are to be expressed completely according to international standards for use in mid-assembly welding robots, the difficulty of information technology implementation becomes uncontrollable, and the success of welding by mid-assembly robots is not optimistic. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method and device for acquiring ball flat steel model data for mid-assembly robots, thereby simplifying the structure of ball flat steel profile parts, reducing data processing of ball flat steel profile parts, and improving the efficiency of acquiring ball flat steel model data.

[0006] To address the aforementioned technical problems, this invention provides a method for acquiring data on a spherical flat steel model for a mid-assembly robot, comprising:

[0007] The spherical flat steel profile part is decomposed into web part and face part, and the shape and size data of the web part are obtained, wherein the shape and size data of the web part includes the thickness, length and width of the web part;

[0008] Obtain the panel part shape and size data, wherein the panel part shape and size data includes the panel part width, panel part length and panel part thickness;

[0009] Based on the length and width of the web part, the vertex coordinates of the web part are extracted to obtain the coordinate information of the web part;

[0010] Based on the length and width of the panel component, the vertex coordinates of the panel component are extracted to obtain the coordinate information of the panel component;

[0011] According to the preset stretching direction of the parts, the thickness of the web part and the thickness of the panel part are adjusted to obtain the thickness of the first web part and the thickness of the first panel part.

[0012] By integrating the coordinate information of the web plate component and the thickness of the first web plate component, web plate component model data is obtained. By integrating the coordinate information of the panel component and the thickness of the first panel component, panel component model data is obtained. Based on the web plate component model data and the panel component model data, bulb flat steel model data is obtained.

[0013] In one possible implementation, the spherical flat steel profile part is decomposed into a web part and a face part, specifically including:

[0014] Obtain the three-dimensional model data of the assembly, extract the profile part names of the bulb flat steel profile parts from the three-dimensional model data of the assembly, and obtain the profile part data corresponding to the profile part names;

[0015] Based on the profile part name and the profile part data, the bulb flat steel profile part is decomposed into a web part and a panel part, and based on the web part and the panel part, the profile part data is decomposed into web part shape and size data and panel part shape and size data.

[0016] In one possible implementation, the thickness of the web part and the thickness of the panel part are adjusted according to a preset part stretching direction to obtain the thickness of the first web part and the thickness of the first panel part, specifically including:

[0017] Obtain the part types of the web plate part and the panel part, wherein the part types include horizontal parts, longitudinal parts and transverse parts;

[0018] When the web plate part or the panel part is a horizontal part, the orientation of the web plate part or the panel part is obtained. When the orientation of the part is horizontal and upward, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation of the part is horizontal and downward, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thus obtaining the thickness of the first web plate part and the thickness of the first panel part.

[0019] When the web plate part or the panel part is a longitudinal part, the orientation of the web plate part or the panel part is obtained. When the orientation is towards the starboard side, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation is towards the port side, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thus obtaining the thickness of the first web plate part and the thickness of the first panel part.

[0020] When the web plate part or the panel part is a transverse part, the orientation of the web plate part or the panel part is obtained. When the orientation is towards the bow, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation is towards the stern, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thus obtaining the thickness of the first web plate part and the thickness of the first panel part.

[0021] In one possible implementation, vertex coordinates of the web part are extracted based on its length and width to obtain its coordinate information, specifically including:

[0022] Based on the length and width of the web part, a closed line graphic of the web part is generated. The vertex coordinates of the closed line graphic of the web part are extracted to obtain the coordinates of all vertices of the closed line graphic of the web part.

[0023] All vertex coordinates are sorted in a preset order to obtain web plate part coordinate information, wherein the web plate part coordinate information includes the vertex coordinates of the first web plate part, the vertex coordinates of the second web plate part, the vertex coordinates of the third web plate part, and the vertex coordinates of the fourth web plate part.

[0024] The present invention also provides a bulb flat steel model data acquisition device for a mid-assembly robot, comprising: a web part parameter acquisition module, a panel part parameter acquisition module, a web part coordinate information acquisition module, a panel part coordinate information acquisition module, a part thickness adjustment module, and a bulb flat steel model data integration module;

[0025] The web plate component parameter acquisition module is used to decompose the spherical flat steel profile component into a web plate component and a face plate component, and to acquire the web plate component shape and size data, wherein the web plate component shape and size data includes the web plate component thickness, web plate component length and web plate component width.

[0026] The panel component parameter acquisition module is used to acquire the panel component shape and size data, wherein the panel component shape and size data includes the panel component width, panel component length and panel component thickness.

[0027] The web plate component coordinate information acquisition module is used to extract the vertex coordinates of the web plate component based on the length and width of the web plate component to obtain the web plate component coordinate information.

[0028] The panel component coordinate information acquisition module is used to extract the vertex coordinates of the panel component based on the length and width of the panel component to obtain the panel component coordinate information.

[0029] The component thickness adjustment module is used to adjust the thickness of the web component and the thickness of the panel component according to the preset component stretching direction, so as to obtain the thickness of the first web component and the thickness of the first panel component.

[0030] The bulb flat steel model data integration module is used to integrate the coordinate information of the web part and the thickness of the first web part to obtain web part model data, integrate the coordinate information of the panel part and the thickness of the first panel part to obtain panel part model data, and obtain bulb flat steel model data based on the web part model data and the panel part model data.

[0031] This invention also provides a data acquisition device for a spherical flat steel model for a mid-assembly robot. The web component parameter acquisition module is used to decompose the spherical flat steel profile component into a web component and a panel component, specifically including:

[0032] Obtain the three-dimensional model data of the assembly, extract the profile part names of the bulb flat steel profile parts from the three-dimensional model data of the assembly, and obtain the profile part data corresponding to the profile part names;

[0033] Based on the profile part name and the profile part data, the bulb flat steel profile part is decomposed into a web part and a panel part, and based on the web part and the panel part, the profile part data is decomposed into web part shape and size data and panel part shape and size data.

[0034] In one possible implementation, the part thickness adjustment module is used to adjust the thickness of the web part and the thickness of the panel part according to a preset part stretching direction to obtain the thickness of the first web part and the thickness of the first panel part, specifically including:

[0035] Obtain the part types of the web plate part and the panel part, wherein the part types include horizontal parts, longitudinal parts and transverse parts;

[0036] When the web plate part or the panel part is a horizontal part, the orientation of the web plate part or the panel part is obtained. When the orientation of the part is horizontal and upward, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation of the part is horizontal and downward, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thus obtaining the thickness of the first web plate part and the thickness of the first panel part.

[0037] When the web plate part or the panel part is a longitudinal part, the orientation of the web plate part or the panel part is obtained. When the orientation is towards the starboard side, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation is towards the port side, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thus obtaining the thickness of the first web plate part and the thickness of the first panel part.

[0038] When the web plate part or the panel part is a transverse part, the orientation of the web plate part or the panel part is obtained. When the orientation is towards the bow, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation is towards the stern, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thus obtaining the thickness of the first web plate part and the thickness of the first panel part.

[0039] In one possible implementation, the web plate part coordinate information acquisition module is used to extract vertex coordinates of the web plate part based on the length and width of the web plate part to obtain the web plate part coordinate information, specifically including:

[0040] Based on the length and width of the web part, a closed line graphic of the web part is generated. The vertex coordinates of the closed line graphic of the web part are extracted to obtain the coordinates of all vertices of the closed line graphic of the web part.

[0041] All vertex coordinates are sorted in a preset order to obtain web plate part coordinate information, wherein the web plate part coordinate information includes the vertex coordinates of the first web plate part, the vertex coordinates of the second web plate part, the vertex coordinates of the third web plate part, and the vertex coordinates of the fourth web plate part.

[0042] The present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the method for acquiring ball flat steel model data for a mid-assembly robot as described in any of the preceding claims.

[0043] The present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the method for acquiring ball flat steel model data for a mid-assembly robot as described in any of the preceding claims.

[0044] This invention provides a method and apparatus for acquiring data of a spherical flat steel model for a mid-assembly robot, which has the following advantages compared with the prior art:

[0045] By decomposing the spherical flat steel profile into web and face parts, and obtaining and based on the corresponding part shape and size data, the vertex coordinates of the web and face parts are extracted. The stretching direction is then set, and the thicknesses of the web and face parts are adjusted to obtain the first web and face part thicknesses. Subsequently, by integrating the vertex coordinates of the web and the first web part thickness, and integrating the vertex coordinates of the face part and the first face part thickness, the spherical flat steel model data is obtained. Compared with existing technologies, the technical solution of this invention simplifies the structure of the spherical flat steel profile, reduces data processing, and improves the efficiency of obtaining model data for the spherical flat steel. Attached Figure Description

[0046] Figure 1 This is a flowchart illustrating an embodiment of a method for acquiring data of a ball flat steel model for a mid-assembly robot provided by the present invention;

[0047] Figure 2 This is a schematic diagram of an embodiment of a spherical flat steel model data acquisition device for a mid-assembly robot provided by the present invention;

[0048] Figure 3 This is a schematic diagram of a web plate part according to an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of a panel component according to an embodiment of the present invention. Detailed Implementation

[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example 1

[0052] See Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of a method for acquiring data from a bulb flat steel model for a mid-assembly robot provided by the present invention. Figure 1 As shown, the method includes steps 101-106, as detailed below:

[0053] Step 101: Decompose the spherical flat steel profile part into web part and face part, and obtain the shape and size data of the web part, wherein the shape and size data of the web part includes the thickness, length and width of the web part.

[0054] In one embodiment, the assembly 3D model data is obtained from the SPD 3D modeling system. Since all parts in the assembly 3D model are composed of plates and profiles, the profile names of the bulb flat steel profiles can be extracted sequentially from the assembly 3D model data, and the profile data corresponding to the profile names can be obtained. The profile data includes the profile specifications, profile length, profile thickness, and profile material.

[0055] In one embodiment, since bulb flat steel is a type of special steel, consisting of a flat plate and a spherical head; except for the difference between the bulb head and the plate parts, the other properties of bulb flat steel profiles are the same as those of plate parts. Therefore, for bulb flat steel, the plate part model data of other plate parts except the bulb head can be recognized by the assembly robot.

[0056] In one embodiment, the bulb flat steel profile part is decomposed into a web part and a face part based on the profile part name and the profile part data; specifically, the bulb flat steel profile part is decomposed to obtain the web part, such as... Figure 3 As shown, Figure 3 This is a schematic diagram of the web plate part; by dissecting the top surface of the ball head of the spherical flat steel profile part, the panel part is obtained, such as... Figure 4 As shown, Figure 4 This is a schematic diagram of a panel component; according to the name of the profile component, a suffix is ​​added to the name of the profile component to name the web component and the panel component, and to distinguish the web component and the panel component.

[0057] In one embodiment, based on the web part and the panel part, the profile part data is decomposed into web part shape and size data and panel part shape and size data. Specifically, the relevant part data of the web is extracted from the profile part data, and the two relevant web part data are set as the web part data; the relevant data of the ball head is extracted from the profile part data, and the ball head relevant data is set as the panel part data; the part size relevant data is extracted from the web part data to obtain the web part shape and size data; the part size relevant data is extracted from the panel part data to obtain the panel part shape and size data.

[0058] In one embodiment, the shape and size data of the web part in the bulb flat steel profile part are obtained, wherein the shape and size data of the web part includes the thickness, length and width of the web part.

[0059] Step 102: Obtain the panel part shape and size data, wherein the panel part shape and size data includes the panel part width, panel part length and panel part thickness.

[0060] In one embodiment, since the panel part shape and size data corresponds to the relevant data of the irregular ball head of the bulb flat steel, in this embodiment, the maximum ball head width is obtained and used as the width of the panel part. At the same time, the maximum distance from the maximum ball head width to the panel surface, i.e. to the top surface of the ball head, is obtained and used as the thickness of the panel part. The length of the panel part can be directly obtained from the panel part shape and size data.

[0061] Step 103: Based on the length and width of the web part, extract the vertex coordinates of the web part to obtain the coordinate information of the web part.

[0062] In one embodiment, since the bulb flat steel profile part is a three-dimensional model and belongs to the parts in three-dimensional space, the web part in the bulb flat steel profile part is also a three-dimensional model. Therefore, under the reference coordinates of ship section modeling, the parameter data such as the length and width of the web part can be converted into coordinate points of the base point based on the reference coordinates.

[0063] In one embodiment, a closed line graphic of the web part is generated based on the length and width of the web part, and the vertex coordinates of the closed line graphic of the web part are extracted to obtain the coordinates of all vertices of the closed line graphic of the web part.

[0064] Specifically, based on the length and width of the web part, a closed line graphic of the web part is generated. Each edge in the closed line graphic of the web part is obtained, and the coordinates of the first and last endpoints of each edge are extracted to obtain the coordinates of the first and last endpoints of each edge. Due to the closed nature of the closed line graphic of the web part, each edge has a front-to-back correspondence. Therefore, the same endpoint coordinates will be recorded twice.

[0065] Specifically, all extracted endpoint coordinates are obtained, and duplicate endpoint coordinates are deleted. That is, for two duplicate endpoint coordinates, only one is kept, and the other is deleted. All the retained endpoint coordinates are used as the coordinates of all vertices of the closed line graphic of the web part.

[0066] In one embodiment, all the vertex coordinates are sorted in a preset order to obtain the web plate part coordinate information, wherein the web plate part coordinate information includes the vertex coordinates of the first web plate part, the vertex coordinates of the second web plate part, the vertex coordinates of the third web plate part, and the vertex coordinates of the fourth web plate part.

[0067] Specifically, the coordinates of all vertices are sorted in the order of bottom left – top left – top right – bottom right, and the coordinates of the first web plate part, the second web plate part, the third web plate part, and the fourth web plate part are obtained in sequence according to the sorting.

[0068] Step 104: Extract the vertex coordinates of the panel part based on the length and width of the panel part to obtain the coordinate information of the panel part.

[0069] In one embodiment, since the bulb flat steel profile part is a three-dimensional model and belongs to the parts in three-dimensional space, the panel part in the bulb flat steel profile part is also a three-dimensional model. Therefore, under the reference coordinates of ship section modeling, the parameter data such as the length and width of the panel part can be converted into coordinate points of the base point based on the reference coordinates.

[0070] In one embodiment, a closed line graphic of the web part of the panel part is generated based on the length of the panel part and the width of the web part, and vertex coordinates are extracted from the closed line graphic of the panel part to obtain the coordinates of all vertices of the closed line graphic of the web part.

[0071] Specifically, based on the length and width of the panel component, a closed line graphic of the panel component is generated. Each edge in the closed line graphic of the panel component is obtained, and the coordinates of the first and last endpoints of each edge are extracted to obtain the coordinates of the first and last endpoints of each edge. Due to the closed nature of the closed line graphic of the panel component, each edge has a front-to-back correspondence. Therefore, the same endpoint coordinates will be recorded twice.

[0072] Specifically, all extracted endpoint coordinates are obtained, and duplicate endpoint coordinates are deleted. That is, for two duplicate endpoint coordinates, only one is kept, and the other is deleted. All the retained endpoint coordinates are used as the vertex coordinates of the closed line graphic of the panel part.

[0073] In one embodiment, all vertex coordinates are sorted in a preset order to obtain panel component coordinate information, wherein the panel component coordinate information includes the vertex coordinates of the first panel component, the vertex coordinates of the second panel component, the vertex coordinates of the third panel component, and the vertex coordinates of the fourth panel component.

[0074] Specifically, the coordinates of all vertices are sorted in the order of bottom left – top left – top right – bottom right, and the coordinates of the vertices of the first panel part, the second panel part, the third web part, and the fourth panel part are obtained in sequence according to the sorting.

[0075] Step 105: Adjust the thickness of the web part and the thickness of the panel part according to the preset part stretching direction to obtain the thickness of the first web part and the thickness of the first panel part.

[0076] In one embodiment, although the thickness values ​​of the web plate component and the panel component are known, the assembly robot can only read the component thickness based on these values, but cannot know its specific thickness direction. This can easily lead to the robot being unable to stretch the component thickness or stretching the component thickness direction incorrectly when reconstructing the component model. Therefore, in this embodiment, the component stretching direction is preset, and the representation method of the web plate component thickness and the panel component thickness is adjusted based on the preset component stretching direction. In the future, the assembly robot can directly determine the component thickness and the corresponding stretching direction based on the read component thickness values.

[0077] In one embodiment, the part types of the web plate part and the panel part are obtained, wherein the part types include horizontal parts, longitudinal parts and transverse parts.

[0078] In one embodiment, when the web plate part or the panel part is a horizontal part, the orientation of the web plate part or the panel part is obtained. When the orientation of the part is horizontal and facing upward, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation of the part is horizontal and facing downward, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thereby obtaining the first thickness of the web plate part and the first thickness of the panel part.

[0079] In one embodiment, when the web plate part or the panel part is a longitudinal part, the orientation of the web plate part or the panel part is obtained. When the orientation is starboard, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation is port, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thereby obtaining the first web plate part thickness and the first panel part thickness.

[0080] In one embodiment, when the web plate part or the panel part is a transverse part, the orientation of the web plate part or the panel part is obtained. When the orientation is towards the bow, the thickness of the web plate part or the thickness of the panel part is set to a positive value. When the orientation is towards the stern, the thickness of the web plate part or the thickness of the panel part is set to a negative value, thus obtaining the first web plate part thickness and the first panel part thickness.

[0081] Step 106: Integrate the coordinate information of the web plate part and the thickness of the first web plate part to obtain the web plate part model data; integrate the coordinate information of the panel part and the thickness of the first panel part to obtain the panel part model data; and obtain the bulb flat steel model data based on the web plate part model data and the panel part model data.

[0082] In one embodiment, for the web plate part, since the coordinate information of the web plate part includes the vertex coordinates of the first web plate part, the vertex coordinates of the second web plate part, the vertex coordinates of the third web plate part, and the vertex coordinates of the fourth web plate part, the corresponding four vertex coordinates are extracted sequentially based on the spatial position of the part. These four vertex coordinates are actually the web plate surface information. Combined with the thickness of the first web plate part above, the web plate part model data that the assembly robot can recognize can be obtained.

[0083] In one embodiment, for panel parts, since the coordinate information of the panel parts includes the vertex coordinates of the first panel part, the vertex coordinates of the second panel part, the vertex coordinates of the third panel part, and the vertex coordinates of the fourth panel part, the four vertices are extracted sequentially based on the spatial position of the parts. These four vertex coordinates are actually the panel surface information. Combined with the thickness of the first panel part above, the panel part model data that the assembly robot can recognize can be obtained.

[0084] In one embodiment, the spherical flat steel profile part is simplified by decomposing it into two plate parts: a web part and a face part. Both the web and face parts are flat plate parts with boundaries composed entirely of straight line segments. This simplifies the process of extracting the boundary data of the parts. Compared to the original spherical head structure, this reduces the data processing required for the spherical head part and improves the efficiency of converting the 3D model of the profile from the 3D design system into a file that can be recognized by the robot. By directly extracting the part model data corresponding to the web and face parts, the 3D model of the spherical flat steel profile can be converted from the 3D design system into a file that can be recognized by the robot.

[0085] Example 2

[0086] See Figure 2 , Figure 2 This is a schematic diagram of an embodiment of a method for acquiring data of a bulb flat steel model for a mid-assembly robot provided by the present invention. Figure 2 As shown, the device includes a web component parameter acquisition module 201, a panel component parameter acquisition module 202, a web component coordinate information acquisition module 203, a panel component coordinate information acquisition module 204, a component thickness adjustment module 205, and a bulb flat steel model data integration module 206, as detailed below:

[0087] The web component parameter acquisition module 201 is used to decompose the spherical flat steel profile component into a web component and a face plate component, and to acquire the web component shape and size data, wherein the web component shape and size data includes the web component thickness, web component length and web component width.

[0088] The panel component parameter acquisition module 202 is used to acquire the panel component shape and size data, wherein the panel component shape and size data includes the panel component width, panel component length and panel component thickness.

[0089] The web plate component coordinate information acquisition module 203 is used to extract the vertex coordinates of the web plate component based on the length and width of the web plate component to obtain the web plate component coordinate information.

[0090] The panel component coordinate information acquisition module 204 is used to extract the vertex coordinates of the panel component based on the length and width of the panel component to obtain the panel component coordinate information.

[0091] The component thickness adjustment module 205 is used to adjust the thickness of the web component and the thickness of the panel component according to the preset component stretching direction, so as to obtain the thickness of the first web component and the thickness of the first panel component.

[0092] The bulb flat steel model data integration module 206 is used to integrate the coordinate information of the web part and the thickness of the first web part to obtain web part model data, integrate the coordinate information of the panel part and the thickness of the first panel part to obtain panel part model data, and obtain bulb flat steel model data based on the web part model data and the panel part model data.

[0093] In one embodiment, the web component parameter acquisition module 201 is used to decompose the spherical flat steel profile component into a web component and a face plate component, specifically including:

[0094] Obtain the three-dimensional model data of the assembly, extract the profile names of the bulb flat steel profile parts sequentially from the three-dimensional model data of the assembly, and obtain the profile part data corresponding to the profile part names; according to the profile part names and the profile part data, decompose the bulb flat steel profile parts into web parts and face parts, and according to the web parts and the face parts, decompose the profile part data into web part shape and size data and face part shape and size data.

[0095] In one embodiment, the part thickness adjustment module 205 is used to adjust the thickness of the web part and the thickness of the panel part according to a preset part stretching direction to obtain a first web part thickness and a first panel part thickness. Specifically, this includes: obtaining the part type of the web part and the panel part, wherein the part type includes horizontal parts, longitudinal parts, and transverse parts; when the part type of the web part or the panel part is horizontal, obtaining the part orientation of the web part or the panel part; when the part orientation is horizontal upwards, setting the thickness of the web part or the panel part to a positive value; when the part orientation is horizontal downwards, setting the thickness of the web part or the panel part to a negative value, thus obtaining the first web part thickness and the first panel part thickness; when the... When the web plate component or the panel component is a longitudinal component, the orientation of the web plate component or the panel component is obtained. When the orientation is towards the starboard side, the thickness of the web plate component or the panel component is set to a positive value. When the orientation is towards the port side, the thickness of the web plate component or the panel component is set to a negative value, thus obtaining the first web plate component thickness and the first panel component thickness. When the web plate component or the panel component is a transverse component, the orientation of the web plate component or the panel component is obtained. When the orientation is towards the bow, the thickness of the web plate component or the panel component is set to a positive value. When the orientation is towards the stern, the thickness of the web plate component or the panel component is set to a negative value, thus obtaining the first web plate component thickness and the first panel component thickness.

[0096] In one embodiment, the web part coordinate information acquisition module 203 is used to extract vertex coordinates of the web part according to the length and width of the web part to obtain web part coordinate information. Specifically, it includes: generating a closed line graphic of the web part according to the length and width of the web part; extracting vertex coordinates of the closed line graphic of the web part to obtain all vertex coordinates of the closed line graphic of the web part; and sorting all vertex coordinates in a preset order to obtain web part coordinate information, wherein the web part coordinate information includes the vertex coordinates of the first web part, the vertex coordinates of the second web part, the vertex coordinates of the third web part, and the vertex coordinates of the fourth web part.

[0097] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0098] It should be noted that the above-described embodiment of the bulb flat steel model data acquisition device for the assembly robot is merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0099] Based on the above-described embodiments of the method for acquiring bulb flat steel model data for a mid-assembly robot, another embodiment of the present invention provides a terminal device for acquiring bulb flat steel model data for a mid-assembly robot. This terminal device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the method for acquiring bulb flat steel model data for a mid-assembly robot according to any embodiment of the present invention.

[0100] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the data acquisition terminal device for assembling a robot.

[0101] The terminal device for acquiring the bulb flat steel model data for the mid-assembly robot can be a desktop computer, laptop, handheld computer, or cloud server, etc. This terminal device may include, but is not limited to, a processor and a memory.

[0102] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. This processor is the control center of the ball-and-flat steel model data acquisition terminal equipment for the mid-assembly robot, connecting all parts of the terminal equipment via various interfaces and lines.

[0103] The memory can be used to store the computer programs and / or modules. The processor, by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory, realizes various functions of the ball-flat steel model data acquisition terminal device for the assembly robot. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc.; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0104] Based on the above embodiments of the method for acquiring bulb flat steel model data for a mid-assembly robot, another embodiment of the present invention provides a storage medium, the storage medium including a stored computer program, wherein, when the computer program is running, the device where the storage medium is located executes the method for acquiring bulb flat steel model data for a mid-assembly robot according to any embodiment of the present invention.

[0105] In this embodiment, the storage medium is a computer-readable storage medium, and the computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0106] In summary, the present invention provides a method and apparatus for acquiring spherical flat steel model data for mid-assembly robots. This method involves decomposing the spherical flat steel profile into web and panel parts, acquiring and extracting the vertex coordinates of the web and panel parts based on their corresponding shape and size data, setting the stretching direction, and adjusting the thicknesses of the web and panel parts to obtain the first web and panel part thicknesses. Subsequently, by integrating the vertex coordinates of the web and the first web part thickness, and integrating the vertex coordinates of the panel part and the first panel part thickness, the spherical flat steel model data is obtained. Compared with existing technologies, the technical solution of the present invention simplifies the structure of the spherical flat steel profile, reduces data processing, and improves the efficiency of acquiring spherical flat steel model data.

[0107] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A method for acquiring data of a bulb flat steel model for a mid-assembly robot, characterized in that, include: The spherical flat steel profile part is decomposed into web part and face part, and the shape and size data of the web part are obtained, wherein the shape and size data of the web part includes the thickness, length and width of the web part; Obtain the panel part shape and size data, wherein the panel part shape and size data includes the panel part width, panel part length and panel part thickness; Based on the length and width of the web part, the vertex coordinates of the web part are extracted to obtain the coordinate information of the web part; Based on the length and width of the panel component, the vertex coordinates of the panel component are extracted to obtain the coordinate information of the panel component; According to a preset part stretching direction, the thickness of the web part and the thickness of the panel part are adjusted to obtain the first web part thickness and the first panel part thickness; specifically, this includes: obtaining the part type of the web part and the panel part, wherein the part type includes horizontal parts, longitudinal parts, and transverse parts; when the part type of the web part or the panel part is a horizontal part, obtaining the part orientation of the web part or the panel part; when the part orientation is horizontal upward, setting the thickness of the web part or the panel part to a positive value; when the part orientation is horizontal downward, setting the thickness of the web part or the panel part to a negative value, thus obtaining the first web part thickness and the first panel part thickness; when the web part or the panel part... When the part type is a longitudinal part, the orientation of the web part or the panel part is obtained. When the part orientation is towards the starboard side, the thickness of the web part or the panel part is set to a positive value. When the part orientation is towards the port side, the thickness of the web part or the panel part is set to a negative value, thus obtaining the thickness of the first web part and the thickness of the first panel part. When the part type of the web part or the panel part is a transverse part, the orientation of the web part or the panel part is obtained. When the part orientation is towards the bow, the thickness of the web part or the panel part is set to a positive value. When the part orientation is towards the stern, the thickness of the web part or the panel part is set to a negative value, thus obtaining the thickness of the first web part and the thickness of the first panel part. By integrating the coordinate information of the web plate component and the thickness of the first web plate component, web plate component model data is obtained. By integrating the coordinate information of the panel component and the thickness of the first panel component, panel component model data is obtained. Based on the web plate component model data and the panel component model data, bulb flat steel model data is obtained.

2. The method for acquiring ball flat steel model data for a mid-assembly robot as described in claim 1, characterized in that, The spherical flat steel profile parts are broken down into web parts and face parts, specifically including: Obtain the three-dimensional model data of the assembly, extract the profile part names of the bulb flat steel profile parts from the three-dimensional model data of the assembly, and obtain the profile part data corresponding to the profile part names; Based on the profile part name and the profile part data, the bulb flat steel profile part is decomposed into a web part and a panel part, and based on the web part and the panel part, the profile part data is decomposed into web part shape and size data and panel part shape and size data.

3. The method for acquiring ball flat steel model data for a mid-assembly robot as described in claim 1, characterized in that, Based on the length and width of the web plate component, vertex coordinates are extracted from the web plate component to obtain its coordinate information, specifically including: Based on the length and width of the web part, a closed line graphic of the web part is generated. The vertex coordinates of the closed line graphic of the web part are extracted to obtain the coordinates of all vertices of the closed line graphic of the web part. All vertex coordinates are sorted in a preset order to obtain web plate part coordinate information, wherein the web plate part coordinate information includes the vertex coordinates of the first web plate part, the vertex coordinates of the second web plate part, the vertex coordinates of the third web plate part, and the vertex coordinates of the fourth web plate part.

4. A device for acquiring data of a bulb flat steel model for a mid-assembly robot, characterized in that, include: The module includes: web plate component parameter acquisition module, panel component parameter acquisition module, web plate component coordinate information acquisition module, panel component coordinate information acquisition module, component thickness adjustment module, and bulb flat steel model data integration module. The web plate component parameter acquisition module is used to decompose the spherical flat steel profile component into a web plate component and a face plate component, and to acquire the web plate component shape and size data, wherein the web plate component shape and size data includes the web plate component thickness, web plate component length and web plate component width. The panel component parameter acquisition module is used to acquire the panel component shape and size data, wherein the panel component shape and size data includes the panel component width, panel component length and panel component thickness. The web plate component coordinate information acquisition module is used to extract the vertex coordinates of the web plate component based on the length and width of the web plate component to obtain the web plate component coordinate information. The panel component coordinate information acquisition module is used to extract the vertex coordinates of the panel component based on the length and width of the panel component to obtain the panel component coordinate information. The component thickness adjustment module is used to adjust the thickness of the web component and the panel component according to a preset component stretching direction to obtain a first web component thickness and a first panel component thickness. Specifically, it includes: acquiring the component type of the web component and the panel component, wherein the component type includes horizontal components, longitudinal components, and transverse components; when the component type of the web component or the panel component is horizontal, acquiring the component orientation of the web component or the panel component; when the component orientation is horizontal upwards, setting the web component thickness or the panel component thickness to a positive value; when the component orientation is horizontal downwards, setting the web component thickness or the panel component thickness to a negative value to obtain the first web component thickness and the first panel component thickness; when the web component... When the panel component is a longitudinal component, the orientation of the web component or the panel component is obtained. When the orientation is towards the starboard side, the thickness of the web component or the panel component is set to a positive value. When the orientation is towards the port side, the thickness of the web component or the panel component is set to a negative value, thus obtaining the first web component thickness and the first panel component thickness. When the web component or the panel component is a transverse component, the orientation of the web component or the panel component is obtained. When the orientation is towards the bow, the thickness of the web component or the panel component is set to a positive value. When the orientation is towards the stern, the thickness of the web component or the panel component is set to a negative value, thus obtaining the first web component thickness and the first panel component thickness. The bulb flat steel model data integration module is used to integrate the coordinate information of the web part and the thickness of the first web part to obtain web part model data, integrate the coordinate information of the panel part and the thickness of the first panel part to obtain panel part model data, and obtain bulb flat steel model data based on the web part model data and the panel part model data.

5. The device for acquiring data of a bulb flat steel model for a mid-assembly robot as described in claim 4, characterized in that, The web component parameter acquisition module is used to decompose the spherical flat steel profile component into web components and face plate components; Obtain the three-dimensional model data of the assembly, extract the profile part names of the bulb flat steel profile parts from the three-dimensional model data of the assembly, and obtain the profile part data corresponding to the profile part names; Based on the profile part name and the profile part data, the bulb flat steel profile part is decomposed into a web part and a panel part, and based on the web part and the panel part, the profile part data is decomposed into web part shape and size data and panel part shape and size data.

6. The device for acquiring data of a bulb flat steel model for a mid-assembly robot as described in claim 4, characterized in that, The web plate component coordinate information acquisition module is used to extract the vertex coordinates of the web plate component based on its length and width to obtain its coordinate information, specifically including: Based on the length and width of the web part, a closed line graphic of the web part is generated. The vertex coordinates of the closed line graphic of the web part are extracted to obtain the coordinates of all vertices of the closed line graphic of the web part. All vertex coordinates are sorted in a preset order to obtain web plate part coordinate information, wherein the web plate part coordinate information includes the vertex coordinates of the first web plate part, the vertex coordinates of the second web plate part, the vertex coordinates of the third web plate part, and the vertex coordinates of the fourth web plate part.

7. A terminal device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method for acquiring ball flat steel model data for a mid-assembly robot as described in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the method for acquiring ball flat steel model data for a mid-assembly robot as described in any one of claims 1 to 3.

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