Self-positioning method, self-positioning device and welding system of crawling welding robot

Abstract

The present application provides a self-positioning method, a self-positioning device and a welding system for a crawling welding robot. The self-positioning method includes: at least controlling the crawling welding robot to retreat according to the target retreat information until the target camera captures the target laser information of the first laser; adjusting the target retreat information based on the target laser information and the initial laser information to obtain the adjusted target retreat information, and controlling the crawling welding robot to continue retreating according to the adjusted target retreat information; controlling the target camera to continue shooting, obtaining the target laser information again, and repeating the second control step at least once until the difference between the target laser information and the initial laser information is within a predetermined range, and determining that the crawling welding robot retreats to the initial welding position, which solves the problem of high cost and complex installation of the initial welding position self-positioning of the crawling welding robot in the multi-layer and multi-pass welding scene in the prior art.

Description

Technical Field

[0001] The present application relates to the field of welding, and in particular to a self-positioning method, a self-positioning device, a computer-readable storage medium, a processor and a welding system of a crawling welding robot. Background Art

[0002] In the welding process, multi-layer and multi-pass welding is often required for deeper and wider grooves. In the process of welding with a welding robot, after each welding pass is completed, the welding robot needs to return to the initial position or the target position related to the initial position, and then perform the next welding pass until all welding is completed. In other words, for multi-layer and multi-pass welding, the welding robot needs to have the ability to automatically and accurately return to the initial position after each welding pass is completed. For welding robots that use a robotic arm or a robotic arm combined with a gantry, since they have a definite and unchanging body coordinate system, they can control the welding gun to accurately reach the stored initial position. However, for crawling welding robots, since their body coordinate system is in a moving state, they need to use additional information to complete the positioning of the global coordinates, and then accurately return to the initial position.

[0003] In the prior art, the following methods are usually used for processing:

[0004] 1. Install external global sensors;

[0005] 2. Use the crawling welding robot’s own path and posture sensor;

[0006] 3. Mechanical positioning.

[0007] The above methods all have the problems of high cost, low precision, complex installation or low stability. Summary of the invention

[0008] The main purpose of the present application is to provide a self-positioning method, a self-positioning device, a computer-readable storage medium, a processor and a welding system for a crawling welding robot, so as to solve the problems of high cost and complex installation of the initial welding position self-positioning of the crawling welding robot in multi-layer and multi-pass welding scenarios in the prior art.

[0009] According to one aspect of an embodiment of the present invention, a self-positioning method for a crawling welding robot is provided, the crawling welding robot includes a 3D measuring instrument, the 3D measuring instrument includes a target camera, and the self-positioning method includes: a first control step, at least controlling the crawling welding robot to retract according to target retraction information until the target camera captures target laser information of a first laser, the target retraction information includes a target retraction speed and a target retraction posture angle, and the target laser information is laser information projected by the first laser at an initial welding position; a second control step, based on the target laser information and the initial laser information, adjusting the target retraction information to obtain the adjusted target retraction information, and controlling the crawling welding robot to continue to retract according to the adjusted target retraction information; a repeating step, controlling the target camera to continue shooting, obtaining the target laser information again, and repeating the second control step at least once, until the difference between the target laser information and the initial laser information is within a predetermined range, and determining that the crawling welding robot retracts to the initial welding position.

[0010] Optionally, the crawling welding robot also includes an odometer, which at least controls the crawling welding robot to retract according to target retract information until the target camera captures the target laser information of the first laser, including: controlling the crawling welding robot to retract according to the target retract information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser.

[0011] Optionally, the crawling welding robot is controlled to retract according to the target retract information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser, including: controlling the crawling welding robot to retract according to the target retract information and the target distance recorded by the odometer until it reaches a predetermined position, wherein the predetermined position is a position between the initial welding position and the end welding position; controlling the target camera to start working, and controlling the crawling welding robot to continue to retract according to the adjusted target retract information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser.

[0012] Optionally, the 3D measuring instrument also includes a second laser. Before at least controlling the crawling welding robot to retract according to the target retraction information until the target camera captures the target laser information of the first laser, the self-positioning method also includes: controlling the second laser to stop working.

[0013] Optionally, before at least controlling the crawling welding robot to retract according to the target retraction information until the target camera captures the target laser information of the first laser, the self-positioning method also includes: controlling the crawling welding robot to weld from the initial welding position to the end welding position according to initial welding information, and the initial welding information includes an initial welding speed and an initial welding posture angle.

[0014] Optionally, the crawling welding robot also includes an odometer, and the 3D measuring instrument also includes a second laser. Controlling the crawling welding robot to weld from the initial welding position to the end welding position according to the initial welding information includes: in the process of controlling the crawling welding robot to weld from the initial welding position to the end welding position according to the initial welding information, controlling the first laser to stop working, controlling the second laser to start working, and controlling the odometer to start recording to obtain the target distance.

[0015] According to another aspect of an embodiment of the present invention, a self-positioning device of a crawling welding robot is further provided, the crawling welding robot comprising a 3D measuring instrument, the 3D measuring instrument comprising a target camera, the self-positioning device comprising: a first control unit, used in a first control step, at least controlling the crawling welding robot to retract according to target retraction information until the target camera captures target laser information of a first laser, the target retraction information comprising a target retraction speed and a target retraction posture angle, the target laser information being laser information projected by the first laser at an initial welding position; a second control unit, used in a second control step, adjusting the target retraction information based on the target laser information and the initial laser information to obtain the adjusted target retraction information, and controlling the crawling welding robot to continue to retract according to the adjusted target retraction information; a repeating unit, used in a repeating step, controlling the target camera to continue shooting, obtaining the target laser information again, and repeating the second control step at least once, until the difference between the target laser information and the initial laser information is within a predetermined range, and determining that the crawling welding robot retracts to the initial welding position.

[0016] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the self-positioning methods of the crawling welding robot.

[0017] According to another aspect of the embodiments of the present invention, a processor is provided, wherein the processor is used to run a program, wherein when the program is run, any one of the self-positioning methods of the crawling welding robot is executed.

[0018] According to one aspect of an embodiment of the present invention, there is also provided a welding system, comprising: a crawling welding robot, the crawling welding robot being used to execute any one of the self-positioning methods of the crawling welding robot; and a first laser, communicating with the crawling welding robot.

[0019] In an embodiment of the present invention, in the self-positioning method of the crawling welding robot, first, the crawling welding robot is controlled to retreat according to the target retreat speed and the target retreat posture angle, until the target camera of the crawling welding robot captures the target laser information of the first laser; then, based on the target laser information and the initial laser information, the target retreat information is adjusted to obtain the adjusted target retreat information, and the crawling welding robot is controlled to continue retreating according to the adjusted target retreat information; finally, in the process of the crawling welding robot continuing to retreat according to the adjusted target retreat information, the target camera is controlled to continue shooting, and based on the target laser information and the initial laser information obtained by shooting again, the target retreat information is continuously adjusted again until the difference between the target laser information and the initial laser information is within a predetermined range, and it is determined that the crawling welding robot retreats to the initial welding position. In this solution, it is only necessary to use the target camera of the crawling welding robot to capture the target laser information, and based on the target laser information and the initial laser information, continuously and dynamically adjust the target retraction information, and control the crawling welding robot to continue to retract according to the adjusted target retraction information, thereby realizing a relatively simple control of the crawling welding robot to self-position. This not only ensures that the crawling welding robot can retract to the initial welding position more accurately, but also solves the problem of high cost and complex installation of the crawling welding robot's initial welding position self-positioning in multi-layer and multi-pass welding scenarios in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 A schematic diagram showing the positions of a crawling welding robot and a first laser according to an embodiment of the present application is shown;

[0022] Figure 2 A flow chart showing a self-positioning method of a crawling welding robot according to an embodiment of the present application is shown;

[0023] Figure 3 A schematic diagram of the architecture of a self-positioning device of a crawling welding robot according to an embodiment of the present application is shown.

[0024] The above drawings include the following reference numerals:

[0025] 100. Crawling welding robot; 101. First laser; 102. Initial laser information; 103. Welding seam; 104. Odometer; 105. 3D measuring instrument; 106. Target camera. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] As mentioned in the background technology, in the prior art multi-layer and multi-pass welding scenarios, the cost of self-positioning of the initial welding position of the crawling welding robot is high and the installation is relatively complicated. In order to solve the above problems, a typical embodiment of the present application provides a self-positioning method, a self-positioning device, a computer-readable storage medium, a processor and a welding system for a crawling welding robot.

[0030] According to an embodiment of the present application, a self-positioning method for a crawling welding robot is provided.

[0031] like Figure 1 As shown, the crawling welding robot 100 includes a 3D measuring instrument 105 , and the 3D measuring instrument 105 includes a target camera 106 . Figure 2 1 is a flow chart of a self-positioning method of a crawling welding robot according to an embodiment of the present application. Figure 2 As shown, the self-positioning method comprises the following steps:

[0032] Step S201, a first control step, at least controlling the crawling welding robot to retreat according to the target retreat information until the target camera captures the target laser information of the first laser, the target retreat information including the target retreat speed and the target retreat posture angle, the target laser information being the laser information projected by the first laser at the initial welding position;

[0033] Step S202, a second control step, adjusting the target backoff information based on the target laser information and the initial laser information to obtain the adjusted target backoff information, and controlling the crawling welding robot to continue backoff according to the adjusted target backoff information;

[0034] Step S203, repeat the steps, control the target camera to continue shooting, obtain the target laser information again, and repeat the second control step at least once until the difference between the target laser information and the initial laser information is within a predetermined range, and determine that the crawling welding robot returns to the initial welding position.

[0035] In the above-mentioned self-positioning method of the crawling welding robot, first, the crawling welding robot is controlled to retreat according to the target retraction speed and the target retraction posture angle until the target camera of the crawling welding robot captures the target laser information of the first laser; then, based on the target laser information and the initial laser information, the target retraction information is adjusted to obtain the adjusted target retraction information, and the crawling welding robot is controlled to continue to retreat according to the adjusted target retraction information; finally, in the process of the crawling welding robot continuing to retreat according to the adjusted target retraction information, the target camera is controlled to continue shooting, and based on the target laser information and the initial laser information obtained by shooting again, the target retraction information is continuously adjusted again until the difference between the target laser information and the initial laser information is within a predetermined range, and it is determined that the crawling welding robot has retreated to the initial welding position. In the present scheme, it is only necessary to use the target camera of the crawling welding robot to capture the target laser information, and based on the target laser information and the initial laser information, continuously and dynamically adjust the target retraction information, and control the crawling welding robot to continue to retract according to the adjusted target retraction information, thereby realizing a relatively simple control of the crawling welding robot to self-position. This not only ensures that the crawling welding robot of the present application can retract to the initial welding position more accurately, but also solves the problem of high cost and complex installation of the crawling welding robot's initial welding position self-positioning in multi-layer and multi-pass welding scenarios in the prior art.

[0036] Specifically, Figure 1 As shown, the first laser 101 can be located near the initial welding position. Of course, the first laser 101 is not limited to being located Figure 1The position near the initial welding position shown in the figure can be at any suitable position, as long as the laser line projected by the first laser 101 is located at the initial welding position. In actual application, the first laser 101 can be a line laser or a point laser, that is, the specific type of the first laser is not limited in this application.

[0037] In a specific embodiment of the present application, Figure 1 As shown, when the first laser 101 is a line laser, the initial laser information 102 is the information of the center line of the laser line obtained by projecting the first laser 101 at the initial welding position. In the actual application process, when the first laser is a point laser, the initial laser information can be the position information of the laser point. The laser point can be the information of the laser point at the initial welding position when the first laser is perpendicular to the initial welding position and works in the direction of the initial welding position. In other words, the initial laser information of the present application is the laser information of the first laser at the initial welding position captured by the target camera of the crawling welding robot before welding, and is used to mark the position information of the crawling welding robot at the initial welding position. The target laser information is the laser information of the first laser at the initial welding position captured by the target camera of the crawling welding robot during the retreat of the crawling welding robot, and is used to mark the current position information of the crawling welding robot during the retreat of the crawling welding robot.

[0038] Specifically, in the above embodiment, the above predetermined range can be flexibly adjusted according to the actual welding situation. In the present application, the size of the above predetermined range is not limited.

[0039] Specifically, in the present application, the target retraction information is continuously adjusted based on the target laser information and the initial laser information, and the crawling welding robot is controlled to continuously retract according to the adjusted target retraction information until the crawling welding robot reaches the final welding position. In this way, in the process of relatively simple control of the crawling welding robot to retract, the retraction of the crawling welding robot can also be ensured to be relatively stable and accurate.

[0040] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0041] In order to more simply control the welding robot to retract, in one embodiment of the present application, the above-mentioned crawling welding robot also includes an odometer, which at least controls the above-mentioned crawling welding robot to retract according to the target retract information until the above-mentioned target camera captures the target laser information of the first laser, including: controlling the above-mentioned crawling welding robot to retract according to the above-mentioned target retract information and the target distance recorded by the above-mentioned odometer, until the above-mentioned target camera captures the above-mentioned target laser information of the above-mentioned first laser.

[0042] In a specific embodiment of the present application, when the weld is a straight weld, the crawling welding robot can retreat in a straight line according to the target distance recorded by the odometer; when the weld is a curved weld, the crawling welding robot can retreat according to the target distance recorded by the odometer and along the curved weld.

[0043] In another embodiment of the present application, the crawling welding robot is controlled to retreat according to the target retreat information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser, including: controlling the crawling welding robot to retreat according to the target retreat information and the target distance recorded by the odometer until reaching a predetermined position, wherein the predetermined position is a position between the initial welding position and the end point welding position; controlling the target camera to start working, and controlling the crawling welding robot to continue retreating according to the adjusted target retreat information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser. Specifically, in this solution, when the crawling welding robot starts to retreat, the crawling welding robot is controlled to retreat to the predetermined position according to the target retreat information, thereby ensuring that the crawling welding robot has a high retreat efficiency and can retreat to the predetermined position relatively quickly. After the crawling welding robot retracts to the predetermined position, the target retraction information is adjusted once to obtain the adjusted target retraction information, and then the crawling welding robot is controlled to retract according to the adjusted target retraction information until the target camera captures the target laser information of the first laser, thereby ensuring that the crawling welding robot can retract relatively stably.

[0044] In the actual application process, the 3D measuring instrument includes a second laser, that is, the second laser is a built-in laser of the crawling welding robot, that is, the second laser is used for the crawling welding robot to identify the weld during the process of welding from the initial welding position to the terminal welding position. In the process of the crawling welding robot retreating, in order to avoid the influence of the second laser on the retreat of the crawling welding robot, and further ensure that the crawling welding robot is relatively stable during the retreat process, in another embodiment of the present application, the above-mentioned 3D measuring instrument also includes a second laser, and at least controlling the above-mentioned crawling welding robot to retreat according to the target retreat information until the above-mentioned target camera captures the target laser information of the first laser, the above-mentioned self-positioning method also includes: controlling the above-mentioned second laser to stop working.

[0045] In another embodiment of the present application, before at least controlling the crawling welding robot to retract according to the target retraction information until the target camera captures the target laser information of the first laser, the self-positioning method further includes: controlling the crawling welding robot to weld from the initial welding position to the terminal welding position according to the initial welding information, wherein the initial welding information includes an initial welding speed and an initial welding posture angle. In this embodiment, based on the initial welding information, the crawling welding robot is controlled to weld from the initial welding position to the terminal welding position, thereby achieving a relatively simple control of the crawling welding robot for welding, and ensuring that the crawling welding robot is relatively stable during the welding process, and ensuring a good welding effect and a high welding efficiency.

[0046] In order to further more accurately control the crawling welding robot to weld from the initial welding position to the end welding position, and to further more conveniently control the crawling welding robot to retreat from the end welding position to the initial welding position, in one embodiment of the present application, the above-mentioned crawling welding robot also includes an odometer, and the above-mentioned 3D measuring instrument also includes a second laser. The crawling welding robot is controlled to weld from the above-mentioned initial welding position to the end welding position according to the initial welding information, including: in the process of controlling the above-mentioned crawling welding robot to weld from the above-mentioned initial welding position to the above-mentioned end welding position according to the above-mentioned initial welding information, the first laser is controlled to stop working, the second laser is controlled to start working, and the odometer is controlled to start recording to obtain the target distance.

[0047] Specifically, Figure 1 As shown, for multi-layer and multi-pass welding scenarios, the present application implements a self-positioning method of the crawling welding robot 100 based on a crawling welding robot 100 with a 3D measuring instrument 105 and an odometer 104 and a first laser 101 (i.e., an external sensor). The specific steps are as follows:

[0048] Step 1: Adjust the crawling welding robot 100 and the welding gun so that the crawling welding robot 100 reaches the initial welding position ( Figure 1 not shown in the figure);

[0049] Step 2: Before the crawling welding robot 100 starts welding, the first laser 101 located near the initial welding position is controlled to work and the target camera 106 (i.e., the built-in camera) of the 3D measuring instrument is controlled to take pictures, so that the initial laser information 102 at the initial welding position can be obtained relatively easily based on the first laser 101 and the target camera 106. The controller of the crawling welding robot 100 can extract the initial laser information 102 captured by the target camera 106 to obtain the position information of the crawling welding robot 100 at the initial welding position. In other words, this solution marks the position information of the crawling welding robot 100 at the initial welding position through the initial laser information;

[0050] Step 3: After acquiring the initial laser information 102, controlling the first laser 101 to be turned off (i.e. controlling the first laser 101 to stop working);

[0051] Step 4: Control the crawling welding robot 100 to weld from the initial welding position to the final welding position based on the initial welding information. Meanwhile, during the process of the crawling welding robot 100 welding the weld 103, turn on the second laser (that is, the built-in laser of the crawling welding robot, Figure 1 (not shown in the figure), so that the crawling welding robot 100 can continuously weld along the weld 103 identified by the second laser. At the same time, when the crawling welding robot 100 is welding the weld 103, the odometer 104 is controlled to start recording, so that the forward distance (i.e., the target distance) of the crawling welding robot 100 can be obtained relatively simply;

[0052] Step 5: After the crawling welding robot 100 reaches the end welding position, the second laser is controlled to be turned off and the first laser 101 is controlled to be turned on;

[0053] Step 6: The crawling welding robot 100 retreats according to the target retreat information and the target distance recorded by the odometer. After the crawling welding robot 100 retreats to the predetermined position, the target retreat information is adjusted once. The crawling welding robot 100 is controlled again to continue retreating according to the adjusted target retreat information until the target camera 106 of the crawling welding robot 100 captures the target laser information of the first laser 101.

[0054] In the seventh step, the target retreat information is continuously adjusted again based on the initial laser information and the target laser information, that is, the target retreat speed and the target retreat posture angle of the crawling welding robot 100 are continuously adjusted based on the initial laser information and the target laser information, until the difference between the initial laser information and the target laser information captured by the target camera 106 of the crawling welding robot 100 is within a predetermined range, and it is determined that the crawling welding robot 100 retreats to the initial welding position. And the crawling welding robot 100 is controlled to stop moving.

[0055] The embodiment of the present application also provides a self-positioning device for a crawling welding robot. It should be noted that the self-positioning device for a crawling welding robot in the embodiment of the present application can be used to execute the self-positioning method for a crawling welding robot provided in the embodiment of the present application. The self-positioning device for a crawling welding robot provided in the embodiment of the present application is introduced below.

[0056] Figure 3 is a structural schematic diagram of a self-positioning device of a crawling welding robot according to an embodiment of the present application. The crawling welding robot includes a 3D measuring instrument, and the 3D measuring instrument includes a target camera, such as Figure 3 As shown, the self-positioning device comprises:

[0057] A first control unit 10 is used for a first control step, at least controlling the crawling welding robot to retreat according to the target retreat information until the target camera captures the target laser information of the first laser, the target retreat information includes a target retreat speed and a target retreat posture angle, and the target laser information is the laser information projected by the first laser at the initial welding position;

[0058] The second control unit 20 is used for the second control step, adjusting the target retraction information based on the target laser information and the initial laser information to obtain the adjusted target retraction information, and controlling the crawling welding robot to continue to retract according to the adjusted target retraction information;

[0059] The repeating unit 30 is used to repeat the steps, control the target camera to continue shooting, obtain the target laser information again, and repeat the second control step at least once until the difference between the target laser information and the initial laser information is within a predetermined range, and determine that the crawling welding robot returns to the initial welding position.

[0060] In the above-mentioned self-positioning device of the crawling welding robot, the first control unit is used to control the crawling welding robot to retreat according to the target retraction speed and the target retraction posture angle until the target camera of the crawling welding robot captures the target laser information of the first laser; the second control unit is used to adjust the target retraction information based on the target laser information and the initial laser information to obtain the adjusted target retraction information, and control the crawling welding robot to continue to retreat according to the adjusted target retraction information; the repeating unit is used to control the target camera to continue shooting while the crawling welding robot continues to retreat according to the adjusted target retraction information, and based on the target laser information and the initial laser information obtained by reshooting, continuously adjust the target retraction information again until the difference between the target laser information and the initial laser information is within a predetermined range, and determine that the crawling welding robot retreats to the initial welding position. In this solution, it is only necessary to use the target camera of the crawling welding robot to capture the target laser information, and based on the target laser information and the initial laser information, continuously and dynamically adjust the target retraction information, and control the crawling welding robot to continue to retract according to the adjusted target retraction information, thereby realizing a relatively simple control of the crawling welding robot to self-position. This not only ensures that the crawling welding robot can retract to the initial welding position more accurately, but also solves the problem of high cost and complex installation of the crawling welding robot's initial welding position self-positioning in multi-layer and multi-pass welding scenarios in the prior art.

[0061] Specifically, Figure 1 As shown, the first laser 101 can be located near the initial welding position. Of course, the first laser 101 is not limited to being located Figure 1 The position near the initial welding position shown in the figure can be at any suitable position, as long as the laser line projected by the first laser 101 is located at the initial welding position. In actual application, the first laser 101 can be a line laser or a point laser, that is, the specific type of the first laser is not limited in this application.

[0062] In a specific embodiment of the present application, Figure 1As shown, when the first laser 101 is a line laser, the initial laser information 102 is the information of the center line of the laser line obtained when the first laser 101 is at the initial welding position, perpendicular to the initial welding position, and working in the direction of the initial welding position. In the actual application process, when the first laser is a point laser, the initial laser information can be the position information of the laser point. The laser point can be the information of the laser point at the initial welding position when the first laser is perpendicular to the initial welding position and working in the direction of the initial welding position. That is to say, the initial laser information of the present application is the laser information of the first laser at the initial welding position captured by the target camera before the crawling welding robot performs welding, and is used to mark the position information of the crawling welding robot at the initial welding position. The target laser information is the laser information of the first laser at the initial welding position captured by the target camera of the crawling welding robot during the retreat of the crawling welding robot, and is used to mark the current position information of the crawling welding robot during the retreat of the crawling welding robot.

[0063] Specifically, in the above embodiment, the above predetermined range can be flexibly adjusted according to the actual welding situation. In the present application, the size of the above predetermined range is not limited.

[0064] Specifically, in the present application, the target retraction information is continuously adjusted based on the target laser information and the initial laser information, and the crawling welding robot is controlled to continuously retract according to the adjusted target retraction information until the crawling welding robot reaches the final welding position. In this way, in the process of relatively simple control of the crawling welding robot to retract, the retraction of the crawling welding robot can also be ensured to be relatively stable and accurate.

[0065] In order to more easily control the welding robot to retract, in one embodiment of the present application, the above-mentioned crawling welding robot also includes an odometer, and the above-mentioned first control unit includes a first control module, which is used to control the above-mentioned crawling welding robot to retract according to the above-mentioned target retraction information and the target distance recorded by the above-mentioned odometer until the above-mentioned target camera captures the above-mentioned target laser information of the above-mentioned first laser.

[0066] In a specific embodiment of the present application, when the weld is a straight weld, the crawling welding robot can retreat in a straight line according to the target distance recorded by the odometer; when the weld is a curved weld, the crawling welding robot can retreat according to the target distance recorded by the odometer and along the curved weld.

[0067] In another embodiment of the present application, the first control module includes a first control submodule and a second control submodule, wherein the first control submodule is used to control the crawling welding robot to retreat according to the target retreat information and the target distance recorded by the odometer until it reaches a predetermined position, and the predetermined position is a position between the initial welding position and the end welding position; the second control submodule is used to control the target camera to start working, and control the crawling welding robot to continue to retreat according to the adjusted target retreat information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser. Specifically, in this solution, when the crawling welding robot starts to retreat, the crawling welding robot is controlled to retreat to the predetermined position according to the target retreat information, which ensures that the crawling welding robot has a high retreat efficiency and can retreat to the predetermined position relatively quickly. After the crawling welding robot retracts to the predetermined position, the target retraction information is adjusted once to obtain the adjusted target retraction information, and then the crawling welding robot is controlled to retract according to the adjusted target retraction information until the target camera captures the target laser information of the first laser, thereby ensuring that the crawling welding robot can retract relatively stably.

[0068] In actual application, the 3D measuring instrument includes a second laser, that is, the second laser is a built-in laser of the crawling welding robot, that is, the second laser is used for the crawling welding robot to identify the weld during the process of welding from the initial welding position to the terminal welding position. In the process of retreat of the crawling welding robot, in order to avoid the influence of the second laser on the retreat of the crawling welding robot, and further ensure that the crawling welding robot is relatively stable during the retreat, in another embodiment of the present application, the above-mentioned 3D measuring instrument also includes a second laser, and the above-mentioned self-positioning device also includes a third control unit, which is used to control the above-mentioned second laser to stop working at least to control the above-mentioned crawling welding robot to retreat according to the target retreat information until the above-mentioned target camera captures the target laser information of the first laser.

[0069] In another embodiment of the present application, the self-positioning device further includes a fourth control unit, which is used to control the crawling welding robot to weld from the initial welding position to the terminal welding position according to the initial welding information, at least controlling the crawling welding robot to retract according to the target retraction information until the target camera captures the target laser information of the first laser. The initial welding information includes an initial welding speed and an initial welding posture angle. In this embodiment, based on the initial welding information, the crawling welding robot is controlled to weld from the initial welding position to the terminal welding position, thereby achieving a relatively simple control of the crawling welding robot for welding, and ensuring that the crawling welding robot is relatively stable during the welding process, as well as ensuring a good welding effect and a high welding efficiency.

[0070] In order to further more accurately control the crawling welding robot to weld from the initial welding position to the end welding position, and to further more conveniently control the crawling welding robot to retreat from the end welding position to the initial welding position, in one embodiment of the present application, the above-mentioned crawling welding robot also includes an odometer, the above-mentioned 3D measuring instrument also includes a second laser, and the above-mentioned fourth control unit includes a second control module, which is used to control the above-mentioned first laser to stop working, control the above-mentioned second laser to start working, and control the above-mentioned odometer to start recording in the process of controlling the above-mentioned crawling welding robot to weld from the above-mentioned initial welding position to the above-mentioned end welding position according to the above-mentioned initial welding information, so as to obtain the target distance.

[0071] Specifically, Figure 1 As shown, for multi-layer and multi-pass welding scenarios, the present application implements a self-positioning method of the crawling welding robot 100 based on a crawling welding robot 100 with a 3D measuring instrument 105 and an odometer 104 and a first laser 101 (i.e., an external sensor). The specific steps are as follows:

[0072] Step 1: Adjust the crawling welding robot 100 and the welding gun so that the crawling welding robot 100 reaches the initial welding position ( Figure 1 not shown in the figure);

[0073] Step 2: Before the crawling welding robot 100 starts welding, the first laser 101 located near the initial welding position is controlled to work and the target camera 106 (i.e., the built-in camera) of the 3D measuring instrument is controlled to take pictures, so that the initial laser information 102 at the initial welding position can be obtained relatively easily based on the first laser 101 and the target camera 106. The controller of the crawling welding robot 100 can extract the initial laser information 102 captured by the target camera 106 to obtain the position information of the crawling welding robot 100 at the initial welding position. In other words, this solution marks the position information of the crawling welding robot 100 at the initial welding position through the initial laser information;

[0074] Step 3: After acquiring the initial laser information 102, controlling the first laser 101 to be turned off (i.e. controlling the first laser 101 to stop working);

[0075] Step 4: Control the crawling welding robot 100 to weld from the initial welding position to the final welding position based on the initial welding information. Meanwhile, during the process of the crawling welding robot 100 welding the weld 103, turn on the second laser (that is, the built-in laser of the crawling welding robot, Figure 1 (not shown in the figure), so that the crawling welding robot 100 can continuously weld along the weld 103 identified by the second laser. At the same time, when the crawling welding robot 100 is welding the weld 103, the odometer 104 is controlled to start recording, so that the forward distance (i.e., the target distance) of the crawling welding robot 100 can be obtained relatively simply;

[0076] Step 5: After the crawling welding robot 100 reaches the end welding position, the second laser is controlled to be turned off and the first laser 101 is controlled to be turned on;

[0077] Step 6: The crawling welding robot 100 can retreat according to the target retreat information and the target distance recorded by the odometer. After the crawling welding robot 100 retreats to the predetermined position, the target retreat information is adjusted once. The crawling welding robot 100 is controlled again to continue retreating according to the adjusted target retreat information until the target camera 106 of the crawling welding robot 100 captures the target laser information of the first laser 101.

[0078] In the seventh step, the target retreat information is continuously adjusted again based on the initial laser information and the target laser information, that is, the target retreat speed and the target retreat posture angle of the crawling welding robot 100 are continuously adjusted based on the initial laser information and the target laser information, until the difference between the initial laser information and the target laser information captured by the target camera 106 of the crawling welding robot 100 is within a predetermined range, and it is determined that the crawling welding robot 100 retreats to the initial welding position. And the crawling welding robot 100 is controlled to stop moving.

[0079] The self-positioning device of the above-mentioned crawling welding robot includes a processor and a memory. The above-mentioned first control unit, second control unit and repetitive unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0080] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problems of high cost and complex installation of the initial welding position self-positioning of the crawling welding robot in the multi-layer and multi-pass welding scene in the prior art.

[0081] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0082] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the self-positioning method of the crawling welding robot is implemented.

[0083] An embodiment of the present invention provides a processor, which is used to run a program, wherein the self-positioning method of the crawling welding robot is executed when the program is running.

[0084] In a typical embodiment of the present application, a welding system is further provided. The welding system includes a crawling welding robot, the crawling welding robot is used to perform any one of the above-mentioned self-positioning methods of the crawling welding robot; and the first laser communicates with the crawling welding robot.

[0085] The above-mentioned welding system includes a crawling welding robot and a first laser. The above-mentioned crawling welding robot is used to execute any one of the above-mentioned self-positioning methods of the crawling welding robot. In the above-mentioned self-positioning method, first, the crawling welding robot is controlled to retreat according to the target retreat speed and the target retreat posture angle until the target camera of the crawling welding robot captures the target laser information of the first laser; then, based on the target laser information and the initial laser information, the target retreat information is adjusted to obtain the adjusted target retreat information, and the crawling welding robot is controlled to continue retreating again according to the adjusted target retreat information; finally, in the process of the crawling welding robot continuing to retreat according to the adjusted target retreat information, the target camera is controlled to continue shooting, and based on the target laser information and the initial laser information obtained by shooting again, the target retreat information is continuously adjusted again until the difference between the target laser information and the initial laser information is within a predetermined range, and it is determined that the crawling welding robot retreats to the initial welding position. In this solution, it is only necessary to use the target camera of the crawling welding robot to capture the target laser information, and based on the target laser information and the initial laser information, continuously and dynamically adjust the target retraction information, and control the crawling welding robot to continue to retract according to the adjusted target retraction information, thereby realizing a relatively simple control of the crawling welding robot to self-position. This not only ensures that the crawling welding robot can retract to the initial welding position more accurately, but also solves the problem of high cost and complex installation of the crawling welding robot's initial welding position self-positioning in multi-layer and multi-pass welding scenarios in the prior art.

[0086] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0087] Step S201, a first control step, at least controlling the crawling welding robot to retreat according to the target retreat information until the target camera captures the target laser information of the first laser, the target retreat information including the target retreat speed and the target retreat posture angle, the target laser information being the laser information projected by the first laser at the initial welding position;

[0088] Step S202, a second control step, adjusting the target backoff information based on the target laser information and the initial laser information to obtain the adjusted target backoff information, and controlling the crawling welding robot to continue backoff according to the adjusted target backoff information;

[0089] Step S203, repeat the steps, control the target camera to continue shooting, obtain the target laser information again, and repeat the second control step at least once until the difference between the target laser information and the initial laser information is within a predetermined range, and determine that the crawling welding robot returns to the initial welding position.

[0090] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0091] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0092] Step S201, a first control step, at least controlling the crawling welding robot to retreat according to the target retreat information until the target camera captures the target laser information of the first laser, the target retreat information including the target retreat speed and the target retreat posture angle, the target laser information being the laser information projected by the first laser at the initial welding position;

[0093] Step S202, a second control step, adjusting the target backoff information based on the target laser information and the initial laser information to obtain the adjusted target backoff information, and controlling the crawling welding robot to continue backoff according to the adjusted target backoff information;

[0094] Step S203, repeat the steps, control the target camera to continue shooting, obtain the target laser information again, and repeat the second control step at least once until the difference between the target laser information and the initial laser information is within a predetermined range, and determine that the crawling welding robot returns to the initial welding position.

[0095] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above-mentioned units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0097] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0098] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0099] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0100] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0101] 1) In the self-positioning method of the crawling welding robot of the present application, first, the crawling welding robot is controlled to retreat according to the target retreat speed and the target retreat posture angle, until the target camera of the crawling welding robot captures the target laser information of the first laser; then, based on the target laser information and the initial laser information, the target retreat information is adjusted to obtain the adjusted target retreat information, and the crawling welding robot is controlled to continue retreating according to the adjusted target retreat information; finally, in the process of the crawling welding robot continuing to retreat according to the adjusted target retreat information, the target camera is controlled to continue shooting, and based on the target laser information and the initial laser information obtained by shooting again, the target retreat information is continuously adjusted again until the difference between the target laser information and the initial laser information is within a predetermined range, and it is determined that the crawling welding robot retreats to the initial welding position. In this solution, it is only necessary to use the target camera of the crawling welding robot to capture the target laser information, and based on the target laser information and the initial laser information, continuously and dynamically adjust the target retraction information, and control the crawling welding robot to continue to retract according to the adjusted target retraction information, thereby realizing a relatively simple control of the crawling welding robot to self-position. This not only ensures that the crawling welding robot can retract to the initial welding position more accurately, but also solves the problem of high cost and complex installation of the crawling welding robot's initial welding position self-positioning in multi-layer and multi-pass welding scenarios in the prior art.

[0102] 2) In the self-positioning device of the crawling welding robot of the present application, the first control unit is used to control the crawling welding robot to retreat according to the target retreat speed and the target retreat posture angle until the target camera of the crawling welding robot captures the target laser information of the first laser; the second control unit is used to adjust the target retreat information based on the target laser information and the initial laser information to obtain the adjusted target retreat information, and control the crawling welding robot to continue to retreat according to the adjusted target retreat information; the repeating unit is used to control the target camera to continue shooting while the crawling welding robot continues to retreat according to the adjusted target retreat information, and based on the target laser information and the initial laser information obtained by shooting again, continuously adjust the target retreat information again until the difference between the target laser information and the initial laser information is within a predetermined range, and determine that the crawling welding robot retreats to the initial welding position. In this solution, it is only necessary to use the target camera of the crawling welding robot to capture the target laser information, and based on the target laser information and the initial laser information, continuously and dynamically adjust the target retraction information, and control the crawling welding robot to continue to retract according to the adjusted target retraction information, thereby realizing a relatively simple control of the crawling welding robot to self-position. This not only ensures that the crawling welding robot can retract to the initial welding position more accurately, but also solves the problem of high cost and complex installation of the crawling welding robot's initial welding position self-positioning in multi-layer and multi-pass welding scenarios in the prior art.

[0103] 3) The welding system of the present application includes a crawling welding robot and a first laser. The above-mentioned crawling welding robot is used to execute any one of the above-mentioned self-positioning methods of the crawling welding robot. In the above-mentioned self-positioning method, first, the crawling welding robot is controlled to retreat according to the target retreat speed and the target retreat posture angle until the target camera of the crawling welding robot captures the target laser information of the first laser; then, based on the target laser information and the initial laser information, the target retreat information is adjusted to obtain the adjusted target retreat information, and the crawling welding robot is controlled to continue retreating again according to the adjusted target retreat information; finally, in the process of the crawling welding robot continuing to retreat according to the adjusted target retreat information, the target camera is controlled to continue shooting, and based on the target laser information and the initial laser information obtained by shooting again, the target retreat information is continuously adjusted again until the difference between the target laser information and the initial laser information is within a predetermined range, and it is determined that the crawling welding robot retreats to the initial welding position. In this solution, it is only necessary to use the target camera of the crawling welding robot to capture the target laser information, and based on the target laser information and the initial laser information, continuously and dynamically adjust the target retraction information, and control the crawling welding robot to continue to retract according to the adjusted target retraction information, thereby realizing a relatively simple control of the crawling welding robot to self-position. This not only ensures that the crawling welding robot can retract to the initial welding position more accurately, but also solves the problem of high cost and complex installation of the crawling welding robot's initial welding position self-positioning in multi-layer and multi-pass welding scenarios in the prior art.

[0104] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A self-positioning method for a crawling welding robot, characterized in that: The crawling welding robot includes a 3D measuring instrument, the 3D measuring instrument includes a target camera, and the self-positioning method includes: The first control step at least controls the crawling welding robot to retract according to the target retract information until the target camera captures the target laser information of the first laser, the target retract information includes a target retract speed and a target retract attitude angle, the target laser information is the laser information projected by the first laser at the initial welding position, the laser line projected by the first laser is located at the initial welding position, the crawling welding robot also includes an odometer, and at least controls the crawling welding robot to retract according to the target retract information until the target camera captures the target laser information of the first laser, including: Controlling the crawling welding robot to retract according to the target retract information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser; controlling the crawling welding robot to retract according to the target retract information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser, including: controlling the crawling welding robot to retract according to the target retract information and the target distance recorded by the odometer until reaching a predetermined position, wherein the predetermined position is a position between the initial welding position and the end point welding position; controlling the target camera to start working, and Control the crawling welding robot to continue to retreat according to the adjusted target retreat information and the target distance recorded by the odometer, until the target camera captures the target laser information of the first laser; Control the crawling welding robot to continue to retreat according to the adjusted target retreat information and the target distance recorded by the odometer, including: when the weld is a straight weld, control the crawling welding robot to retreat in a straight line according to the target distance recorded by the odometer; when the weld is a curved weld, control the crawling welding robot to retreat along the curved weld according to the target distance recorded by the odometer; The second control step is to adjust the target backoff information based on the target laser information and the initial laser information to obtain the adjusted target backoff information, and control the crawling welding robot to continue to backoff according to the adjusted target backoff information; Repeat the steps, control the target camera to continue shooting, obtain the target laser information again, and repeat the second control step at least once until the difference between the target laser information and the initial laser information is within a predetermined range, and determine that the crawling welding robot returns to the initial welding position.

2. The self-positioning method according to any one of claim 1, characterized in that: The 3D measuring instrument further includes a second laser, and before at least controlling the crawling welding robot to retreat according to the target retreat information until the target camera captures the target laser information of the first laser, the self-positioning method further includes: The second laser is controlled to stop working.

3. The self-positioning method according to any one of claims 1, characterized in that: At least controlling the crawling welding robot to retreat according to the target retreat information until the target camera captures the target laser information of the first laser, the self-positioning method further includes: The crawling welding robot is controlled to weld from the initial welding position to the end welding position according to initial welding information, wherein the initial welding information includes an initial welding speed and an initial welding posture angle.

4. The self-positioning method according to claim 3, characterized in that: The crawling welding robot further includes an odometer, and the 3D measuring instrument further includes a second laser, and controlling the crawling welding robot to weld from the initial welding position to the end welding position according to the initial welding information, including: In the process of controlling the crawling welding robot to weld from the initial welding position to the end welding position according to the initial welding information, the first laser is controlled to stop working, the second laser is controlled to start working, and the odometer is controlled to start recording to obtain the target distance.

5. A self-positioning device for a crawling welding robot, characterized in that: The crawling welding robot includes a 3D measuring instrument, the 3D measuring instrument includes a target camera, and the self-positioning device includes: The first control unit is used for the first control step, at least controlling the crawling welding robot to retreat according to the target retreat information until the target camera captures the target laser information of the first laser, the target retreat information includes a target retreat speed and a target retreat posture angle, the target laser information is the laser information projected by the first laser at the initial welding position, the laser line projected by the first laser is located at the initial welding position, the crawling welding robot also includes an odometer, the first control unit includes a first control module, used to control the crawling welding robot to retreat according to the target retreat information and the target distance recorded by the odometer, until the target camera captures the target laser information of the first laser, the first control module includes a first control submodule and a second control submodule, wherein the first control submodule is used to control The crawling welding robot is controlled to retreat according to the target retreat information and the target distance recorded by the odometer until it reaches a predetermined position, wherein the predetermined position is a position between the initial welding position and the end point welding position; the second control submodule is used to control the target camera to start working, and control the crawling welding robot to continue to retreat according to the adjusted target retreat information and the target distance recorded by the odometer until the target camera captures the target laser information of the first laser; the second control submodule is used to control the crawling welding robot to retreat in a straight line according to the target distance recorded by the odometer when the weld is a straight weld; and control the crawling welding robot to retreat along the curved weld according to the target distance recorded by the odometer when the weld is a curved weld; A second control unit is used for the second control step, adjusting the target backoff information based on the target laser information and the initial laser information to obtain the adjusted target backoff information, and controlling the crawling welding robot to continue to backoff according to the adjusted target backoff information; A repeating unit is used to repeat the steps, control the target camera to continue shooting, obtain the target laser information again, and repeat the second control step at least once until the difference between the target laser information and the initial laser information is within a predetermined range, and determine that the crawling welding robot retreats to the initial welding position.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the self-positioning method of the crawling welding robot according to any one of claims 1 to 4.

7. A processor, characterized in that: The processor is used to run a program, wherein the program executes the self-positioning method of the crawling welding robot as described in any one of claims 1 to 4 when running.

8. A welding system, characterized in that: include: A crawling welding robot, the crawling welding robot being used to execute the self-positioning method of the crawling welding robot as claimed in any one of claims 1 to 4; A first laser communicates with the crawling welding robot.

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