Method and device for determining a hysteresis distance and welding control method for double-sided double-arc welding

Abstract

The application provides a determination method and device of a lag distance and a welding control method of double-sided double-arc. The determination method comprises: acquiring coordinate information of top and bottom feature points of a welding groove in a camera coordinate system, and welding parameters of a welding robot, the welding parameters being used to represent horizontal distances between a welding torch and target center points and the top feature points in a first state; determining a first arc distance based on at least the welding parameters, calculating a second arc distance based on at least a rotation angle, and calculating a target straight line distance based on at least the coordinate information of the top and bottom feature points in the camera coordinate system; and calculating a sum of the first arc distance, the second arc distance and the target straight line distance to obtain the lag distance, thereby solving the problem that the distance from the welding torch to the bottom feature points is difficult to accurately measure due to the deformation of the curved laser line in the prior art, and ensuring that the quality of the curved surface welding is good and the welding efficiency is high.

Description

Technical Field

[0001] This application relates to the field of double-sided double-arc welding, and more specifically, to a method and apparatus for determining hysteresis distance, a double-sided double-arc welding control method, a computer-readable storage medium, and a processor. Background Technology

[0002] Welding automation and intelligence have become the development trend of welding technology. Among them, double-sided double-arc welding can improve the welding penetration, reduce welding deformation, and reduce the root cleaning time, which are important guarantees for improving welding quality and efficiency.

[0003] In actual welding production, due to workpiece processing or assembly errors, the welding torch may deviate from the weld center, requiring dynamic adjustment of the welding torch position and welding parameters. Various sensing methods, both domestically and internationally, exist for automatically identifying the welding torch or weld position, such as arc sensors, ultrasonic sensors, and laser sensors. Among these, automatic welding control methods based on laser sensors offer advantages such as non-contact operation, high precision, and simple structure, and are gradually entering industrial applications. Currently, planar welding is mature, while curved surface welding has not yet seen widespread application. Because curved surface welding involves curved welds, the welding processes used differ from those for straight welds, placing higher demands on the welding process.

[0004] For curved surface welding equipment, the motion control of its various actuators and the welding process control methods have a significant impact on the overall welding effect. Currently, curved surface welding processes mainly rely on the operator's subjective experience for judgment, which is a relatively primitive evaluation method, and the control parameters obtained are also inaccurate. For automatic welding on curved surfaces, due to the different curvatures of the workpieces, the hysteresis distance between the welding torch and the laser line, and the difficulty in measuring internal inflection points, laser tracking welding on curved surfaces presents challenges. Summary of the Invention

[0005] The main objective of this application is to provide a method and apparatus for determining hysteresis distance, a double-sided double-arc welding control method, a computer-readable storage medium and processor, so as to at least solve the problem in the prior art that the distance from the welding torch to the bottom feature point is difficult to measure accurately due to the deformation of the curved laser line.

[0006] To achieve the above objectives, according to one aspect of this application, a method for determining hysteresis distance is provided, comprising: acquiring coordinate information of the top and bottom feature points of a welding bevel in a camera coordinate system, and welding parameters of a welding robot, wherein the welding parameters characterize the horizontal distances between the welding torch and the target center point and the top feature point in a first state, wherein the first state is the state in which the welding torch is perpendicular to the X-axis in a world coordinate system, the target center point is the center point of the line connecting two tangent points, and the two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved workpiece; determining a first arc distance based at least on the welding parameters, and calculating a second arc distance based at least on a rotation angle, and calculating a target straight-line distance based at least on the coordinate information of the top and bottom feature points in the camera coordinate system, wherein the rotation angle is the angle between the welding torch in the first state and the second state, and the second state is the state in which the welding torch is perpendicular to the curved workpiece; and calculating the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance.

[0007] Optionally, the curved workpiece has an outer diameter and an inner diameter, and the welding parameters include a first distance and a second distance, wherein the first distance is the horizontal distance between the target center point and the welding torch in the first state, and the second distance is the horizontal distance between the welding torch in the first state and the top feature point. Determining the first arc distance, at least based on the welding parameters, includes: constructing an outer circle equation based on the outer diameter and an inner circle equation based on the inner diameter; constructing a first straight line equation based on the first distance and a second straight line equation based on the first distance and the second distance; and jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the first arc distance.

[0008] Optionally, the first arc distance is obtained by jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation, including: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the coordinates of the first intersection point and the coordinates of the second intersection point, wherein the coordinates of the first intersection point are the coordinates of the intersection point where the welding torch intersects with the curved plate workpiece in the first state, and the coordinates of the second intersection point are the coordinates of the top feature point in the world coordinate system; the first arc distance is obtained based on the coordinates of the first intersection point and the second intersection point.

[0009] Optionally, the second arc distance is calculated based at least on the rotation angle, including: determining the coordinates of a third intersection point, wherein the third intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the second state; determining the rotation angle based on the third intersection point coordinates; and calculating the second arc distance based on the rotation angle, the third intersection point coordinates, and the first intersection point coordinates, wherein the first intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the first state.

[0010] Optionally, the process of determining the coordinates of the third intersection point is as follows: Calculate the target height, which is the vertical height of the fourth intersection point and the first intersection point. The fourth intersection point is the endpoint of the third straight line at the end other than the target center point. The third straight line is the horizontal line between the target center point and the welding torch in the first state. The first intersection point is the intersection point where the welding torch intersects with the curved workpiece in the first state. Based on the target height, determine the coordinate information of the fourth intersection point to obtain the coordinates of the fourth intersection point. At least based on the coordinates of the fourth intersection point, determine the equation of the fourth straight line. The equation of the fourth straight line is the equation of the fourth straight line, which is a straight line passing through the center of the curved workpiece, the coordinates of the third intersection point, and the coordinates of the fourth intersection point. Based on the fourth straight line and the equation of the fourth straight line, obtain the coordinates of the third intersection point.

[0011] Optionally, the target straight-line distance is calculated based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, including: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain a transformation angle, wherein the transformation angle is the angle between the first straight line and the second straight line, the first straight line is the straight line perpendicular to the X-axis of the laser camera in the world coordinate system, and the second straight line is the straight line between the top feature point and the center of the curved workpiece; the target straight-line distance is calculated based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system and the transformation angle.

[0012] According to another aspect of this application, a double-sided, double-arc welding control method is provided. A first welding robot is located on the outer side of a curved workpiece, and a second welding robot is located on the inner side of the curved workpiece. The welding bevel includes a first welding bevel and a second welding bevel. The first welding bevel is located on the outer side of the curved workpiece, and the second welding bevel is located on the inner side of the curved workpiece. The welding control method includes: calculating a first hysteresis distance by using any of the aforementioned hysteresis distance determination methods, based on the coordinate information of the top and bottom feature points of the first welding bevel in the camera coordinate system, as well as the welding parameters and rotation angle of the first welding robot; calculating a second hysteresis distance by using any of the aforementioned hysteresis distance determination methods, based on the coordinate information of the top and bottom feature points of the second welding bevel in the camera coordinate system, as well as the welding parameters and rotation angle of the second welding robot; controlling the first welding robot to weld according to the first hysteresis distance; and controlling the second welding robot to weld according to the second hysteresis distance.

[0013] Optionally, controlling the first welding robot to weld according to the first lag distance and controlling the second welding robot to weld according to the second lag distance includes: controlling the welding torch of the first welding robot to move to the bottom feature point of the first welding bevel based on the first lag distance; controlling the welding torch of the first welding robot to execute a first welding coordinate; controlling the welding torch of the second welding robot to move to the bottom feature point of the second welding bevel based on the second lag distance; and controlling the welding torch of the second welding robot to execute a second welding coordinate.

[0014] Optionally, controlling the first welding robot to weld according to the first lag distance and controlling the second welding robot to weld according to the second lag distance includes: the arc spacing between the first welding robot and the second welding robot is within a preset range.

[0015] According to another aspect of this application, a device for determining hysteresis distance is provided, comprising: an acquisition unit, configured to acquire coordinate information of a top feature point and a bottom feature point of a welding bevel in a camera coordinate system, and welding parameters of a welding robot, wherein the welding parameters characterize the horizontal distance between the welding torch and the target center point and the top feature point in a first state, wherein the first state is the state in which the welding torch is perpendicular to the X-axis in a world coordinate system, the target center point is the center point of the line connecting two tangent points, and the two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved workpiece; a determination unit, configured to determine a first arc distance based at least on the welding parameters, and calculate a second arc distance based at least on a rotation angle, and calculate a target straight-line distance based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, wherein the rotation angle is the angle between the welding torch in the first state and the second state, and the second state is the state in which the welding torch is perpendicular to the curved workpiece; and a calculation unit, configured to calculate the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance.

[0016] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the methods for determining the hysteresis distance.

[0017] According to one aspect of this application, a processor is provided for running a program, wherein the program executes any of the methods for determining the hysteresis distance.

[0018] Applying the technical solution of this application, the method for determining the hysteresis distance first obtains the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system, and obtains the welding parameters of the welding robot; then, based at least on the welding parameters, a first arc distance is determined, based at least on the rotation angle, a second arc distance is calculated, and based at least on the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system, a target straight-line distance is calculated; finally, the sum of the first arc distance, the second arc distance, and the target straight-line distance is calculated to obtain the hysteresis distance. Compared with the prior art, which determines the hysteresis distance (i.e., the distance between the welding torch and the bottom feature point) based on the operator's subjective experience, this solution calculates the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance. This achieves automatic determination of the hysteresis distance and ensures that the determined hysteresis distance is relatively accurate, thereby solving the problem in the prior art where the distance between the welding torch and the bottom feature point is difficult to measure accurately due to the deformation of the curved laser line. This ensures better quality and higher welding efficiency for curved surfaces. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 A hardware structure block diagram of a mobile terminal for performing a method for determining hysteresis distance according to an embodiment of this application is shown;

[0021] Figure 2 A flowchart illustrating a method for determining hysteresis distance according to an embodiment of this application is shown;

[0022] Figure 3 A positional structure block diagram of a welding robot provided in an embodiment of this application is shown;

[0023] Figure 4 A schematic diagram of a first arc distance provided by an embodiment of this application is shown;

[0024] Figure 5 A schematic diagram of a second arc distance provided by an embodiment of this application is shown;

[0025] Figure 6 A flowchart illustrating a double-sided, double-arc welding control method provided in an embodiment of this application is shown.

[0026] Figure 7 A schematic diagram of the structure of a device for determining hysteresis distance provided in an embodiment of this application is shown.

[0027] The above figures include the following reference numerals:

[0028] 200. Welding robot; 201. Rotation angle. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] As described in the background section, in the prior art, the distance from the welding torch to the bottom feature point is difficult to measure accurately due to the deformation of the curved laser line. To solve the above-mentioned technical problem, the embodiments of this application provide a method and device for determining the hysteresis distance, a double-sided double-arc welding control method, a computer-readable storage medium and a processor.

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0034] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a method of determining hysteresis distance according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0035] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0036] This embodiment provides a method for determining the lag distance of a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0037] Figure 2 This is a flowchart of a method for determining the hysteresis distance according to an embodiment of this application. Figure 2 As shown, the determination method includes the following steps:

[0038] Step S201: Obtain the coordinate information of the top feature point and bottom feature point of the welding groove in the camera coordinate system, and the welding parameters of the welding robot. The welding parameters are used to characterize the horizontal distance between the welding torch and the target center point and the top feature point in the first state. The first state is the state in which the welding torch is perpendicular to the X-axis in the world coordinate system. The target center point is the center point of the line connecting the two tangent points. The two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved plate workpiece.

[0039] Specifically, such as Figure 3 As shown, a welding robot may include a welding torch ( Figure 3Point G1 in the diagram represents the end point of the welding torch in its first state, and the laser camera ( Figure 3 Point H1 in the diagram is the endpoint of the laser camera, and the laser camera is located in front of the welding torch, and the laser camera is parallel to the welding torch in the first state.

[0040] Specifically, such as Figure 3 As shown, the top feature point B1 and bottom feature point C1 of the welding bevel can be the inflection points where the laser line from the welding robot's laser camera illuminates the curved workpiece. Among them, Figure 3 The top feature point B1 and the bottom feature point C1 shown are the bottom and top feature points of the welding bevel when the welding robot is on the outside in a double-sided, double-arc welding scenario. In a double-sided, double-arc welding scenario, the welding robot located on the inside of the curved workpiece also has bottom and top feature points of the welding bevel. Figure 3 It is not shown in the middle.

[0041] Specifically, such as Figure 3 As shown, when the welding robot 200 is at the top of the welding base material (i.e., the welding robot is at the top of the curved workpiece), the first state described above can also be that the welding gun G1 point of the welding robot 200 is perpendicular to the ground.

[0042] Specifically, the moving parts on both sides can be a left track and a right track. Alternatively, the moving parts on both sides can be a front magnetic wheel and a rear magnetic wheel. When the two tangent points are respectively the first tangent point and the second tangent point, and the welding robot is a tracked welding robot, the first tangent point can be the point where the left track of the welding robot (left and right are determined when a person is looking directly at the computer screen) is tangent to the base material, and the second tangent point can be the point where the right track of the welding robot is tangent to the base material. The target center point is the center point of the line connecting the first and second tangent points. When the two tangent points are respectively the first tangent point and the second tangent point, and the welding robot is a welding robot with front and rear magnetic wheels, the first tangent point can be the point where the front magnetic wheel of the welding robot is tangent to the base material, and the second tangent point can be the point where the rear magnetic wheel of the welding robot is tangent to the base material. The target center point is the continuous center point of the first and second tangent points.

[0043] Step S202: Based at least on the above welding parameters, determine the first arc distance, and at least based on the rotation angle, calculate the second arc distance, and at least based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, calculate the target straight line distance. The rotation angle is the angle between the welding torch in the first state and the second state. The second state is the state in which the welding torch is perpendicular to the curved plate workpiece. The second state is the state in which the end point G1 of the welding torch is perpendicular to the curved plate workpiece.

[0044] Step S203: Calculate the sum of the first arc distance, the second arc distance, and the target straight line distance to obtain the lag distance.

[0045] In the aforementioned method for determining the hysteresis distance, firstly, the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system is obtained, along with the welding parameters of the welding robot. Then, based at least on the welding parameters, the first arc distance is determined; based at least on the rotation angle, the second arc distance is calculated; and based at least on the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system, the target straight-line distance is calculated. Finally, the sum of the first arc distance, the second arc distance, and the target straight-line distance is calculated to obtain the hysteresis distance. Compared to existing technologies that determine the hysteresis distance (i.e., the distance between the welding torch and the bottom feature point) based on the operator's subjective experience, this method calculates the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance. This achieves automatic determination of the hysteresis distance and ensures that the determined hysteresis distance is relatively accurate. This solves the problem in existing technologies where the distance between the welding torch and the bottom feature point is difficult to measure accurately due to the deformation of the curved laser line, thereby ensuring better quality and higher welding efficiency in curved surface welding.

[0046] Specifically, in a double-sided, double-arc welding scenario, if the first welding robot is located on the outer side of the curved workpiece and the second welding robot is located on the inner side of the curved workpiece, then the line connecting the first welding torch of the first welding robot and the second welding torch of the second welding robot needs to pass through the target center so that the first and second welding robots can weld synchronously. The target center is point O, the center of the circle formed by the curved workpiece. If the first and second welding robots are welding asynchronously, then it is not necessary to ensure that the line connecting the first welding torch of the first welding robot and the second welding torch of the second welding robot passes through the target center.

[0047] Specifically, the welding robot can be a trackless, all-position welding crawling robot.

[0048] In a specific implementation, in one optional embodiment, such as Figure 3 As shown, in a double-sided, double-arc welding scenario, the curved workpiece (i.e., the welding base material) has an outer diameter and an inner diameter. The welding parameters include a first distance and a second distance, wherein the first distance O1E1 is the distance between the target center point O1 and the welding torch in the first state. Figure 3The point G1 shown is the horizontal distance between the welding torch tip and the point G1 in the first state. The second distance O1F1 is the horizontal distance between the welding torch in the first state and the top feature point B1. The first arc distance is determined based on at least the welding parameters, including: constructing an outer circle equation based on the outer diameter and an inner circle equation based on the inner diameter; constructing a first straight line equation based on the first distance O1E1 and a second straight line equation based on the first distance O1E1 and the second distance O1F1; and jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the first arc distance A1B1 (see details). Figure 4 (As shown). In this embodiment, the equations of the outer circle, the inner circle, the first straight line, and the second straight line are solved jointly. This not only simplifies the process of obtaining the first arc distance but also ensures its accuracy, further guaranteeing the accuracy of the subsequently determined lag distance.

[0049] In practical applications, to further simplify the determination of the first arc distance, in one optional embodiment, such as... Figure 4 As shown, the first arc distance is obtained by jointly solving the above-mentioned outer circle equation, inner circle equation, first straight line equation, and second straight line equation. This includes: jointly solving the above-mentioned outer circle equation, inner circle equation, first straight line equation, and second straight line equation to obtain the coordinates of the first intersection point A1 and the second intersection point B1, wherein the coordinates of the first intersection point A1 are the coordinates of the intersection point where the welding torch intersects with the curved plate workpiece in the first state, and the coordinates of the second intersection point B1 are the coordinates of the top feature point in the world coordinate system; based on the coordinates of the first intersection point A1 and the second intersection point B1, the first arc distance A1B1 is obtained.

[0050] In one specific embodiment of this application, the outer circle equation can be constructed based on the outer diameter of the curved workpiece: x1 2 +y1 2 =r1 2 Where r1 is obtained based on the outer diameter. The inner circle equation can be constructed based on the inner diameter of the curved workpiece: x2 2 +y2 2 =r2 2 Where r2 is obtained based on the inner diameter. Based on the first distance L1 (i.e. Figure 3 and Figure 4 In the O1E1), construct the first straight line equation y3=L1; based on the first distance L1 and the second distance L2 (i.e. Figure 3 and Figure 4Using O1F1 in the equation, construct the second straight line equation y4 = L1 + L2. Then, solve y1, y2, y3, and y4 together to obtain the intersection point A1 of the straight line where the welding torch is located and the curved workpiece. Figure 4 The coordinates A1(x1,y1) and the top feature point B1 of the weld bevel (as shown) are given. Figure 4 (As shown) Coordinates in the world coordinate system Based on the coordinates of A1 and B1, the first arc distance S between A1 and B1 is obtained. AB That is, the distance of the first arc. and the straight-line distance between A1 and B1

[0051] In actual welding processes, the welding robot welds perpendicularly to the base material (i.e., the curved workpiece). Therefore, to further improve the accuracy of the calculated lag distance and to more accurately control the welding torch to reach the bottom feature point, in one optional embodiment, such as... Figure 5 As shown, the distance of the second arc is calculated based at least on a rotation angle of 201, including: determining the coordinates of the third intersection point (i.e. Figure 5 The coordinates of point C shown above), the coordinates of the third intersection point are the coordinates of the intersection point C where the welding torch intersects with the curved workpiece in the second state above; based on the coordinates of the third intersection point, the rotation angle 201 is determined; based on the rotation angle 201 and the coordinates of the third intersection point (i.e. Figure 5 The coordinates of point C shown) and the coordinates of the first intersection point (i.e. Figure 5 Calculate the coordinates of point A1 shown above, the distance CA1 of the second arc, and the coordinates of the first intersection point (i.e., Figure 5 The coordinates of point A1 shown are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the first state.

[0052] Specifically, such as Figure 5 As shown, point G2 is the endpoint of the welding torch when the welding torch is in the second state.

[0053] Specifically, when the welding robot is located on the outer side of the curved workpiece, the distance of the second arc is negative. When the welding robot is located on the inner side of the curved workpiece, the distance of the second arc is positive.

[0054] To ensure the accuracy of the subsequent calculation of the second arc distance, in one optional embodiment, such as... Figure 5As shown, the process of determining the coordinates of the third intersection point is as follows: Calculate the target height, which is the vertical height of the fourth intersection point E1 and the first intersection point A1. The fourth intersection point E1 is the endpoint of the third straight line that is not located at the target center point O1. The third straight line is the horizontal line between the target center point O1 and the welding torch in the first state (i.e.,...). Figure 5 The first intersection point A1 is the intersection point where the welding torch intersects the curved workpiece in the first state. Based on the target height, the coordinate information of the fourth intersection point E1 is determined to obtain the coordinates of the fourth intersection point. At least based on the coordinates of the fourth intersection point, the equation of the fourth straight line is determined. The equation of the fourth straight line is the equation of the fourth straight line, which passes through the center of the curved workpiece and the coordinates of the third intersection point (i.e., the first intersection point A1). Figure 5 The coordinates of point C shown) and the coordinates of the fourth intersection point mentioned above (i.e. Figure 5 The straight line at point E1 (as shown); based on the above fourth straight line and the above fourth straight line equation, the coordinates of the above third intersection point (i.e., Figure 5 (The coordinates of point C are shown).

[0055] In actual welding scenarios, camera calibration is performed on a flat surface, while the height of the welding torch varies on curved workpieces. If the welding torch height is not corrected for double-sided, double-arc scenarios (i.e.,...), the welding torch will not be properly adjusted. Figure 5 If the distance between E1A1 and E1A1 is insufficient, the welding torch feed on the outer side of the curved workpiece will be insufficient, and the welding torch on the inner side of the curved workpiece will cause torch collision. Assuming... Figure 5 If the distance between E1A1 in the equation is h, then we have: The vertical axis slider is adjusted to align with the height on the flat surface. However, in actual adjustment, the adjustment directions for the inner and outer sides of the curved workpiece are opposite. When welding on a flat surface, the welding torch is naturally perpendicular to the curved workpiece. When welding on a curved surface, the welding torch is naturally inclined to the workpiece. Therefore, it is necessary to adjust the initial position of the welding torch to make it perpendicular to the workpiece. Figure 5 As shown, assuming the angle (rotation angle) between the welding torch in the first state and the welding torch in the second state is θ, and the center coordinates are (0, 0), it can be seen that when the welding torch is perpendicular to the curved plate surface, the straight line containing the welding torch passes through the center of the circle. Let the equation of the straight line containing CE1 be y = kx, and the coordinates of the rotation center E1 be (L1, R + h), where h is the height of the rotation center E1 from the target center point. The coordinates of the intersection point C can then be obtained as follows: but The second arc distance CA1 can be obtained based on the coordinates of the first intersection point A1, the third intersection point C, and the rotation angle θ. Specifically, the calculation method for the second arc distance CA1 is the same as that for the first arc distance A1B1, and will not be repeated here.

[0056] In one optional embodiment, the target straight-line distance is calculated based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, including: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain a transformation angle, wherein the transformation angle is the angle between the first straight line and the second straight line, the first straight line is a straight line perpendicular to the X-axis of the laser camera in the world coordinate system, and the second straight line is a straight line between the top feature point and the center of the curved workpiece; the target straight-line distance is calculated based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system and the transformation angle.

[0057] In practical applications, based on Figure 5 The coordinates of the first intersection point A1 and the second intersection point B1 shown can be used to obtain the transformation angle. In one specific embodiment of this application, it is assumed that the three-dimensional coordinates of the top feature point B1 in the camera coordinate system are (x3, y3, z3), and the three-dimensional coordinates of the bottom feature point C1 in the bevel are (x4, y4, z4). Based on the top feature point B1, the bottom feature point C1 in the camera coordinate system, and the transformation angle α, the length L of the target straight-line distance B1C1 can be obtained. bc =(y4-y3)×cos(α)-(z4-z3)×sin(α).

[0058] Specifically, the aforementioned transformation angle can be the rotation angle of the laser camera when the laser camera of the welding robot is transformed from the camera coordinate system to the world coordinate system.

[0059] In practical applications, the positive Y-axis direction in the camera coordinate system is the direction in which the welding robot moves forward, the positive X-axis direction is the direction in which the welding torch of the welding robot moves, and the positive Z-axis direction is the direction in which the welding torch moves vertically downward.

[0060] In a typical embodiment of this application, such as Figure 6 As shown, a double-sided, double-arc welding control method is also provided. A first welding robot is located on the outer side of the curved workpiece, and a second welding robot is located on the inner side of the curved workpiece. The welding bevel includes a first welding bevel and a second welding bevel. The first welding bevel is the welding bevel on the outer side of the curved workpiece, and the second welding bevel is the welding bevel on the inner side of the curved workpiece. The welding control method includes:

[0061] Step S601: Using any of the above-mentioned methods for determining the hysteresis distance, calculate the coordinate information of the top and bottom feature points of the first welding groove in the camera coordinate system, as well as the welding parameters and rotation angle of the first welding robot, to obtain the first hysteresis distance.

[0062] Step S602: Using any of the above-mentioned methods for determining the hysteresis distance, calculate the coordinate information of the top and bottom feature points of the second welding groove in the camera coordinate system, as well as the welding parameters and rotation angle of the second welding robot, to obtain the second hysteresis distance.

[0063] Step S603: Control the first welding robot to weld according to the first lag distance, and control the second welding robot to weld according to the second lag distance.

[0064] In the aforementioned double-sided, double-arc welding control method, the first lag distance is obtained by calculating the coordinates of the top and bottom feature points of the first welding robot located on the outer side of the curved workpiece in camera coordinates, along with the welding parameters and rotation angle of the first welding robot. Similarly, the second lag distance is obtained by calculating the coordinates of the top and bottom feature points of the second welding robot located on the inner side of the curved workpiece in camera coordinates, along with the welding parameters and rotation angle of the second welding robot. The first welding robot is then controlled to weld according to the first lag distance, and the second welding robot is controlled to weld according to the second lag distance. Compared to the prior art where the lag distance (i.e., the distance between the welding torch and the bottom feature point) is determined based on the operator's subjective experience, this solution automatically calculates the first and second lag distances. This ensures that the calculated first and second lag distances are more accurate, guaranteeing better quality and higher welding efficiency for the curved surface.

[0065] In an optional embodiment, controlling the first welding robot to weld according to the first lag distance and controlling the second welding robot to weld according to the second lag distance includes: controlling the welding torch of the first welding robot to move to the bottom feature point of the first welding bevel based on the first lag distance; controlling the welding torch of the first welding robot to execute a first welding coordinate; controlling the welding torch of the second welding robot to move to the bottom feature point of the second welding bevel based on the second lag distance; and controlling the welding torch of the second welding robot to execute a second welding coordinate. In this embodiment, the first welding coordinate can be a welding coordinate determined and sent by the first welding robot, and the second welding coordinate can be a welding coordinate determined and sent by the second welding robot. Controlling the first welding robot to execute the first welding coordinate and controlling the second welding robot to execute the second welding coordinate further ensures that the welding torches of the first and second welding robots can move to the corresponding bottom feature points relatively accurately, further ensuring high efficiency and good welding quality of curved surface welding.

[0066] To further ensure high efficiency and good quality of curved surface welding, in an optional embodiment, controlling the first welding robot to weld according to the first lag distance and controlling the second welding robot to weld according to the second lag distance includes: the arc spacing between the first welding robot and the second welding robot is within a preset range.

[0067] Specifically, the aforementioned arc spacing can be the distance between the arcs of the first welding robot and the second welding robot. In practical applications, the preset range can be 30–50 mm. Of course, the preset range is not limited to 30–50 mm and can be flexibly adjusted according to the actual situation.

[0068] This application also provides a device for determining hysteresis distance. It should be noted that this device can be used to execute the method for determining hysteresis distance provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0069] The following describes the device for determining the hysteresis distance provided in the embodiments of this application.

[0070] Figure 7 This is a schematic diagram of the structure of a device for determining hysteresis distance according to an embodiment of this application. Figure 7 As shown, the determining device includes:

[0071] The acquisition unit 10 is used to acquire the coordinate information of the top feature point and the bottom feature point of the welding groove in the camera coordinate system, and the welding parameters of the welding robot. The welding parameters are used to characterize the horizontal distance between the welding torch and the target center point and the top feature point in the first state. The first state is the state in which the welding torch is perpendicular to the X-axis in the world coordinate system. The target center point is the center point of the line connecting the two tangent points. The two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved plate workpiece.

[0072] Specifically, such as Figure 3 As shown, a welding robot may include a welding torch ( Figure 3 Point G1 in the diagram represents the end point of the welding torch in its first state, and the laser camera ( Figure 3Point H1 in the diagram is the endpoint of the laser camera, and the laser camera is located in front of the welding torch, and the laser camera is parallel to the welding torch in the first state.

[0073] Specifically, such as Figure 3 As shown, the top feature point B1 and bottom feature point C1 of the welding bevel can be the inflection points where the laser line from the welding robot's laser camera illuminates the curved workpiece. Among them, Figure 3 The top feature point B1 and the bottom feature point C1 shown are the bottom and top feature points of the welding bevel when the welding robot is on the outside in a double-sided, double-arc welding scenario. In a double-sided, double-arc welding scenario, the welding robot located on the inside of the curved workpiece also has bottom and top feature points of the welding bevel. Figure 3 It is not shown in the middle.

[0074] Specifically, such as Figure 3 As shown, when the welding robot 200 is at the top of the welding base material (i.e., the welding robot is at the top of the curved workpiece), the first state described above can also be that the welding torch G1 of the welding robot 200 is perpendicular to the ground.

[0075] Specifically, the moving parts on both sides can be a left track and a right track. Alternatively, the moving parts on both sides can be a front magnetic wheel and a rear magnetic wheel. When the two tangent points are respectively the first tangent point and the second tangent point, and the welding robot is a tracked welding robot, the first tangent point can be the point where the left track of the welding robot (left and right are determined when a person is looking directly at the computer screen) is tangent to the base material, and the second tangent point can be the point where the right track of the welding robot is tangent to the base material. The target center point is the center point of the line connecting the first and second tangent points. When the two tangent points are respectively the first tangent point and the second tangent point, and the welding robot is a welding robot with front and rear magnetic wheels, the first tangent point can be the point where the front magnetic wheel of the welding robot is tangent to the base material, and the second tangent point can be the point where the rear magnetic wheel of the welding robot is tangent to the base material. The target center point is the continuous center point of the first and second tangent points.

[0076] The determining unit 20 is used to determine the first arc distance based at least on the above welding parameters, and to calculate the second arc distance based at least on the rotation angle, and to calculate the target straight distance based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system. The rotation angle is the angle between the welding gun in the first state and the second state. The second state is the state in which the welding gun is perpendicular to the curved plate workpiece. The second state is the state in which the end point G1 of the welding gun is perpendicular to the curved plate workpiece.

[0077] The calculation unit 30 is used to calculate the sum of the first arc distance, the second arc distance, and the target straight line distance to obtain the lag distance.

[0078] In the aforementioned device for determining the hysteresis distance, the acquisition unit is used to acquire the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system, and to acquire the welding parameters of the welding robot; the determination unit is used to determine the first arc distance based at least on the welding parameters, calculate the second arc distance based at least on the rotation angle, and calculate the target straight-line distance based at least on the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system; the calculation unit is used to calculate the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance. Compared with the prior art, which determines the hysteresis distance (i.e., the distance between the welding torch and the bottom feature point) based on the operator's subjective experience, this solution calculates the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance. This achieves automatic determination of the hysteresis distance and ensures that the determined hysteresis distance is relatively accurate, thereby solving the problem in the prior art where the distance between the welding torch and the bottom feature point is difficult to measure accurately due to the deformation of the curved laser line. This ensures better quality and higher welding efficiency for curved surfaces.

[0079] Specifically, in a double-sided, double-arc welding scenario, if the first welding robot is located on the outer side of the curved workpiece and the second welding robot is located on the inner side of the curved workpiece, then the line connecting the first welding torch of the first welding robot and the second welding torch of the second welding robot needs to pass through the target center so that the first and second welding robots can weld synchronously. The target center is point O, the center of the circle formed by the curved workpiece. If the first and second welding robots are welding asynchronously, then it is not necessary to ensure that the line connecting the first welding torch of the first welding robot and the second welding torch of the second welding robot passes through the target center.

[0080] Specifically, the welding robot can be a trackless, all-position welding crawling robot.

[0081] In a specific implementation, in one optional embodiment, such as Figure 3 As shown, in a double-sided, double-arc welding scenario, the curved workpiece (i.e., the welding base material) has an outer diameter and an inner diameter. The welding parameters include a first distance and a second distance, wherein the first distance O1E1 is the distance between the target center point O1 and the welding torch in the first state. Figure 3The horizontal distance between point G1 (the endpoint of the welding torch in the first state) and the aforementioned second distance O1F1 is the horizontal distance between the welding torch in the first state and the aforementioned top feature point B1. The aforementioned determining unit includes a first construction module, a second construction module, and a first calculation module. The first construction module is used to construct an outer circle equation based on the outer diameter and an inner circle equation based on the inner diameter. The second construction module is used to construct a first straight line equation based on the first distance O1E1 and a second straight line equation based on the first distance O1E1 and the second distance O1F1. The first calculation module is used to jointly solve the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the aforementioned first arc distance A1B1 (see details). Figure 4 (As shown). In this embodiment, the equations of the outer circle, the inner circle, the first straight line, and the second straight line are solved jointly. This not only simplifies the process of obtaining the first arc distance but also ensures its accuracy, further guaranteeing the accuracy of the subsequently determined lag distance.

[0082] In practical applications, to further simplify the determination of the first arc distance, in one optional embodiment, such as... Figure 4 As shown, the first calculation module includes a first calculation submodule and a second calculation submodule. The first calculation submodule is used to jointly solve the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the first intersection point coordinates A1 and the second intersection point coordinates B1. The first intersection point coordinates A1 are the coordinates of the intersection point where the welding torch intersects with the curved plate workpiece in the first state, and the second intersection point coordinates B1 are the coordinates of the top feature point in the world coordinate system. The second calculation submodule is used to obtain the first arc distance A1B1 based on the first intersection point coordinates A1 and the second intersection point coordinates B1.

[0083] In one specific embodiment of this application, the outer circle equation can be constructed based on the outer diameter of the curved workpiece: x1 2 +y1 2 =r1 2 Where r1 is obtained based on the outer diameter. The inner circle equation can be constructed based on the inner diameter of the curved workpiece: x2 2 +y2 2 =r2 2 Where r2 is obtained based on the inner diameter. Based on the first distance L1 (i.e. Figure 3 and Figure 4 In the O1E1), construct the first straight line equation y3=L1; based on the first distance L1 and the second distance L2 (i.e. Figure 3 and Figure 4Using O1F1 in the equation, construct the second straight line equation y4 = L1 + L2. Then, solve y1, y2, y3, and y4 together to obtain the intersection point A1 of the straight line where the welding torch is located and the curved workpiece. Figure 4 The coordinates A1(x1,y1) and the top feature point B1 of the weld bevel (as shown) are given. Figure 4 (As shown) Coordinates in the world coordinate system Based on the coordinates of A1 and B1, the first arc distance S between A1 and B1 is obtained. AB That is, the distance of the first arc. and the straight-line distance between A1 and B1

[0084] In actual welding processes, the welding robot welds perpendicularly to the base material (i.e., the curved workpiece). Therefore, to further improve the accuracy of the calculated lag distance and to more accurately control the welding torch to reach the bottom feature point, in one optional embodiment, such as... Figure 5 As shown, the aforementioned determining unit further includes a first determining module, a second determining module, and a second calculation module, wherein the first determining module is used to determine the coordinates of the third intersection point (i.e., Figure 5 The coordinates of point C shown above), the coordinates of the third intersection point are the coordinates of the intersection point C where the welding torch intersects with the curved workpiece in the second state above; the second determining module is used to determine the rotation angle 201 based on the coordinates of the third intersection point above; the second calculating module is used to determine the rotation angle 201 and the coordinates of the third intersection point (i.e., the coordinates of point C shown above), the coordinates of the third intersection point above, ... Figure 5 The coordinates of point C shown) and the coordinates of the first intersection point (i.e. Figure 5 Calculate the coordinates of point A1 shown above, the distance CA1 of the second arc, and the coordinates of the first intersection point (i.e., Figure 5 The coordinates of point A1 shown are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the first state.

[0085] Specifically, such as Figure 5 As shown, point G2 is the endpoint of the welding torch when the welding torch is in the second state.

[0086] Specifically, when the welding robot is located on the outer side of the curved workpiece, the distance of the second arc is negative. When the welding robot is located on the inner side of the curved workpiece, the distance of the second arc is positive.

[0087] To ensure the accuracy of the subsequent calculation of the second arc distance, in one optional embodiment, such as... Figure 5As shown, the first determining module includes a third calculation submodule, a fourth calculation submodule, and a fifth calculation submodule. The third calculation submodule is used to calculate the target height, which is the vertical height of the fourth intersection point E1 and the first intersection point A1. The fourth intersection point E1 is the endpoint of the third straight line that is not located at the target center point O1. The third straight line is the horizontal line between the target center point O1 and the welding torch in the first state (i.e.,...). Figure 5 The first intersection point A1 is the intersection point where the welding torch intersects with the curved workpiece in the first state; the fourth calculation submodule is used to determine the coordinate information of the fourth intersection point E1 based on the target height, obtain the coordinates of the fourth intersection point, and at least based on the coordinates of the fourth intersection point, determine the equation of the fourth straight line, the equation of the fourth straight line is the equation of the fourth straight line, and the fourth straight line is the line passing through the center of the curved workpiece and the coordinates of the third intersection point (i.e., the first intersection point A1 is the first intersection point A1), where ... Figure 5 The coordinates of point C shown) and the coordinates of the fourth intersection point mentioned above (i.e. Figure 5 The line at point E1 shown above; the fifth calculation submodule is used to obtain the coordinates of the third intersection point (i.e., the line at point E1 shown above) based on the fourth line and the equation of the fourth line shown above. Figure 5 (The coordinates of point C are shown).

[0088] In actual welding scenarios, camera calibration is performed on a flat surface, while the height of the welding torch varies on curved workpieces. If the welding torch height is not corrected for double-sided, double-arc scenarios (i.e.,...), the welding torch will not be properly adjusted. Figure 5 If the distance between E1A1 and E1A1 is insufficient, the welding torch feed on the outer side of the curved workpiece will be insufficient, and the welding torch on the inner side of the curved workpiece will cause torch collision. Assuming... Figure 5 If the distance between E1A1 in the equation is h, then we have: The vertical axis slider is adjusted to align with the height on the flat surface. However, in actual adjustment, the adjustment directions for the inner and outer sides of the curved workpiece are opposite. When welding on a flat surface, the welding torch is naturally perpendicular to the curved workpiece. When welding on a curved surface, the welding torch is naturally inclined to the workpiece. Therefore, it is necessary to adjust the initial position of the welding torch to make it perpendicular to the workpiece. Figure 5 As shown, assuming the angle (rotation angle) between the welding torch in the first state and the welding torch in the second state is θ, and the center coordinates are (0, 0), it can be seen that when the welding torch is perpendicular to the curved plate surface, the straight line containing the welding torch passes through the center of the circle. Let the equation of the straight line containing CE1 be y = kx, and the coordinates of the rotation center E1 be (L1, R + h), where h is the height of the rotation center E1 from the target center point. The coordinates of the intersection point C can then be obtained as follows: but The second arc distance CA1 can be obtained based on the coordinates of the first intersection point A1, the third intersection point C, and the rotation angle θ. Specifically, the calculation method for the second arc distance CA1 is the same as that for the first arc distance A1B1, and will not be repeated here.

[0089] In an optional embodiment, the determining unit includes a third calculation module and a fourth calculation module. The third calculation module is used to jointly solve the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain a transformation angle. The transformation angle is the angle between the first straight line and the second straight line. The first straight line is a straight line perpendicular to the X-axis of the laser camera in the world coordinate system, and the second straight line is a straight line between the top feature point and the center of the curved workpiece. The fourth calculation module is used to calculate the target straight line distance based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system and the transformation angle.

[0090] In practical applications, based on Figure 5 The coordinates of the first intersection point A1 and the second intersection point B1 shown can be used to obtain the transformation angle. In one specific embodiment of this application, it is assumed that the three-dimensional coordinates of the top feature point B1 in the camera coordinate system are (x3, y3, z3), and the three-dimensional coordinates of the bottom feature point C1 in the bevel are (x4, y4, z4). Based on the top feature point B1, the bottom feature point C1 in the camera coordinate system, and the transformation angle α, the length L of the target straight-line distance B1C1 can be obtained. bc =(y4-y3)×cos(α)-(z4-z3)×sin(α).

[0091] Specifically, the aforementioned transformation angle can be the rotation angle of the laser camera when the laser camera of the welding robot is transformed from the camera coordinate system to the world coordinate system.

[0092] In practical applications, the positive Y-axis direction in the camera coordinate system is the direction in which the welding robot moves forward, the positive X-axis direction is the direction in which the welding torch of the welding robot moves, and the positive Z-axis direction is the direction in which the welding torch moves vertically downward.

[0093] The aforementioned device for determining the lag distance includes a processor and a memory. The acquisition unit, determination unit, and calculation unit are all stored as program units in the memory, and the processor executes these program units to achieve the corresponding functions. All of the aforementioned modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0094] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem in existing technologies where the distance from the welding torch to the bottom feature point is difficult to measure accurately due to the deformation of the curved laser line.

[0095] The memory may include non-permanent memory in computer-readable media, such as 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.

[0096] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the method for determining the hysteresis distance.

[0097] Specifically, methods for determining the lag distance include:

[0098] Step S201: Obtain the coordinate information of the top feature point and bottom feature point of the welding groove in the camera coordinate system, and the welding parameters of the welding robot. The welding parameters are used to characterize the horizontal distance between the welding torch and the target center point and the top feature point in the first state. The first state is the state in which the welding torch is perpendicular to the X-axis in the world coordinate system. The target center point is the center point of the line connecting the two tangent points. The two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved plate workpiece.

[0099] Specifically, such as Figure 3 As shown, a welding robot may include a welding torch ( Figure 3 Point G1 in the diagram represents the end point of the welding torch in its first state, and the laser camera ( Figure 3 Point H1 in the diagram is the endpoint of the laser camera, and the laser camera is located in front of the welding torch, and the laser camera is parallel to the welding torch in the first state.

[0100] Specifically, such as Figure 3 As shown, the top feature point B1 and bottom feature point C1 of the welding bevel can be the inflection points where the laser line from the welding robot's laser camera illuminates the curved workpiece. Among them, Figure 3 The top feature point B1 and the bottom feature point C1 shown are the bottom and top feature points of the welding bevel when the welding robot is on the outside in a double-sided, double-arc welding scenario. In a double-sided, double-arc welding scenario, the welding robot located on the inside of the curved workpiece also has bottom and top feature points of the welding bevel. Figure 3 It is not shown in the middle.

[0101] Specifically, such as Figure 3As shown, when the welding robot 200 is at the top of the welding base material (i.e., the welding robot is at the top of the curved workpiece), the first state described above can also be that the welding gun G1 point of the welding robot 200 is perpendicular to the ground.

[0102] Specifically, the moving parts on both sides can be a left track and a right track. Alternatively, the moving parts on both sides can be a front magnetic wheel and a rear magnetic wheel. When the two tangent points are respectively the first tangent point and the second tangent point, and the welding robot is a tracked welding robot, the first tangent point can be the point where the left track of the welding robot (left and right are determined when a person is looking directly at the computer screen) is tangent to the base material, and the second tangent point can be the point where the right track of the welding robot is tangent to the base material. The target center point is the center point of the line connecting the first and second tangent points. When the two tangent points are respectively the first tangent point and the second tangent point, and the welding robot is a welding robot with front and rear magnetic wheels, the first tangent point can be the point where the front magnetic wheel of the welding robot is tangent to the base material, and the second tangent point can be the point where the rear magnetic wheel of the welding robot is tangent to the base material. The target center point is the continuous center point of the first and second tangent points.

[0103] Step S202: Based at least on the above welding parameters, determine the first arc distance, and at least based on the rotation angle, calculate the second arc distance, and at least based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, calculate the target straight line distance. The rotation angle is the angle between the welding torch in the first state and the second state. The second state is the state in which the welding torch is perpendicular to the curved plate workpiece. The second state is the state in which the end point G1 of the welding torch is perpendicular to the curved plate workpiece.

[0104] Step S203: Calculate the sum of the first arc distance, the second arc distance, and the target straight line distance to obtain the lag distance.

[0105] Optionally, the curved workpiece has an outer diameter and an inner diameter, and the welding parameters include a first distance and a second distance. The first distance is the horizontal distance between the target center point and the welding torch in the first state, and the second distance is the horizontal distance between the welding torch in the first state and the top feature point. Determining the first arc distance based at least on the welding parameters includes: constructing an outer circle equation based on the outer diameter and an inner circle equation based on the inner diameter; constructing a first straight line equation based on the first distance and a second straight line equation based on the first distance and the second distance; and jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the first arc distance.

[0106] Optionally, the first arc distance is obtained by jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation. This includes: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the coordinates of the first intersection point and the coordinates of the second intersection point, wherein the coordinates of the first intersection point are the coordinates of the intersection point where the welding torch intersects with the curved plate workpiece in the first state, and the coordinates of the second intersection point are the coordinates of the top feature point in the world coordinate system; and the first arc distance is obtained based on the coordinates of the first intersection point and the second intersection point.

[0107] Optionally, the second arc distance is calculated based at least on the rotation angle, including: determining the coordinates of a third intersection point, wherein the third intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the second state; determining the rotation angle based on the third intersection point coordinates; and calculating the second arc distance based on the rotation angle, the third intersection point coordinates, and the first intersection point coordinates, wherein the first intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the first state.

[0108] Optionally, the process of determining the coordinates of the third intersection point is as follows: Calculate the target height, which is the vertical height of the fourth intersection point and the first intersection point. The fourth intersection point is the endpoint of the third straight line at the end other than the target center point. The third straight line is the horizontal line between the target center point and the welding torch in the first state. The first intersection point is the intersection point where the welding torch intersects with the curved workpiece in the first state. Based on the target height, determine the coordinate information of the fourth intersection point to obtain the coordinates of the fourth intersection point. At least based on the coordinates of the fourth intersection point, determine the equation of the fourth straight line. The equation of the fourth straight line is the equation of the fourth straight line, which is a straight line passing through the center of the curved workpiece, the coordinates of the third intersection point, and the coordinates of the fourth intersection point. Based on the fourth straight line and the equation of the fourth straight line, obtain the coordinates of the third intersection point.

[0109] Optionally, the target straight-line distance is calculated based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, including: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain a transformation angle, wherein the transformation angle is the angle between the first straight line and the second straight line, the first straight line is the straight line perpendicular to the X-axis of the laser camera in the world coordinate system, and the second straight line is the straight line between the top feature point and the center of the curved workpiece; the target straight-line distance is calculated based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system and the transformation angle.

[0110] This invention provides a processor for running a program, wherein the program executes the method for determining the hysteresis distance during runtime.

[0111] Specifically, methods for determining the lag distance include:

[0112] Step S201: Obtain the coordinate information of the top feature point and bottom feature point of the welding groove in the camera coordinate system, and the welding parameters of the welding robot. The welding parameters are used to characterize the horizontal distance between the welding torch and the target center point and the top feature point in the first state. The first state is the state in which the welding torch is perpendicular to the X-axis in the world coordinate system. The target center point is the center point of the line connecting the two tangent points. The two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved plate workpiece.

[0113] Specifically, such as Figure 3 As shown, a welding robot may include a welding torch ( Figure 3 Point G1 in the diagram represents the end point of the welding torch in its first state, and the laser camera ( Figure 3 Point H1 in the diagram is the endpoint of the laser camera, and the laser camera is located in front of the welding torch, and the laser camera is parallel to the welding torch in the first state.

[0114] Specifically, such as Figure 3 As shown, the top feature point B1 and bottom feature point C1 of the welding bevel can be the inflection points where the laser line from the welding robot's laser camera illuminates the curved workpiece. Among them, Figure 3 The top feature point B1 and the bottom feature point C1 shown are the bottom and top feature points of the welding bevel when the welding robot is on the outside in a double-sided, double-arc welding scenario. In a double-sided, double-arc welding scenario, the welding robot located on the inside of the curved workpiece also has bottom and top feature points of the welding bevel. Figure 3 It is not shown in the middle.

[0115] Specifically, such as Figure 3 As shown, when the welding robot 200 is at the top of the welding base material (i.e., the welding robot is at the top of the curved workpiece), the first state described above can also be that the welding gun G1 point of the welding robot 200 is perpendicular to the ground.

[0116] Specifically, the moving parts on both sides can be a left track and a right track. Alternatively, the moving parts on both sides can be a front magnetic wheel and a rear magnetic wheel. When the two tangent points are respectively the first tangent point and the second tangent point, and the welding robot is a tracked welding robot, the first tangent point can be the point where the left track of the welding robot (left and right are determined when a person is looking directly at the computer screen) is tangent to the base material, and the second tangent point can be the point where the right track of the welding robot is tangent to the base material. The target center point is the center point of the line connecting the first and second tangent points. When the two tangent points are respectively the first tangent point and the second tangent point, and the welding robot is a welding robot with front and rear magnetic wheels, the first tangent point can be the point where the front magnetic wheel of the welding robot is tangent to the base material, and the second tangent point can be the point where the rear magnetic wheel of the welding robot is tangent to the base material. The target center point is the continuous center point of the first and second tangent points.

[0117] Step S202: Based at least on the above welding parameters, determine the first arc distance, and at least based on the rotation angle, calculate the second arc distance, and at least based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, calculate the target straight line distance. The rotation angle is the angle between the welding torch in the first state and the second state. The second state is the state in which the welding torch is perpendicular to the curved plate workpiece. The second state is the state in which the end point G1 of the welding torch is perpendicular to the curved plate workpiece.

[0118] Step S203: Calculate the sum of the first arc distance, the second arc distance, and the target straight line distance to obtain the lag distance.

[0119] Optionally, the curved workpiece has an outer diameter and an inner diameter, and the welding parameters include a first distance and a second distance. The first distance is the horizontal distance between the target center point and the welding torch in the first state, and the second distance is the horizontal distance between the welding torch in the first state and the top feature point. Determining the first arc distance based at least on the welding parameters includes: constructing an outer circle equation based on the outer diameter and an inner circle equation based on the inner diameter; constructing a first straight line equation based on the first distance and a second straight line equation based on the first distance and the second distance; and jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the first arc distance.

[0120] Optionally, the first arc distance is obtained by jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation. This includes: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the coordinates of the first intersection point and the coordinates of the second intersection point, wherein the coordinates of the first intersection point are the coordinates of the intersection point where the welding torch intersects with the curved plate workpiece in the first state, and the coordinates of the second intersection point are the coordinates of the top feature point in the world coordinate system; and the first arc distance is obtained based on the coordinates of the first intersection point and the second intersection point.

[0121] Optionally, the second arc distance is calculated based at least on the rotation angle, including: determining the coordinates of a third intersection point, wherein the third intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the second state; determining the rotation angle based on the third intersection point coordinates; and calculating the second arc distance based on the rotation angle, the third intersection point coordinates, and the first intersection point coordinates, wherein the first intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the first state.

[0122] Optionally, the process of determining the coordinates of the third intersection point is as follows: Calculate the target height, which is the vertical height of the fourth intersection point and the first intersection point. The fourth intersection point is the endpoint of the third straight line at the end other than the target center point. The third straight line is the horizontal line between the target center point and the welding torch in the first state. The first intersection point is the intersection point where the welding torch intersects with the curved workpiece in the first state. Based on the target height, determine the coordinate information of the fourth intersection point to obtain the coordinates of the fourth intersection point. At least based on the coordinates of the fourth intersection point, determine the equation of the fourth straight line. The equation of the fourth straight line is the equation of the fourth straight line, which is a straight line passing through the center of the curved workpiece, the coordinates of the third intersection point, and the coordinates of the fourth intersection point. Based on the fourth straight line and the equation of the fourth straight line, obtain the coordinates of the third intersection point.

[0123] Optionally, the target straight-line distance is calculated based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, including: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain a transformation angle, wherein the transformation angle is the angle between the first straight line and the second straight line, the first straight line is the straight line perpendicular to the X-axis of the laser camera in the world coordinate system, and the second straight line is the straight line between the top feature point and the center of the curved workpiece; the target straight-line distance is calculated based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system and the transformation angle.

[0124] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0125] Step S201: Obtain the coordinate information of the top feature point and bottom feature point of the welding groove in the camera coordinate system, and the welding parameters of the welding robot. The welding parameters are used to characterize the horizontal distance between the welding torch and the target center point and the top feature point in the first state. The first state is the state in which the welding torch is perpendicular to the X-axis in the world coordinate system. The target center point is the center point of the line connecting the two tangent points. The two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved plate workpiece.

[0126] Step S202: Based at least on the above welding parameters, determine the first arc distance, and at least based on the rotation angle, calculate the second arc distance, and at least based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, calculate the target straight line distance. The rotation angle is the angle between the welding torch in the first state and the second state. The second state is the state in which the welding torch is perpendicular to the curved plate workpiece. The second state is the state in which the end point G1 of the welding torch is perpendicular to the curved plate workpiece.

[0127] Step S203: Calculate the sum of the first arc distance, the second arc distance, and the target straight line distance to obtain the lag distance.

[0128] Optionally, the curved workpiece has an outer diameter and an inner diameter, and the welding parameters include a first distance and a second distance. The first distance is the horizontal distance between the target center point and the welding torch in the first state, and the second distance is the horizontal distance between the welding torch in the first state and the top feature point. Determining the first arc distance based at least on the welding parameters includes: constructing an outer circle equation based on the outer diameter and an inner circle equation based on the inner diameter; constructing a first straight line equation based on the first distance and a second straight line equation based on the first distance and the second distance; and jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the first arc distance.

[0129] Optionally, the first arc distance is obtained by jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation. This includes: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the coordinates of the first intersection point and the coordinates of the second intersection point, wherein the coordinates of the first intersection point are the coordinates of the intersection point where the welding torch intersects with the curved plate workpiece in the first state, and the coordinates of the second intersection point are the coordinates of the top feature point in the world coordinate system; and the first arc distance is obtained based on the coordinates of the first intersection point and the second intersection point.

[0130] Optionally, the second arc distance is calculated based at least on the rotation angle, including: determining the coordinates of a third intersection point, wherein the third intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the second state; determining the rotation angle based on the third intersection point coordinates; and calculating the second arc distance based on the rotation angle, the third intersection point coordinates, and the first intersection point coordinates, wherein the first intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the first state.

[0131] Optionally, the process of determining the coordinates of the third intersection point is as follows: Calculate the target height, which is the vertical height of the fourth intersection point and the first intersection point. The fourth intersection point is the endpoint of the third straight line at the end other than the target center point. The third straight line is the horizontal line between the target center point and the welding torch in the first state. The first intersection point is the intersection point where the welding torch intersects with the curved workpiece in the first state. Based on the target height, determine the coordinate information of the fourth intersection point to obtain the coordinates of the fourth intersection point. At least based on the coordinates of the fourth intersection point, determine the equation of the fourth straight line. The equation of the fourth straight line is the equation of the fourth straight line, which is a straight line passing through the center of the curved workpiece, the coordinates of the third intersection point, and the coordinates of the fourth intersection point. Based on the fourth straight line and the equation of the fourth straight line, obtain the coordinates of the third intersection point.

[0132] Optionally, the target straight-line distance is calculated based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, including: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain a transformation angle, wherein the transformation angle is the angle between the first straight line and the second straight line, the first straight line is the straight line perpendicular to the X-axis of the laser camera in the world coordinate system, and the second straight line is the straight line between the top feature point and the center of the curved workpiece; the target straight-line distance is calculated based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system and the transformation angle.

[0133] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0134] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0135] Step S201: Obtain the coordinate information of the top feature point and bottom feature point of the welding groove in the camera coordinate system, and the welding parameters of the welding robot. The welding parameters are used to characterize the horizontal distance between the welding torch and the target center point and the top feature point in the first state. The first state is the state in which the welding torch is perpendicular to the X-axis in the world coordinate system. The target center point is the center point of the line connecting the two tangent points. The two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved plate workpiece.

[0136] Step S202: Based at least on the above welding parameters, determine the first arc distance, and at least based on the rotation angle, calculate the second arc distance, and at least based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, calculate the target straight line distance. The rotation angle is the angle between the welding torch in the first state and the second state. The second state is the state in which the welding torch is perpendicular to the curved plate workpiece. The second state is the state in which the end point G1 of the welding torch is perpendicular to the curved plate workpiece.

[0137] Step S203: Calculate the sum of the first arc distance, the second arc distance, and the target straight line distance to obtain the lag distance.

[0138] Optionally, the curved workpiece has an outer diameter and an inner diameter, and the welding parameters include a first distance and a second distance. The first distance is the horizontal distance between the target center point and the welding torch in the first state, and the second distance is the horizontal distance between the welding torch in the first state and the top feature point. Determining the first arc distance based at least on the welding parameters includes: constructing an outer circle equation based on the outer diameter and an inner circle equation based on the inner diameter; constructing a first straight line equation based on the first distance and a second straight line equation based on the first distance and the second distance; and jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the first arc distance.

[0139] Optionally, the first arc distance is obtained by jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation. This includes: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain the coordinates of the first intersection point and the coordinates of the second intersection point, wherein the coordinates of the first intersection point are the coordinates of the intersection point where the welding torch intersects with the curved plate workpiece in the first state, and the coordinates of the second intersection point are the coordinates of the top feature point in the world coordinate system; and the first arc distance is obtained based on the coordinates of the first intersection point and the second intersection point.

[0140] Optionally, the second arc distance is calculated based at least on the rotation angle, including: determining the coordinates of a third intersection point, wherein the third intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the second state; determining the rotation angle based on the third intersection point coordinates; and calculating the second arc distance based on the rotation angle, the third intersection point coordinates, and the first intersection point coordinates, wherein the first intersection point coordinates are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the first state.

[0141] Optionally, the process of determining the coordinates of the third intersection point is as follows: Calculate the target height, which is the vertical height of the fourth intersection point and the first intersection point. The fourth intersection point is the endpoint of the third straight line at the end other than the target center point. The third straight line is the horizontal line between the target center point and the welding torch in the first state. The first intersection point is the intersection point where the welding torch intersects with the curved workpiece in the first state. Based on the target height, determine the coordinate information of the fourth intersection point to obtain the coordinates of the fourth intersection point. At least based on the coordinates of the fourth intersection point, determine the equation of the fourth straight line. The equation of the fourth straight line is the equation of the fourth straight line, which is a straight line passing through the center of the curved workpiece, the coordinates of the third intersection point, and the coordinates of the fourth intersection point. Based on the fourth straight line and the equation of the fourth straight line, obtain the coordinates of the third intersection point.

[0142] Optionally, the target straight-line distance is calculated based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, including: jointly solving the outer circle equation, the inner circle equation, the first straight line equation, and the second straight line equation to obtain a transformation angle, wherein the transformation angle is the angle between the first straight line and the second straight line, the first straight line is the straight line perpendicular to the X-axis of the laser camera in the world coordinate system, and the second straight line is the straight line between the top feature point and the center of the curved workpiece; the target straight-line distance is calculated based on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system and the transformation angle.

[0143] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0144] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0146] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0147] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0148] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0149] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0150] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0151] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0152] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0153] 1) In the method for determining the hysteresis distance of this application, firstly, the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system is obtained, as well as the welding parameters of the welding robot; then, based at least on the welding parameters, the first arc distance is determined, based at least on the rotation angle, the second arc distance is calculated, and based at least on the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system, the target straight-line distance is calculated; finally, the sum of the first arc distance, the second arc distance, and the target straight-line distance is calculated to obtain the hysteresis distance. Compared with the prior art, which determines the hysteresis distance (i.e., the distance between the welding torch and the bottom feature point) based on the operator's subjective experience, this solution calculates the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance. This achieves automatic determination of the hysteresis distance and ensures that the determined hysteresis distance is relatively accurate, thereby solving the problem in the prior art where the distance between the welding torch and the bottom feature point is difficult to measure accurately due to the deformation of the curved laser line. This ensures better quality and higher welding efficiency for curved surfaces.

[0154] 2) In the double-sided, double-arc welding control method of this application, the first lag distance is obtained by calculating the coordinate information of the top and bottom feature points of the first welding robot located on the outer side of the curved workpiece in camera coordinates, the welding parameters of the first welding robot, and the rotation angle. Similarly, the second lag distance is obtained by calculating the coordinate information of the top and bottom feature points of the second welding robot located on the inner side of the curved workpiece in camera coordinates, the welding parameters of the second welding robot, and the rotation angle. The first welding robot is controlled to weld according to the first lag distance, and the second welding robot is controlled to weld according to the second lag distance. Compared with the prior art, which determines the lag distance (i.e., the distance between the welding torch and the bottom feature point) based on the operator's subjective experience, this solution automatically calculates the first and second lag distances. This ensures that the calculated first and second lag distances are more accurate, resulting in better quality welding of the curved surface and higher welding efficiency.

[0155] 3) In the hysteresis distance determination device of this application, the acquisition unit is used to acquire the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system, and to acquire the welding parameters of the welding robot; the determination unit is used to determine the first arc distance based at least on the welding parameters, calculate the second arc distance based at least on the rotation angle, and calculate the target straight-line distance based at least on the coordinate information of the top and bottom feature points of the weld bevel in the camera coordinate system; the calculation unit is used to calculate the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance. Compared with the prior art, which determines the hysteresis distance (i.e., the distance between the welding torch and the bottom feature point) based on the operator's subjective experience, this solution calculates the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the hysteresis distance. This achieves automatic determination of the hysteresis distance and ensures that the determined hysteresis distance is relatively accurate, thereby solving the problem in the prior art that the distance between the welding torch and the bottom feature point is difficult to measure accurately due to the deformation of the curved laser line, thus ensuring better quality and higher welding efficiency of curved surface welding.

[0156] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for determining lag distance, characterized in that, include: The coordinate information of the top and bottom feature points of the welding bevel in the camera coordinate system and the welding parameters of the welding robot are obtained respectively. The welding parameters are used to characterize the horizontal distance between the welding torch and the target center point and the top feature point in the first state. The first state is the state in which the welding torch is perpendicular to the X-axis in the world coordinate system. The target center point is the center point of the line connecting the two tangent points. The two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved workpiece. Based at least on the welding parameters, a first arc distance is determined, and based at least on the rotation angle, a second arc distance is calculated. Based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, a target straight-line distance is calculated. The rotation angle is the angle between the welding torch in the first state and the second state. The second state is the state in which the welding torch is perpendicular to the curved workpiece. The hysteresis distance is obtained by summing the distance of the first arc, the distance of the second arc, and the distance of the target straight line.

2. The determination method according to claim 1, characterized in that, The curved workpiece has an outer diameter and an inner diameter. The welding parameters include a first distance and a second distance, wherein the first distance is the horizontal distance between the target center point and the welding torch in the first state, and the second distance is the horizontal distance between the welding torch in the first state and the top feature point. Determining the first arc distance based at least on the welding parameters includes: The outer circle equation is constructed based on the outer diameter, and the inner circle equation is constructed based on the inner diameter; Based on the first distance, a first straight line equation is constructed, and based on the first distance and the second distance, a second straight line equation is constructed; The first arc distance is obtained by jointly solving the equations of the outer circle, the inner circle, the first straight line, and the second straight line.

3. The determination method according to claim 2, characterized in that, The first arc distance is obtained by jointly solving the equations of the outer circle, the inner circle, the first straight line, and the second straight line, including: The equations of the outer circle, the inner circle, the first straight line, and the second straight line are solved together to obtain the coordinates of the first intersection point and the coordinates of the second intersection point. The coordinates of the first intersection point are the coordinates of the intersection point where the welding gun intersects with the curved plate workpiece in the first state, and the coordinates of the second intersection point are the coordinates of the top feature point in the world coordinate system. The first arc distance is obtained based on the coordinates of the first intersection point and the coordinates of the second intersection point.

4. The determination method according to claim 1, characterized in that, Calculate the distance of the second arc based at least on the rotation angle, including: Determine the coordinates of the third intersection point, which are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the second state; The rotation angle is determined based on the coordinates of the third intersection point; Based on the rotation angle, the coordinates of the third intersection point, and the coordinates of the first intersection point, the distance of the second arc is calculated. The coordinates of the first intersection point are the coordinates of the intersection point where the welding torch intersects with the curved workpiece in the first state.

5. The determination method according to claim 4, characterized in that, The process of determining the coordinates of the third intersection point is as follows: Calculate the target height, which is the vertical height of the fourth intersection point and the first intersection point. The fourth intersection point is the endpoint of the third straight line that is not the target center point. The third straight line is the horizontal line between the target center point and the welding torch in the first state. The first intersection point is the intersection point where the welding torch intersects with the curved plate workpiece in the first state. Based on the target height, the coordinate information of the fourth intersection point is determined, and the coordinates of the fourth intersection point are obtained. At least based on the coordinates of the fourth intersection point, the equation of the fourth straight line is determined. The equation of the fourth straight line is the equation of the fourth straight line, and the fourth straight line is a straight line passing through the center of the curved workpiece, the coordinates of the third intersection point, and the coordinates of the fourth intersection point. Based on the fourth line and its equation, the coordinates of the third intersection point are obtained.

6. The determination method according to claim 2, characterized in that, Based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, the target straight-line distance is calculated, including: The equations of the outer circle, the inner circle, the first straight line, and the second straight line are solved together to obtain the transformation angle. The transformation angle is the angle between the first straight line and the second straight line. The first straight line is the line perpendicular to the X-axis of the world coordinate system. The second straight line is the line between the top feature point and the center of the curved workpiece. The target straight-line distance is calculated based on the coordinate information of the top and bottom feature points in the camera coordinate system and the transformation angle.

7. A double-sided, double-arc welding control method, wherein a first welding robot is provided on the outer side of a curved workpiece, and a second welding robot is provided on the inner side of the curved workpiece, the welding bevel includes a first welding bevel and a second welding bevel, wherein the first welding bevel is the welding bevel on the outer side of the curved workpiece, and the second welding bevel is the welding bevel on the inner side of the curved workpiece, characterized in that, The welding control method includes: Using the method for determining the hysteresis distance as described in any one of claims 1 to 6, the coordinate information of the top and bottom feature points of the first welding groove in the camera coordinate system, as well as the welding parameters and rotation angle of the first welding robot, are calculated to obtain the first hysteresis distance. Using the method for determining the hysteresis distance as described in any one of claims 1 to 6, the coordinate information of the top and bottom feature points of the second welding groove in the camera coordinate system, as well as the welding parameters and rotation angle of the second welding robot, are calculated to obtain the second hysteresis distance. The first welding robot is controlled to weld according to the first lag distance, and the second welding robot is controlled to weld according to the second lag distance.

8. The welding control method according to claim 7, characterized in that, Controlling the first welding robot to weld according to the first lag distance, and controlling the second welding robot to weld according to the second lag distance, includes: The welding torch of the first welding robot is controlled to move to the bottom feature point of the first welding bevel based on the first hysteresis distance; Control the welding torch of the first welding robot to execute the first welding coordinate; The welding torch of the second welding robot is controlled to move to the bottom feature point of the second welding bevel based on the second hysteresis distance; Control the welding torch of the second welding robot to execute the second welding coordinate.

9. The welding control method according to claim 7, characterized in that, Controlling the first welding robot to weld according to the first lag distance, and controlling the second welding robot to weld according to the second lag distance, includes: The arc spacing between the first welding robot and the second welding robot is within a preset range.

10. A device for determining hysteresis distance, characterized in that, include: The acquisition unit is used to acquire the coordinate information of the top feature point and the bottom feature point of the welding groove in the camera coordinate system, and the welding parameters of the welding robot. The welding parameters are used to characterize the horizontal distance between the welding torch and the target center point and the top feature point in the first state. The first state is the state in which the welding torch is perpendicular to the X-axis in the world coordinate system. The target center point is the center point of the line connecting two tangent points. The two tangent points are the points where the moving parts on both sides of the welding robot are tangent to the curved workpiece. The determining unit is used to determine a first arc distance based at least on the welding parameters, and to calculate a second arc distance based at least on the rotation angle, and to calculate a target straight line distance based at least on the coordinate information of the top feature point and the bottom feature point in the camera coordinate system, wherein the rotation angle is the angle between the welding torch in the first state and the second state, and the second state is the state in which the welding torch is perpendicular to the curved plate workpiece. The calculation unit is used to calculate the sum of the first arc distance, the second arc distance, and the target straight-line distance to obtain the lag distance.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method for determining the hysteresis distance as described in any one of claims 1 to 6.

12. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method for determining the hysteresis distance according to any one of claims 1 to 6.

Images