Creeper welding robot and welding seam angle model construction method, device and system

Abstract

The application provides a welding seam and robot included angle model construction method, device and system, the method comprising: obtaining welding information; determining a current time theoretical distance deviation and a current time theoretical included angle according to the welding information; obtaining a current time actual distance deviation, and determining a correction included angle according to the current time actual distance deviation and the current time theoretical included angle; correcting the current time theoretical included angle according to the correction included angle to obtain a current time actual included angle. The welding seam and robot included angle model construction method adopts a real-time maintenance model for constructing a welding seam and robot included angle, and guides the welding robot to advance or retreat through the included angle information, thereby achieving the technical effect of real-time tracking of the single laser system on the robot and the welding seam included angle, and further solving the technical problem that the single laser system sensor of the welding robot cannot simultaneously meet the requirements of advancing or retreating to track the welding seam.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of welding, in particular to a welding robot and a welding seam angle model construction method and device, a computer readable storage medium, a processor and a system. BACKGROUND

[0002] The existing welding robot realizes tracking of the welding seam by installing a laser system sensor.

[0003] However, in the case of installing a single laser system sensor, only forward tracking of the welding seam is possible, and backward tracking of the welding seam can only be manually controlled by artificial means, which reduces the intelligence and automation level of the welding robot. Therefore, a welding robot and a welding seam angle real-time maintenance model need to be constructed to guide the welding robot to move forward or backward using the angle information.

[0004] The above information disclosed in the background section is only for the purpose of enhancing the understanding of the background of the technology described herein and, therefore, can include some information that does not form the prior art that is already known in this country to those skilled in the art. SUMMARY

[0005] The main purpose of the present application is to provide a welding robot and a welding seam angle model construction method, device, computer readable storage medium, processor and system to solve the problem that the single laser system sensor of the existing welding robot cannot simultaneously meet the forward or backward tracking of the welding seam.

[0006] According to an aspect of an embodiment of the present application, a welding robot and a welding seam angle model construction method is provided, comprising: obtaining welding information, the welding information including the speed of the welding robot at the previous moment, the angular velocity of the welding robot at the previous moment, the control period of the welding robot, the length from the camera center of the laser system to the center of the robot body, the actual angle at the previous moment and the actual distance deviation at the previous moment, wherein the actual angle is the angle between the welding robot and the actual welding seam, and the actual distance deviation is the distance deviation between the welding robot and the actual welding seam; determining the theoretical distance deviation at the current moment and the theoretical angle at the current moment according to the welding information, wherein the theoretical distance deviation is the distance deviation between the welding robot and the theoretical welding seam, and the theoretical angle is the angle between the welding robot and the theoretical welding seam; obtaining the actual distance deviation at the current moment, determining the corrected angle according to the actual distance deviation at the current moment and the theoretical angle at the current moment, the corrected angle being the angle between the actual welding seam and the theoretical welding seam; and correcting the theoretical angle at the current moment according to the corrected angle to obtain the actual angle at the current moment.

[0007] Optionally, the theoretical included angle at the current moment is determined according to the welding information, comprising: calculating the theoretical included angle at the current moment according to the formula θ t|预估 = θ t-1|修正 + Δθ and Δθ = w t-1 × T, wherein θ t|预估 is the theoretical included angle at the current moment, θ t-1|修正 is the actual included angle at the previous moment, Δθ is an angular displacement, w t-1 is the angular velocity of the welding robot at the previous moment, and T is the control period of the welding robot.

[0008] Optionally, the theoretical distance deviation at the current moment is determined according to the welding information, comprising: constructing a global coordinate system and a local coordinate system, wherein the global coordinate system is a coordinate system established with the center of the welding robot vehicle body as the origin, and the local coordinate system is a coordinate system established with the camera center of the laser system as the origin; determining the coordinates of the laser system in the local coordinate system at the current moment according to the speed of the welding robot at the previous moment, the angular velocity of the welding robot at the previous moment, and the control period of the welding robot; determining the included angle between the local coordinate system and the global coordinate system according to the actual included angle at the previous moment, the speed of the welding robot at the previous moment, and the angular velocity of the welding robot at the previous moment; determining the coordinates of the laser system in the global coordinate system at the current moment according to the included angle between the local coordinate system and the global coordinate system, the coordinates of the laser system in the local coordinate system at the current moment, the actual distance deviation at the previous moment, and the actual included angle at the previous moment; and determining the theoretical distance deviation at the current moment according to the speed of the welding robot at the previous moment, the control period of the welding robot, the actual included angle at the previous moment, the longitudinal coordinate of the laser system in the global coordinate system at the current moment, and the theoretical included angle at the current moment.

[0009] Optionally, the coordinates of the laser system in the local coordinate system at the current moment are determined according to the speed of the welding robot at the previous moment, the angular velocity of the welding robot at the previous moment, and the control period of the welding robot, comprising: in the case that the angular velocity of the welding robot at the previous moment is zero, calculating the coordinates of the laser system in the local coordinate system at the current moment according to the formula , wherein x B|local is the horizontal coordinate of the laser system in the local coordinate system at the current moment, y B|local is the longitudinal coordinate of the laser system in the local coordinate system at the current moment, v t-1 is the speed of the welding robot at the previous moment, and T is the control period of the welding robot; and in the case that the angular velocity of the welding robot at the previous moment is not zero, calculating the coordinates of the laser system in the local coordinate system at the current moment according to the formula and Calculate the coordinates of the laser system in the local coordinate system at the current moment, where x B|local Let y be the abscissa of the laser system in the local coordinate system at the current moment. B|local Let v be the ordinate of the laser system in the local coordinate system at the current moment, R be the radius of motion, and v be the vertical coordinate of the laser system. t-1 The speed of the welding robot at the previous moment, w t-1 Let ω be the angular velocity of the welding robot at the previous moment, and T be the control cycle of the welding robot.

[0010] Optionally, determining the angle between the local coordinate system and the global coordinate system based on the actual angle at the previous moment, the speed of the welding robot at the previous moment, and the angular velocity of the welding robot at the previous moment includes: when the angular velocity of the welding robot at the previous moment is zero, using the formula θ = θ t-1|修正 Calculate the angle between the local coordinate system and the global coordinate system, where β is the angle between the local coordinate system and the global coordinate system, and θ is the angle between them. t-1|修正 The actual included angle at the previous moment; if the angular velocity of the welding robot at the previous moment is not zero, according to the formula... and Calculate the angle between the local coordinate system and the global coordinate system, where β is the angle between the local coordinate system and the global coordinate system, and θ is the angle between them. t-1|修正 Let be the actual included angle at the previous moment, arctan( ) be the inverse trigonometric function, R be the radius of motion, L be the displacement of the welding robot, and v be the displacement of the welding robot. t-1 Let w be the speed of the welding robot at the previous moment. t-1 Let be the angular velocity of the welding robot at the previous moment.

[0011] Optionally, determining the coordinates of the laser system in the global coordinate system at the current moment based on the angle between the local coordinate system and the global coordinate system, the coordinates of the laser system in the local coordinate system at the current moment, the actual distance deviation at the previous moment, and the actual angle at the previous moment includes: determining the coordinates of the laser system in the global coordinate system at the current moment according to the formula... Calculate the coordinates of the laser system in the global coordinate system at the current moment, where β is the angle between the local coordinate system and the global coordinate system, and x... B|globa Let y be the abscissa of the laser system in the global coordinate system at the current moment. B|global Let x be the ordinate of the laser system in the global coordinate system at the current moment. B|local Let y be the abscissa of the laser system in the local coordinate system at the current moment. B|localis a longitudinal coordinate of the laser system in the local coordinate system at the current moment, d t-1|观测 is an actual distance deviation at the previous moment, θ t-1|修正 is an actual included angle at the previous moment.

[0012] Optionally, the theoretical distance deviation at the current moment is determined according to the speed of the welding robot at the previous moment, the control period of the welding robot, the actual included angle at the previous moment, the longitudinal coordinate of the laser system in the global coordinate system at the current moment, and the theoretical included angle at the current moment, and the method comprises: in the case where the angular velocity of the welding robot at the previous moment is zero, the theoretical distance deviation at the current moment is calculated according to the formula d t|预估 = v t-1 × T × tan θ t-1|修正 + d t-1|观测 , wherein d t|预估 is the theoretical distance deviation at the current moment, v t-1 is the speed of the welding robot at the previous moment, T is the control period of the welding robot, θ t-1|修正 is the actual included angle at the previous moment, and d t-1|观测 is the actual distance deviation at the previous moment; in the case where the angular velocity of the welding robot at the previous moment is not zero, the theoretical distance deviation at the current moment is calculated according to the formula d t|预估 = y B|global / cos θ t|预估 , wherein y B|global is the longitudinal coordinate of the laser system in the global coordinate system at the current moment, and θ t|预估 is the theoretical included angle at the current moment.

[0013] Optionally, the actual distance deviation at the current moment is obtained, and the correction included angle is determined according to the actual distance deviation at the current moment and the theoretical included angle at the current moment, and the method comprises: determining the coordinates of the intersection point of a straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment with the actual weld in the global coordinate system according to the coordinates of the laser system in the global coordinate system at the current moment, the actual distance deviation at the current moment, and the theoretical included angle at the current moment, wherein the global coordinate system is a coordinate system established with the center of the welding robot vehicle body as the origin; and determining the correction included angle according to the coordinates of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment with the actual weld in the global coordinate system.

[0014] Optionally, the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual welding seam in the global coordinate system is determined according to the coordinates of the laser system in the global coordinate system at the current time, the actual distance deviation at the current time, and the theoretical included angle at the current time, comprising: according to the formula The coordinates of the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual welding seam in the global coordinate system are calculated, wherein x D|global is the abscissa of the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual welding seam in the global coordinate system, y D|global is the ordinate of the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual welding seam in the global coordinate system, x B|global is the abscissa of the laser system in the global coordinate system at the current time, y B|global is the ordinate of the laser system in the global coordinate system at the current time, d t|观测 is the actual distance deviation at the current time, and θ t|预估 is the theoretical included angle at the current time.

[0015] Optionally, the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual welding seam in the global coordinate system is determined according to the coordinates of the laser system in the global coordinate system at the previous time and the current time, comprising: according to the formula α = arctan2(y D|global , x D|global ), the correction angle is calculated, wherein α is the correction angle, the arctan2() function is a function in the math.h standard library of C language, and the function is to adjust the angle to the range of (-π, π], x D|global is the abscissa of the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual welding seam in the global coordinate system, y D|global is the ordinate of the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual welding seam in the global coordinate system; in the case that the correction angle is greater than and less than or equal to π, according to the formula α * = α-π, the correction angle is limited, wherein α * is the correction angle limited in the first quadrant and the second quadrant; in the case that the correction angle is greater than -π and less than , according to the formula α *= α + π, wherein α * is the correction angle defined in the first quadrant and the second quadrant.

[0016] Optionally, correcting the theoretical angle of the current time according to the correction angle to obtain the actual angle of the current time comprises: calculating the actual angle of the current time according to the formula θ t|修正 = θ t|预估 - α * , wherein θ t|修正 is the actual angle of the current time, θ t|预估 is the theoretical angle of the current time, and α * is the correction angle defined in the first quadrant and the second quadrant.

[0017] According to another aspect of the embodiment of the present application, a welding robot and a welding seam angle model construction device are provided, comprising: an acquisition unit configured to acquire welding information; a first determination unit configured to determine a theoretical distance deviation of a current time and a theoretical angle of the current time according to the welding information; a second determination unit configured to determine a correction angle according to the actual distance deviation of the current time and the theoretical angle of the current time; and a correction unit configured to correct the theoretical angle of the current time according to the correction angle to obtain the actual angle of the current time.

[0018] According to another aspect of the embodiment of the present application, a storage medium is provided, comprising a stored program, wherein the program executes any of the above processing methods.

[0019] According to another aspect of the embodiment of the present application, a processor is provided, wherein the processor is configured to run a program, and the program is configured to execute any of the above processing methods when running.

[0020] According to another aspect of the embodiment of the present application, a parallel bus timing compensation system is provided, comprising one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a processing method.

[0021] In the embodiment of the present application, the real-time maintenance model of the welding robot and the welding seam angle is constructed, the welding robot is guided to advance or retreat through the angle information, the purpose of the welding robot to track the welding seam in real time is achieved, the technical effect of the single laser system to track the welding seam in real time is achieved, and the technical problem that the single laser system sensor of the welding robot cannot simultaneously track the welding seam when advancing or retreating is solved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings constituting a part of the specification show preferred embodiments of the present application and are used to provide further understanding of the present application, explain the preferred embodiments of the present application, and do not constitute improper limitations on the present application. In the drawings:

[0023] Figure 1 A flowchart of an embodiment of a method for constructing a model of an angle between a welding robot and a weld seam according to the present application is shown;

[0024] Figure 2 A diagram for estimating a distance deviation at a current time according to another embodiment of a method for constructing a model of an angle between a welding robot and a weld seam according to the present application is shown;

[0025] Figure 3 A diagram for correcting an actual angle according to yet another embodiment of a method for constructing a model of an angle between a welding robot and a weld seam according to the present application is shown;

[0026] Figure 4 A diagram for a convergence curve of an angle between a robot and a weld seam according to yet another embodiment of a method for constructing a model of an angle between a welding robot and a weld seam according to the present application is shown;

[0027] Figure 5 A diagram for a differential model of a robot according to still another embodiment of a method for constructing a model of an angle between a welding robot and a weld seam according to the present application is shown;

[0028] Figure 6 A diagram for a circular arc according to still another embodiment of a method for constructing a model of an angle between a welding robot and a weld seam according to the present application is shown;

[0029] Figure 7 A diagram of an embodiment of a device for constructing a model of an angle between a welding robot and a weld seam according to the present application is shown. DETAILED DESCRIPTION

[0030] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product, or apparatus.

[0033] As described in the background, the single laser system sensor of the prior art crawling welding robot cannot simultaneously satisfy the forward or backward tracking of the weld, in order to solve the above problems, in a typical embodiment of the present application, a crawling welding robot and weld angle model construction method is provided.

[0034] According to the embodiments of the present application, a crawling welding robot and weld angle model construction method is provided.

[0035] Figure 1 is a flowchart of the crawling welding robot and weld angle model construction method according to the embodiments of the present application. As shown in Figure 1 , the method comprises the following steps:

[0036] Step S101, obtaining the welding information, the welding information includes the speed of the welding robot at the previous moment, the angular velocity of the welding robot at the previous moment, the control period of the welding robot, the length from the camera center of the laser system to the center of the robot vehicle body, the actual angle at the previous moment and the actual distance deviation at the previous moment, wherein the actual angle is the angle between the welding robot and the actual weld, and the actual distance deviation is the distance deviation between the welding robot and the actual weld;

[0037] The welding information includes the speed of the welding robot at the previous moment, the angular velocity of the welding robot at the previous moment, the control period of the welding robot, the length from the camera center of the laser system to the center of the robot vehicle body, and the actual distance deviation at the previous moment, which can be collected by the laser system sensor of the welding robot, and the actual angle at the previous moment is the angle between the welding robot and the actual weld after correction, wherein the actual weld refers to any curve weld with continuously changing curvature in the actual welding process.

[0038] Step S102, according to the information of the welding, determine the theoretical distance deviation of the current time and the theoretical angle of the current time, wherein the theoretical distance deviation is the distance deviation between the welding robot and the theoretical welding seam, and the theoretical angle is the angle between the welding robot and the theoretical welding seam;

[0039] The theoretical welding seam refers to any straight line welding seam consistent with the moving direction of the welding robot at the current time, so the theoretical distance deviation between the welding robot and the welding seam at the current time and the theoretical angle between the welding robot and the welding seam at the current time are calculated by the kinematics model.

[0040] Step S103, obtain the actual distance deviation at the current time, and determine the correction angle according to the actual distance deviation at the current time and the theoretical angle at the current time;

[0041] The actual distance deviation at the current time can be collected by the laser system sensor of the welding robot. Since the actual welding seam in the actual welding process is not an ideal straight line welding seam, it cannot be estimated by the above-mentioned dynamic model, so the correction angle can be calculated by the actual distance deviation at the current time and the theoretical angle at the current time.

[0042] Step S104, correct the theoretical angle at the current time according to the correction angle to obtain the actual angle at the current time.

[0043] The construction of the welding robot and welding seam angle model is mainly obtained by calculating the actual angle between the welding robot and the actual welding seam at the current time, and the actual angle at the current time is determined according to the correction angle and the theoretical angle at the current time. The actual angle at the current time obtained can display the angle information between the welding robot and the welding seam in real time, so as to accurately guide the welding robot to track the welding seam.

[0044] The welding robot and welding seam angle model construction method adopts the method of constructing a real-time maintenance model of the welding robot and welding seam angle, and guides the welding robot to move forward or backward through the angle information, so as to achieve the purpose of real-time tracking of the welding robot, thereby realizing the technical effect of real-time tracking of the robot and the welding seam by the single laser system, and further solving the technical problem that the single laser system sensor of the welding robot cannot simultaneously meet the forward or backward tracking of the welding seam.

[0045] In a specific embodiment of the present application, on the basis of the above-mentioned steps S101 to S104, the specific step S102 is further refined, which specifically includes: according to the formula θ t|预估 = θ t-1|修正 + Δθ and Δθ = w t-1θT, calculate the theoretical included angle at the current time, wherein θ t|预估 is the theoretical included angle at the current time, θ t-1|修正 is the actual included angle at the previous time, Δθ is the angular displacement, w t-1 is the angular velocity of the welding robot at the previous time, and T is the control period of the welding robot, wherein the actual included angle at the previous time refers to the included angle between the robot and the weld after the correction of the seam included angle model by the creep welding robot. In the method, the included angle between the welding robot and the theoretical seam at the current time can be quickly and accurately calculated by using the kinematic formula.

[0046] Since the theoretical distance deviation at the current time is calculated, the position of the laser system at the current time needs to be determined, and therefore, a coordinate system can be established to simplify the problem, as shown in Figure 2 In one specific embodiment of the present application, on the basis of the above steps S101 to S104, the above step S102 is further refined, and the step specifically comprises: step S1021, constructing a global coordinate system and a local coordinate system, wherein the global coordinate system is a coordinate system established with the center of the welding robot vehicle body as the origin, and the local coordinate system is a coordinate system established with the camera center of the laser system as the origin. In the method, the global coordinate system is established with the center of the welding robot vehicle body as the origin, with the straight line of the theoretical seam as the x axis, and with the straight line perpendicular to the theoretical seam as the y axis; the local coordinate system is established with the camera center of the laser system at the previous time as the origin, i.e., point A in Figure 2 , with the straight line of the theoretical seam as the x axis, and with the straight line perpendicular to the theoretical seam as the y axis. Step S1022, determining the coordinates of the laser system in the local coordinate system at the current time according to the speed of the welding robot at the previous time, the angular velocity of the welding robot at the previous time, and the control period of the welding robot; and determining the coordinates of the laser system in the global coordinate system at the current time according to the coordinates of the laser system in the local coordinate system at the current time and the coordinates of the laser system in the local coordinate system at the previous time. Figure 2The coordinate system shown, the coordinates of the laser system at the current time, i.e., point B in the local coordinate system x-A-y can be accurately determined. In step S1023, the angle between the local coordinate system and the global coordinate system is determined according to the actual included angle at the previous time, the speed of the welding robot at the previous time, and the angular velocity of the welding robot at the previous time. In step S1024, the coordinates of the laser system in the global coordinate system at the current time are determined according to the angle between the local coordinate system and the global coordinate system, the coordinates of the laser system in the local coordinate system at the current time, the actual distance deviation at the previous time, and the actual included angle at the previous time. In step S1025, the theoretical distance deviation at the current time is determined according to the speed of the welding robot at the previous time, the control period of the welding robot, the actual included angle at the previous time, the longitudinal coordinate of the laser system in the global coordinate system at the current time, and the theoretical included angle at the current time. Through the above steps, the problem of determining the position of the laser system at the current time can be simplified to the problem of switching between the local coordinate system and the global coordinate system of point b in Figure 2 The coordinates of point b in the global coordinate system can be determined more quickly to determine the theoretical distance deviation at the current time.

[0047] In order to more accurately determine the coordinates of the laser system in the local coordinate system at the current time, in a specific embodiment of the present application, on the basis of the above steps S1021 to S1025, the specific step S1022 is further refined, which specifically includes: in the case where the angular velocity of the welding robot at the previous time is zero, the coordinates of the laser system in the local coordinate system at the current time are calculated according to the formula wherein x B|local is the horizontal coordinate of the laser system in the local coordinate system at the current time, y B|local is the longitudinal coordinate of the laser system in the local coordinate system at the current time, v t-1 is the speed of the welding robot at the previous time, and T is the control period of the welding robot; in the case where the angular velocity of the welding robot at the previous time is not zero, the coordinates of the laser system in the local coordinate system at the current time are calculated according to the formula and wherein x B|local is the horizontal coordinate of the laser system in the local coordinate system at the current time, y B|local is the longitudinal coordinate of the laser system in the local coordinate system at the current time, R is the radius of motion, v t-1 is the speed of the welding robot at the previous time, and w t-1Let T be the angular velocity of the welding robot at the previous moment, and T be the control cycle of the welding robot. In the above steps, during the process of determining the coordinates of the laser system in the local coordinate system at the current moment, there are two cases: when the angular velocity of the welding robot is zero, the laser system moves along the x-axis; when the angular velocity of the welding robot is not zero, the laser system produces displacement on both the x-axis and y-axis. Therefore, the radius of motion can be calculated based on the angular velocity and velocity of the welding robot.

[0048] To determine the angle between the local coordinate system and the global coordinate system, in one specific embodiment of this application, based on the above steps S1021 to S1025, step S1023 is further refined. This step specifically includes: when the angular velocity of the welding robot is zero at the previous moment, according to the formula θ = θ t-1|修正 Calculate the angle between the local coordinate system and the global coordinate system, where β is the angle between the local coordinate system and the global coordinate system, and θ is the angle between them. t-1|修正 Let be the actual included angle at the previous moment; if the angular velocity of the welding robot at the previous moment is not zero, then according to the formula... and Calculate the angle between the local coordinate system and the global coordinate system, where β is the angle between the local coordinate system and the global coordinate system, and θ is the angle between them. t-1|修正 Let be the actual included angle at the previous moment, arctan( ) be the inverse trigonometric function, R be the radius of motion, L be the displacement of the welding robot, and v be the displacement of the welding robot. t-1 Let w be the speed of the welding robot at the previous moment. t-1 Let ω be the angular velocity of the welding robot at the previous moment. In the process of determining the angle between the local and global coordinate systems in the above steps, there are two cases: when the welding robot's angular velocity is zero, the laser system moves along the x-axis, and the angle between the local and global coordinate systems is the actual angle at the previous moment; when the welding robot's angular velocity is not zero, the angle between the local and global coordinate systems is the difference between the actual angle at the previous moment and the theoretical angle at the current moment.

[0049] To accurately calculate the coordinates of the laser system in the global coordinate system at the current moment, in one specific embodiment of this application, based on steps S1021 to S1025, step S1024 is further refined. This step specifically includes: according to the formula... Calculate the coordinates of the laser system in the global coordinate system at the current moment, where β is the angle between the local coordinate system and the global coordinate system, and x... B|global Let y be the x-coordinate of the laser system at the current moment in the global coordinate system. B|globalis a longitudinal coordinate of the laser system in the global coordinate system at the current time, x B|local is a lateral coordinate of the laser system in the local coordinate system at the current time, y B|local is a longitudinal coordinate of the laser system in the local coordinate system at the current time, d t-1|观测 is an actual distance deviation at the previous time, θ t-1|修正 is an actual angle at the previous time. By determining the product of the actual distance deviation at the previous time and the actual angle at the previous time, and then adding the result to the local coordinate, the global coordinate can be determined. As shown in the formula Figure 2 , the step is to convert the laser system in the local coordinate system to the global coordinate system, and the coordinate of the laser system in the global coordinate system can be determined according to the rotation transformation matrix. According to the formula, the coordinate of the laser system in the global coordinate system at the current time can be quickly determined.

[0050] In order to accurately determine the theoretical distance deviation at the current time, in a specific embodiment of the present application, on the basis of the steps S1021 to S1025, the specific step S1025 is further refined, which specifically includes: in the case that the angular velocity of the welding robot at the previous time is zero, the theoretical distance deviation at the current time is calculated according to the formula d t|预估 = v t-1 × T × tan θ t-1|修正 + d t-1|观测 , wherein d t|预估 is the theoretical distance deviation at the current time, v t-1 is the speed of the welding robot at the previous time, T is the control period of the welding robot, θ t-1|修正 is the actual angle at the previous time, and d t-1|观测 is the actual distance deviation at the previous time; in the case that the angular velocity of the welding robot at the previous time is not zero, the theoretical distance deviation at the current time is calculated according to the formula d t|预估 = y B|global / cos θ t|预估 , wherein y B|global is a longitudinal coordinate of the laser system in the global coordinate system at the current time, and θt |预估 is the theoretical angle at the current time. The above method can quickly determine the theoretical distance deviation.

[0051] In order to determine the included angle between the actual weld and the theoretical weld, in one embodiment of the present application, on the basis of the above steps S101 to S104, the specific step S103 is further refined, which specifically comprises: step S1031, determining the coordinates of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system according to the coordinates of the laser system in the global coordinate system at the current moment, the actual distance deviation at the current moment and the theoretical included angle at the current moment, wherein the global coordinate system is a coordinate system established with the center of the welding robot vehicle body as the origin; as shown in Figure 3 , in the above step, the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld is point D in Figure 3 , that is, the coordinates of point D in the global coordinate system X-O-Y are calculated. Step S1032, determining the corrected included angle according to the coordinates of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system. The above step is to calculate the corrected included angle according to the coordinates of point D in the global coordinate system.

[0052] In order to accurately determine the coordinates of the intersection point of the straight line formed by the position of the laser system at the current moment and the actual weld in the global coordinate system, in one embodiment of the present application, on the basis of the above steps S1031 to S1032, the specific step S1031 is further refined, which specifically comprises: calculating the coordinates of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system according to the formula , wherein x D|global is the horizontal coordinate of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system, y D|global is the vertical coordinate of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system, x B|global is the horizontal coordinate of the laser system in the global coordinate system at the current moment, y B|global is the vertical coordinate of the laser system in the global coordinate system at the current moment, d t|观测 is the actual distance deviation at the current moment, θ t|预估 is the theoretical included angle at the current moment. The above step, as shown in Figure 3As shown, by relating the coordinates of point D with the coordinates of point B, the coordinates of point D in the global coordinate system can be quickly determined, i.e. the coordinates of the intersection point of the straight line formed by the position of the laser system at the current time and the actual weld seam in the global coordinate system.

[0053] In order to determine the included angle between the actual weld seam and the theoretical weld seam, in one specific embodiment of the present application, on the basis of the above steps S1031 to S1032, the above step S1032 is further refined, which specifically comprises: calculating the modified included angle according to the formula α = arctan2(y D|global , x D|global ), wherein α is the modified included angle, the arctan2() function is a function in the math.h standard library of C language, which functions to adjust the angle circle to the range of (-π, π], x D|global is the horizontal coordinate of the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual weld seam in the global coordinate system, and y D|global is the vertical coordinate of the intersection point of the straight line formed by the position of the laser system at the previous time and the position of the laser system at the current time and the actual weld seam in the global coordinate system. In the above step, the adjustment of the modified included angle can be beneficial to angle conversion and facilitate calculation. The included angle α determined in the above step may correspond to the point D distributed in the second and third quadrants of the global coordinate system X-O-Y. In order to facilitate calculation, the point D can be normalized to the angle in the first and second quadrants. Therefore, it is necessary to limit the included angle between the theoretical weld seam and the actual weld seam. In the case where the above modified included angle is greater than and less than or equal to π, the above modified included angle is limited according to the formula α * = α - π, wherein α * is the modified included angle limited in the first quadrant and the second quadrant; in the case where the above modified included angle is greater than -π and less than , the above modified included angle is limited according to the formula α * = α + π, wherein α * is the modified included angle limited in the first quadrant and the second quadrant. When the point D is located in the fourth quadrant, it is converted to the second quadrant, and when the point D is located in the third quadrant, it is converted to the first quadrant.

[0054] In order to accurately determine the actual included angle between the welding robot and the weld seam at the current time, in one specific embodiment of the present application, on the basis of the above steps S101 to S104, the above step S104 is further refined, which specifically comprises: calculating the actual included angle at the current time according to the formula θ t|修正 = θ t|预估 - α * , wherein θt|修正 Let θ be the actual included angle at the current moment. t|预估 Let α be the theoretical angle at the current moment. * To limit the aforementioned corrected angle to the first and second quadrants, the actual angle between the welding robot and the weld is corrected based on the theoretical angle at the current moment, using the angle between the theoretical weld and the actual weld.

[0055] To verify the effectiveness of the aforementioned angle maintenance model, model calculations were performed in a simulation environment, such as... Figure 4 As shown, Figure 4 The convergence curve of the angle between the robot and the weld is shown. The initial calculated angle between the robot and the weld is about 1.2°. As the robot's motion is controlled to follow the weld, the angle difference between the robot and the weld gradually decreases, and the angle approaches 0° after 12 calculation cycles.

[0056] The radius of curvature of the weld seam can affect the tracking performance of the weld seam. The robot's minimum turning radius can be determined based on its differential speed model, and the relationship between angular velocity and linear velocity can determine the crawler's rotation radius around the center of a circle. Figure 5 As shown, Setting the speed of the left wheel to 0 gives the minimum turning radius. The minimum turning radius is: Therefore, the radius of curvature of the weld must be greater than r in order to achieve weld tracking.

[0057] Furthermore, the response of the laser system's laser grasping also affects the weld seam tracking effect, such as... Figure 6 As shown, let the tracking speed be V. Under the condition that the welding robot does not differential speed, the travel distance at t = ls is x = V*t / 60. At the minimum turning radius r, according to r... 2 =x 2 +(ry) 2 and 0 = y 2 -2ry+x 2 Solving for the problem yields the following: If we take the smaller value, then y = y1, and the response of the laser grasping the bevel is greater than y1. Since the unit of tracking speed is mm / min, when calculating the travel distance, the tracking speed can be divided by 60 to convert it to mm / s.

[0058] 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, and 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.

[0059] The embodiment of the present application further provides a crawling welding robot and a welding seam included angle model construction device. It should be noted that the crawling welding robot and the welding seam included angle model construction device of the embodiment of the present application can be used to execute the crawling welding robot and the welding seam included angle model construction method provided by the embodiment of the present application. The crawling welding robot and the welding seam included angle model construction device provided by the embodiment of the present application are introduced as follows.

[0060] Figure 7 FIG. 1 is a schematic diagram of a crawling welding robot and a welding seam included angle model construction device according to the embodiment of the present application. As shown in FIG. 1, the device comprises: Figure 7

[0061] The acquisition unit 10 is configured to acquire welding information, wherein the welding information comprises a speed of a welding robot at a previous moment, an angular velocity of the welding robot at the previous moment, a control period of the welding robot, a length from a camera center of a laser system to a robot vehicle center, an actual included angle at the previous moment, and an actual distance deviation at the previous moment, wherein the actual included angle is an included angle between the welding robot and an actual welding seam, and the actual distance deviation is a distance deviation between the welding robot and the actual welding seam.

[0062] The speed of the welding robot at the previous moment, the angular velocity of the welding robot at the previous moment, the control period of the welding robot, the length from the camera center of the laser system to the robot vehicle center, and the actual distance deviation at the previous moment in the welding information can be collected by a laser system sensor of the welding robot, and the actual included angle at the previous moment is a corrected included angle between the welding robot and the actual welding seam, wherein the actual welding seam refers to an arbitrary curve welding seam with continuously changing curvature in an actual welding process.

[0063] The first determination unit 20 is configured to determine a theoretical distance deviation at a current moment and a theoretical included angle at the current moment according to the welding information, wherein the theoretical distance deviation is a distance deviation between the welding robot and a theoretical welding seam, and the theoretical included angle is an included angle between the welding robot and the theoretical welding seam.

[0064] The theoretical welding seam refers to an arbitrary straight line welding seam consistent with a moving direction of the welding robot at the current moment, and thus the theoretical distance deviation between the welding robot and the welding seam at the current moment and the theoretical included angle between the welding robot and the welding seam at the current moment are calculated by a kinematic model.

[0065] The second determination unit 30 is configured to acquire an actual distance deviation at the current moment, and determine a corrected included angle according to the actual distance deviation at the current moment and the theoretical included angle at the current moment.

[0066] ​The actual distance deviation of the current time can be collected by the laser system sensor of the welding robot. Since the actual weld in the actual welding process is not an ideal straight weld, the dynamic model cannot be used for prediction. Therefore, the current theoretical angle can be corrected by the actual distance deviation and the current theoretical angle.

[0067] The correction unit 40 is used to correct the current theoretical angle according to the correction angle, so as to obtain the actual angle of the current time.

[0068] The construction of the welding robot and the weld angle model is mainly obtained by calculating the actual angle between the welding robot and the actual weld at the current time. The actual angle at the current time is determined according to the correction angle and the current theoretical angle. The actual angle at the current time can display the angle information between the welding robot and the weld in real time, so as to accurately guide the welding robot to track the weld.

[0069] The welding robot and the weld angle model construction device adopts a real-time maintenance model for constructing the welding robot and the weld angle. The angle information is used to guide the welding robot to move forward or backward, so as to achieve the purpose of real-time tracking of the welding robot, thereby realizing the technical effect of real-time tracking of the robot and the weld angle by the single laser system, and solving the technical problem that the single laser system sensor of the welding robot cannot simultaneously track the weld when moving forward or backward.

[0070] In one embodiment of the present application, based on the above-mentioned acquisition unit, first determination unit, second determination unit and correction unit, the first determination unit is further refined. The first determination unit comprises a first calculation module for calculating the theoretical angle of the current time according to the formula θ t|预估 = θ t-1|修正 + Δθ and Δθ = w t-1 × T, wherein θ t|预估 is the theoretical angle of the current time, θ t-1|修正 is the actual angle of the previous time, Δθ is the angular displacement, w t-1 is the angular velocity of the welding robot at the previous time, and T is the control period of the welding robot. The actual angle of the previous time refers to the angle between the robot and the weld after the correction of the welding robot and the weld angle model. In the above device, the kinematic formula can be used to quickly and accurately calculate the angle between the welding robot and the theoretical weld at the current time.

[0071] Since the theoretical distance deviation of the current time needs to be calculated, the position of the laser system at the current time needs to be determined. Therefore, a coordinate system can be established to simplify the problem, such as Figure 2As shown, in one embodiment of the present application, on the basis of the acquisition unit, the first determination unit, the second determination unit and the correction unit, the first determination unit is further refined, and the first determination unit comprises a first construction module, a first determination module, a second determination module, a third determination module and a fourth determination module. The first construction module is used for constructing a global coordinate system and a local coordinate system. The global coordinate system is a coordinate system established with the center of the welding robot vehicle body as the origin and a straight line where the theoretical weld is located as the x-axis. The local coordinate system is a coordinate system established with the camera center of the laser system at the previous moment as the origin, i.e. point A in the coordinate system, and a straight line perpendicular to the theoretical weld as the y-axis. The first determination module is used for determining the coordinates of the laser system in the local coordinate system at the current moment according to the speed of the welding robot at the previous moment, the angular velocity of the welding robot at the previous moment and the control period of the welding robot. According to the coordinate system shown, the coordinates of the laser system, i.e. point B, in the local coordinate system x-A-y at the current moment can be accurately determined. The second determination module is used for determining the included angle between the local coordinate system and the global coordinate system according to the actual included angle at the previous moment, the speed of the welding robot at the previous moment and the angular velocity of the welding robot at the previous moment. The third determination module is used for determining the coordinates of the laser system in the global coordinate system at the current moment according to the included angle between the local coordinate system and the global coordinate system, the coordinates of the laser system in the local coordinate system at the current moment, the actual distance deviation at the previous moment and the actual included angle at the previous moment. The fourth determination module is used for determining the theoretical distance deviation at the current moment according to the speed of the welding robot at the previous moment, the control period of the welding robot, the actual included angle at the previous moment, the longitudinal coordinate of the laser system in the global coordinate system at the current moment and the theoretical included angle at the current moment. Through the above modules, the problem of determining the position of the laser system at the current moment can be simplified to the problem of switching between the local coordinate system and the global coordinate system for point b in the coordinate system, and the coordinates of point b in the global coordinate system can be determined to more quickly determine the theoretical distance deviation at the current moment. Figure 2 Figure 2 Figure 2

[0072] ​​​To more accurately determine the coordinates of the laser system in the local coordinate system at the current moment, in one specific embodiment of this application, based on the aforementioned first construction module, first determination module, second determination module, third determination module, and fourth determination module, the first determination module is further refined. The first determination module specifically includes: a first calculation submodule and a second calculation submodule. The first calculation submodule is used to, when the angular velocity of the welding robot is zero at the previous moment, calculate the coordinates according to the formula... Calculate the coordinates of the laser system in the local coordinate system at the current moment, where x B|local Let y be the x-coordinate of the laser system at the current moment in the local coordinate system. B|local Let v be the ordinate of the laser system at the current moment in the local coordinate system. t-1 The speed of the welding robot at the previous moment, T is the control cycle of the welding robot; the second calculation submodule is used to calculate the speed of the welding robot at the previous moment according to the formula when the angular velocity of the welding robot is not zero. and Calculate the coordinates of the laser system in the local coordinate system at the current moment, where x B|local Let y be the x-coordinate of the laser system at the current moment in the local coordinate system. B|local Let v be the ordinate of the laser system at the current moment in the local coordinate system, R be the radius of motion, and v be the vertical coordinate of the laser system at the current moment. t-1 The speed of the welding robot at the previous moment, w t-1 Let T be the angular velocity of the welding robot at the previous moment, and T be the control cycle of the welding robot. In the above module, during the process of determining the coordinates of the laser system in the local coordinate system at the current moment, there are two cases: when the angular velocity of the welding robot is zero, the laser system moves along the x-axis; when the angular velocity of the welding robot is not zero, the laser system produces displacement on both the x-axis and y-axis. Therefore, the radius of motion can be calculated based on the angular velocity and velocity of the welding robot.

[0073] To determine the angle between the local coordinate system and the global coordinate system, in one specific embodiment of this application, based on the aforementioned first construction module, first determination module, second determination module, third determination module, and fourth determination module, the second determination module is further refined. The second determination module specifically includes a third calculation submodule and a fourth calculation submodule. The third calculation submodule is used to, when the angular velocity of the welding robot is zero at the previous moment, calculate the angle using the formula θ = θ. t-1|修正 Calculate the angle between the local coordinate system and the global coordinate system, where β is the angle between the local coordinate system and the global coordinate system, and θ is the angle between them. t-1|修正is an actual included angle at the previous moment, and the fourth calculation sub-module is configured to calculate the included angle between the local coordinate system and the global coordinate system according to the formula and when the angular velocity of the welding robot at the previous moment is not zero, wherein β is the included angle between the local coordinate system and the global coordinate system, θ t-1|修正 is an actual included angle at the previous moment, arctan() is an inverse trigonometric function, R is a motion radius, L is a displacement of the welding robot, v t-1 is a speed of the welding robot at the previous moment, w t-1 is an angular velocity of the welding robot at the previous moment. In the process of determining the included angle between the local coordinate system and the global coordinate system, there are two cases. When the angular velocity of the welding robot is zero, the included angle between the local coordinate system and the global coordinate system is the actual included angle at the previous moment. When the angular velocity of the welding robot is not zero, the included angle between the local coordinate system and the global coordinate system is the difference between the actual included angle at the previous moment and the theoretical included angle at the current moment.

[0074] In order to accurately calculate the coordinates of the laser system in the global coordinate system at the current moment, in a specific embodiment of the present application, on the basis of the first construction module, the first determination module, the second determination module, the third determination module and the fourth determination module, the third determination module is further refined, and the module specifically comprises: a fifth determination sub-module configured to calculate the coordinates of the laser system in the global coordinate system at the current moment according to the formula wherein β is the included angle between the local coordinate system and the global coordinate system, x B|global is the horizontal coordinate of the laser system in the global coordinate system at the current moment, y B|global is the vertical coordinate of the laser system in the global coordinate system at the current moment, x B|local is the horizontal coordinate of the laser system in the local coordinate system at the current moment, y B|local is the vertical coordinate of the laser system in the local coordinate system at the current moment, d t-1|观测 is an actual distance deviation at the previous moment, θ t-1|修正 is an actual included angle at the previous moment. By determining the product of the actual distance deviation at the previous moment and the actual included angle at the previous moment, and then adding the result to the local coordinate, the global coordinate can be determined as Figure 2 The sub-module is to convert the laser system in the local coordinate system to the global coordinate system, and the coordinates of the laser system in the global coordinate system can be determined according to the rotation transformation matrix. According to the formula, the coordinates of the laser system in the global coordinate system at the current moment can be quickly determined.

[0075] To accurately determine the theoretical distance deviation at the current moment, in one specific embodiment of this application, based on the aforementioned first construction module, first determination module, second determination module, third determination module, and fourth determination module, the fourth determination module is further refined. The fourth determination module specifically includes a sixth calculation submodule and a seventh calculation submodule. The sixth calculation submodule is used to, when the angular velocity of the welding robot is zero at the previous moment, calculate the theoretical distance deviation according to formula d... t|预估 =v t-1 ×T×tanθ t-1|修正 +d t-1|观测 Calculate the theoretical distance deviation at the current moment, where d t|预估 v represents the theoretical distance deviation at the current moment. t-1 Let θ be the speed of the welding robot at the previous moment, T be the control cycle of the welding robot, and θ be the speed of the welding robot at the previous moment. t-1|修正 Let d be the actual included angle at the previous moment. t-1|观测 The above refers to the actual distance deviation at the previous moment; the seventh calculation submodule, when the angular velocity of the welding robot at the previous moment is not zero, calculates according to formula d. t|预估 =y B|global / cosθ t|预估 y B|global Let θ be the ordinate of the laser system at the current moment in the global coordinate system. t|预估 This represents the theoretical angle at the current moment. The above method can quickly determine the theoretical distance deviation.

[0076] To determine the angle between the actual weld and the theoretical weld, in one specific embodiment of this application, based on the aforementioned acquisition unit, first determination unit, second determination unit, and correction unit, the second determination unit is further refined. The second determination unit specifically includes a fifth determination module and a sixth determination module. The fifth determination module is used to determine, based on the current coordinates of the laser system in the global coordinate system, the actual distance deviation at the current time, and the theoretical angle at the current time, the coordinates of the intersection point of the straight line formed by the positions of the laser system at the previous time and the laser system at the current time, and the actual weld in the global coordinate system. The global coordinate system is a coordinate system established with the center of the welding robot body as the origin. Figure 3 As shown in the diagram, in the above module, the intersection of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment with the actual weld seam is the weld seam. Figure 3point D in the global coordinate system X-O-Y, that is, the coordinates of point D in the global coordinate system X-O-Y are calculated. The sixth determination module is configured to determine the correction angle according to the coordinates of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual welding seam in the global coordinate system. The module is configured to calculate the correction angle according to the coordinates of point D in the global coordinate system.

[0077] In order to accurately determine the coordinates of the intersection point of the straight line formed by the position of the laser system at the current moment and the actual welding seam in the global coordinate system, in a specific embodiment of the present application, on the basis of the fifth determination module and the sixth determination module, the fifth determination module is further refined, and the fifth determination module specifically comprises: an eighth calculation sub-module configured to calculate the coordinates of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual welding seam in the global coordinate system according to the formula D|global x is the horizontal coordinate of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual welding seam in the global coordinate system, y D|global is the vertical coordinate of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual welding seam in the global coordinate system, x B|global is the horizontal coordinate of the laser system in the global coordinate system at the current moment, y B|global is the vertical coordinate of the laser system in the global coordinate system at the current moment, d t|观测 is the actual distance deviation at the current moment, θ t|预估 is the theoretical angle at the current moment. In the sub-module, as shown in the formula, the coordinates of point D in the global coordinate system can be quickly determined by relating the coordinates of point D to the coordinates of point B, that is, the coordinates of the intersection point of the straight line formed by the position of the laser system at the current moment and the actual welding seam in the global coordinate system. Figure 3

[0078] In order to determine the angle between the actual welding seam and the theoretical welding seam, in a specific embodiment of the present application, on the basis of the fifth determination module and the sixth determination module, the sixth determination module is further refined, and the sixth determination module specifically comprises: a ninth calculation sub-module, a first limiting sub-module and a second limiting sub-module, wherein the ninth calculation sub-module is configured to calculate the angle α according to the formula α = arctan2(y D|global , x D|global ​​), calculate the above-mentioned corrected angle, where α is the above-mentioned corrected angle. The arctan2() function is a function in the math.h standard library of the C language, and its function is to adjust the angle circle to the range of (-π, π], x D|global Let y be the abscissa of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system. D|global Let α be the ordinate of the intersection point of the straight line formed by the positions of the laser system at the previous moment and the current moment and the actual weld in the global coordinate system. In the above submodule, adjusting the correction angle facilitates angle transformation and computation. For the angle α determined by the above submodule, the corresponding point D may be distributed in the second and third quadrants of the global coordinate system XOY. To facilitate computation, point D can be normalized to the angle in the first and second quadrants. Therefore, it is necessary to limit the angle between the theoretical weld and the actual weld. The first limiting submodule is used when the above correction angle is greater than α. And when π is less than or equal to π, according to the formula α * =α-π, which limits the above-mentioned corrected angle, where α * To limit the aforementioned corrected angle to the first and second quadrants; a second limiting submodule is used when the aforementioned corrected angle is greater than -π and less than π. In the case of formula α * =α+π, which limits the above-mentioned corrected angle, where α * The aforementioned corrected angle is defined to be limited to the first and second quadrants. When point D is in the fourth quadrant, it is transformed to the second quadrant; when point D is in the third quadrant, it is transformed to the first quadrant.

[0079] To accurately determine the actual angle between the welding robot and the weld at the current moment, in one specific embodiment of this application, based on the aforementioned acquisition unit, first determination unit, second determination unit, and correction unit, the correction unit is further refined. The correction unit specifically includes: a second calculation module, used to calculate the angle according to formula θ. t|修正 =θ t|预估 -α * Calculate the actual included angle at the current moment, where θ t|修正 Let θ be the actual included angle at the current moment. t|预估 Let α be the theoretical angle at the current moment. * To limit the aforementioned corrected angle to the first and second quadrants, the actual angle between the welding robot and the weld is corrected based on the theoretical angle at the current moment, using the angle between the theoretical weld and the actual weld.

[0080] To verify the effectiveness of the aforementioned angle maintenance model, model calculations were performed in a simulation environment, such as...Figure 4 As shown, Figure 4 The convergence curve of the angle between the robot and the weld is shown. The first calculation of the angle between the robot and the weld is about 1.2°, and as the motion control of the robot is controlled to follow the weld, the angle difference between the robot and the weld gradually decreases, and the angle tends to 0° in 12 calculation cycles.

[0081] The curvature radius of the weld may affect the tracking effect of the weld. According to the differential model of the robot, the minimum turning radius of the robot can be determined, and the relationship between the angular velocity and the linear velocity can determine the rotation radius of the crawler around the center, as shown in Figure 5 As shown, Let the left wheel speed be 0, then the minimum turning radius is: Therefore, the curvature radius of the weld should be greater than r to achieve tracking of the weld.

[0082] In addition, the response of the laser system laser grabbing will also affect the tracking effect of the weld, as shown in Figure 6 As shown, let the tracking speed be V, the travel distance of the welding robot without differential speed is x=V*t / 60 at t=1s, and under the minimum turning radius r, according to r 2 =x 2 +(r-y) 2 and 0=y 2 -2ry+x 2 , the solution is: Take the small value, then y=y1, then the responsiveness of the laser grabbing groove is greater than y1, and since the unit of the tracking speed is mm / min, the tracking speed can be converted to mm / s by dividing 60 when calculating the travel distance.

[0083] The crawling welding robot and weld angle model construction device includes a processor and a memory, and the above acquisition unit, the first determination unit, the second determination unit and the correction unit are stored in the memory as program units, and the above program units stored in the memory are executed by the processor to realize the corresponding functions.

[0084] The processor contains a core, and the corresponding program unit is called from the memory by the core. The core can be set to one or more, and the purpose of real-time tracking of the crawling welding robot is achieved by adjusting the core parameters.

[0085] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0086] The embodiment of the present application provides a storage medium, which stores a program, and the program is executed by a processor to realize the method for constructing a model of an angle between a crawling welding robot and a welding seam.

[0087] The embodiment of the present application provides a processor, which is used for running a program, and the program is executed to realize the method for constructing a model of an angle between a crawling welding robot and a welding seam.

[0088] The embodiment of the present application provides a device, which comprises a processor, a memory, and a program stored in the memory and capable of being run on the processor, and the processor realizes at least the following steps when executing the program:

[0089] In step S101, information of welding is acquired, and the information of welding comprises a speed of a welding robot at a previous moment, an angular velocity of the welding robot at the previous moment, a control period of the welding robot, a length from a camera center of a laser system to a center of a robot vehicle, an actual angle at the previous moment, and an actual distance deviation at the previous moment, wherein the actual angle is an angle between the welding robot and an actual welding seam, and the actual distance deviation is a distance deviation between the welding robot and the actual welding seam.

[0090] In step S102, a theoretical distance deviation at a current moment and a theoretical angle at the current moment are determined according to the information of welding, wherein the theoretical distance deviation is a distance deviation between the welding robot and a theoretical welding seam, and the theoretical angle is an angle between the welding robot and the theoretical welding seam.

[0091] In step S103, an actual distance deviation at the current moment is acquired, and a correction angle is determined according to the actual distance deviation at the current moment and the theoretical angle at the current moment.

[0092] In step S104, the theoretical angle at the current moment is corrected according to the correction angle, and an actual angle at the current moment is obtained.

[0093] The device herein can be a server, a PC, a PAD, a mobile phone, and the like.

[0094] The present application further provides a computer program product, which is suitable for executing a program initialized with at least the following method steps when executed on a data processing device: in step S101, information of welding is acquired, and the information of welding comprises a speed of a welding robot at a previous moment, an angular velocity of the welding robot at the previous moment, a control period of the welding robot, a length from a camera center of a laser system to a center of a robot vehicle, an actual angle at the previous moment, and an actual distance deviation at the previous moment, wherein the actual angle is an angle between the welding robot and an actual welding seam, and the actual distance deviation is a distance deviation between the welding robot and the actual welding seam.

[0095] In step S102, according to the information of the welding, a theoretical distance deviation of the welding robot and a theoretical included angle of the welding robot and the theoretical welding seam are determined.

[0096] In step S103, an actual distance deviation of the welding robot is obtained, and a correction included angle is determined according to the actual distance deviation and the theoretical included angle.

[0097] In step S104, the actual included angle is obtained by correcting the theoretical included angle according to the correction included angle.

[0098] In the above embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0099] In the several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the unit embodiment described above is only schematic. For example, the division of the units can be a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between the units can be indirect coupling or communication connection through some interface, or electrical or other forms.

[0100] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0101] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware, or in the form of a software functional unit.

[0102] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0103] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0104] 1) In the crawling welding robot and weld angle model construction method of the present application, first, the welding information is obtained, the theoretical distance deviation at the current moment and the theoretical angle at the current moment are determined according to the welding information, then the actual distance deviation at the current moment is obtained, the correction angle is determined according to the above-mentioned actual distance deviation at the current moment and the above-mentioned theoretical angle at the current moment, and finally the above-mentioned theoretical angle at the current moment is corrected according to the above-mentioned correction angle to obtain the actual angle at the current moment. The purpose of real-time tracking of the welding seam by the crawling welding robot is achieved, thereby realizing the technical effect of real-time tracking of the robot and the welding seam angle by the single laser system, and further solving the technical problem that the single laser system sensor of the crawling welding robot cannot simultaneously satisfy the forward or backward tracking of the welding seam.

[0105] 2) The crawling welding robot and weld angle model construction device of the present application, the acquisition unit acquires the welding information, the first determination unit determines the theoretical distance deviation at the current moment and the theoretical angle at the current moment according to the welding information, then the second determination unit acquires the actual distance deviation at the current moment, determines the correction angle according to the above-mentioned actual distance deviation at the current moment and the above-mentioned theoretical angle at the current moment, and finally the correction unit corrects the above-mentioned theoretical angle at the current moment according to the above-mentioned correction angle to obtain the actual angle at the current moment. The purpose of real-time tracking of the welding seam by the crawling welding robot is achieved, thereby realizing the technical effect of real-time tracking of the robot and the welding seam angle by the single laser system, and further solving the technical problem that the single laser system sensor of the crawling welding robot cannot simultaneously satisfy the forward or backward tracking of the welding seam.

[0106] The above descriptions are only the preferred embodiments of the present application, and are not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for constructing a model of the angle between a crawling welding robot and a weld seam, characterized in that, include: The welding information includes the welding robot's speed at the previous moment, the welding robot's angular velocity at the previous moment, the welding robot's control cycle, the length from the laser system's camera center to the robot's body center, the actual angle at the previous moment, and the actual distance deviation at the previous moment. The actual angle is the angle between the welding robot and the actual weld, and the actual distance deviation is the distance deviation between the welding robot and the actual weld. The laser system is used to track the weld. Based on the welding information, determine the theoretical distance deviation and the theoretical angle at the current moment, including: constructing a global coordinate system and a local coordinate system, wherein the global coordinate system is established with the center of the welding robot body as the origin, and the local coordinate system is established with the center of the laser system's camera as the origin; determining the coordinates of the laser system in the local coordinate system at the current moment based on the welding robot's speed, angular velocity, and control cycle at the previous moment; and determining the angle between the local coordinate system and the global coordinate system based on the actual angle at the previous moment, the welding robot's speed, and angular velocity at the previous moment. Based on the angle between the local coordinate system and the global coordinate system, the coordinates of the laser system in the local coordinate system at the current moment, the actual distance deviation at the previous moment, and the actual angle at the previous moment, the coordinates of the laser system in the global coordinate system at the current moment are determined. Based on the speed of the welding robot at the previous moment, the control cycle of the welding robot, the actual angle at the previous moment, the ordinate of the laser system in the global coordinate system at the current moment, and the theoretical angle at the current moment, the theoretical distance deviation is the distance deviation between the welding robot and the theoretical weld, and the theoretical angle is the angle between the welding robot and the theoretical weld. Obtaining the actual distance deviation at the current moment and determining the correction angle based on the actual distance deviation at the current moment and the theoretical angle at the current moment includes: obtaining the actual distance deviation at the current moment and determining the correction angle based on the actual distance deviation at the current moment and the theoretical angle at the current moment, including: determining the coordinates of the intersection point of the line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment with the actual weld in the global coordinate system based on the coordinates of the laser system at the current moment in the global coordinate system, the actual distance deviation at the current moment, and the theoretical angle at the current moment, wherein the global coordinate system is a coordinate system established with the center of the welding robot body as the origin; determining the correction angle based on the coordinates of the intersection point of the line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment with the actual weld in the global coordinate system, wherein the correction angle is the angle between the actual weld and the theoretical weld; The theoretical angle at the current moment is corrected based on the corrected angle to obtain the actual angle at the current moment.

2. The method according to claim 1, characterized in that, Based on the welding information, determine the theoretical angle at the current moment, including: According to the formula and Calculate the theoretical included angle at the current moment, where, The theoretical angle at the current moment is... The actual included angle at the previous moment. For angular displacement, Let be the angular velocity of the welding robot at the previous moment. The control cycle of the welding robot is defined as follows.

3. The method according to claim 1, characterized in that, Based on the welding robot's velocity, angular velocity, and control cycle at the previous moment, the coordinates of the laser system in the local coordinate system at the current moment are determined, including: When the welding robot's angular velocity is zero at the previous moment, according to the formula... Calculate the coordinates of the laser system in the local coordinate system at the current moment, where, Let x be the abscissa of the laser system in the local coordinate system at the current moment. Let be the ordinate of the laser system in the local coordinate system at the current moment. The speed of the welding robot at the previous moment. The control cycle of the welding robot; If the angular velocity of the welding robot is not zero at the previous moment, according to the formula... and Calculate the coordinates of the laser system in the local coordinate system at the current moment, where, Let x be the abscissa of the laser system in the local coordinate system at the current moment. Let be the ordinate of the laser system in the local coordinate system at the current moment. For the radius of motion, The speed of the welding robot at the previous moment. Let be the angular velocity of the welding robot at the previous moment. The control cycle of the welding robot is defined as follows.

4. The method according to claim 1, characterized in that, Based on the actual angle between the local coordinate system and the global coordinate system at the previous moment, the speed of the welding robot at the previous moment, and the angular velocity of the welding robot at the previous moment, the angle between the local coordinate system and the global coordinate system is determined, including: When the welding robot's angular velocity is zero at the previous moment, according to the formula... Calculate the angle between the local coordinate system and the global coordinate system, where, The angle between the local coordinate system and the global coordinate system is... The actual included angle at the previous moment; If the angular velocity of the welding robot is not zero at the previous moment, according to the formula... and Calculate the angle between the local coordinate system and the global coordinate system, where, The angle between the local coordinate system and the global coordinate system is... The actual included angle at the previous moment. It is an inverse trigonometric function. For the radius of motion, The displacement of the welding robot, The speed of the welding robot at the previous moment. Let be the angular velocity of the welding robot at the previous moment.

5. The method according to claim 1, characterized in that, The coordinates of the laser system in the global coordinate system at the current moment are determined based on the angle between the local coordinate system and the global coordinate system, the coordinates of the laser system in the local coordinate system at the current moment, the actual distance deviation at the previous moment, and the actual angle at the previous moment, including: According to the formula Calculate the coordinates of the laser system in the global coordinate system at the current moment, where, The angle between the local coordinate system and the global coordinate system is... Let x be the x-coordinate of the laser system in the global coordinate system at the current moment. The vertical coordinate of the laser system in the global coordinate system at the current moment is [the coordinate of the system]. Let x be the abscissa of the laser system in the local coordinate system at the current moment. Let be the ordinate of the laser system in the local coordinate system at the current moment. This refers to the actual distance deviation at the previous moment. The actual included angle at the previous moment.

6. The method according to claim 1, characterized in that, Based on the welding robot's speed at the previous moment, the welding robot's control cycle, the actual included angle at the previous moment, the vertical coordinate of the laser system in the global coordinate system at the current moment, and the theoretical included angle at the current moment, the theoretical distance deviation at the current moment is determined, including: When the welding robot's angular velocity is zero at the previous moment, according to the formula... Calculate the theoretical distance deviation at the current moment, where, The theoretical distance deviation at the current moment is given. The speed of the welding robot at the previous moment. The control cycle of the welding robot is... The actual included angle at the previous moment. This refers to the actual distance deviation at the previous moment; If the angular velocity of the welding robot is not zero at the previous moment, according to the formula... , The vertical coordinate of the laser system in the global coordinate system at the current moment is [the coordinate of the system]. The theoretical angle at the current moment is given.

7. The method according to claim 1, characterized in that, Based on the current coordinates of the laser system in the global coordinate system, the actual distance deviation at the current moment, and the theoretical angle at the current moment, determine the coordinates of the intersection point of the straight line formed by the positions of the laser system at the previous moment and the laser system at the current moment and the actual weld in the global coordinate system, including: According to the formula Calculate the coordinates in the global coordinate system of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld seam, where, Let x be the x-coordinate of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system. The vertical coordinate of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld seam in the global coordinate system is given. Let x be the x-coordinate of the laser system in the global coordinate system at the current moment. The vertical coordinate of the laser system in the global coordinate system at the current moment is [the coordinate of the system]. The actual distance deviation at the current moment. The theoretical angle at the current moment is given.

8. The method according to claim 1, characterized in that, The correction angle is determined based on the coordinates of the intersection point of the straight line formed by the positions of the laser system at the previous moment and the current moment and the actual weld in the global coordinate system, including: According to the formula Calculate the corrected included angle, where For the corrected included angle, The function is from the C language's math.h standard library; its purpose is to adjust the angle to... Within the range, Let x be the x-coordinate of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system. The vertical coordinate of the intersection point of the straight line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment and the actual weld in the global coordinate system. The corrected included angle is greater than and less than or equal to In the case of formula The corrected included angle is defined, wherein, The corrected included angle is limited to the first and second quadrants; The corrected included angle is greater than and less than In the case of formula The corrected included angle is defined, wherein, The corrected included angle is defined as being limited to the first and second quadrants.

9. The method according to claim 1, characterized in that, The theoretical angle at the current moment is corrected based on the corrected angle to obtain the actual angle at the current moment, including: According to the formula Calculate the actual included angle at the current moment, where, The actual included angle at the current moment. The theoretical angle at the current moment is... The corrected included angle is defined as being limited to the first and second quadrants.

10. A crawling welding robot and a weld seam angle model construction device, characterized in that, The device includes: The acquisition unit is used to acquire welding information, which includes the welding robot's speed at the previous moment, the welding robot's angular velocity at the previous moment, the welding robot's control cycle, the length from the center of the laser system's camera to the center of the robot's body, the actual included angle at the previous moment, and the actual distance deviation at the previous moment. The actual included angle is the angle between the welding robot and the actual weld, and the actual distance deviation is the distance deviation between the welding robot and the actual weld. The laser system is used to track the weld. The first determining unit is configured to determine the theoretical distance deviation and the theoretical angle at the current moment based on the welding information, including: constructing a global coordinate system and a local coordinate system, wherein the global coordinate system is established with the center of the welding robot body as the origin, and the local coordinate system is established with the center of the laser system's camera as the origin; determining the coordinates of the laser system in the local coordinate system at the current moment based on the welding robot's speed, the welding robot's angular velocity, and the welding robot's control cycle at the previous moment; and determining the coordinates of the laser system in the local coordinate system at the current moment based on the actual angle at the previous moment, the welding robot's speed at the previous moment, and the control cycle of the welding robot at the previous moment. The angular velocity of the welding robot is used to determine the angle between the local coordinate system and the global coordinate system; the coordinates of the laser system in the global coordinate system at the current moment are determined based on the angle between the local coordinate system and the global coordinate system, the coordinates of the laser system in the local coordinate system at the current moment, the actual distance deviation at the previous moment, and the actual angle at the previous moment; the theoretical distance deviation at the current moment is determined based on the speed of the welding robot at the previous moment, the control cycle of the welding robot, the actual angle at the previous moment, the ordinate of the laser system in the global coordinate system at the current moment, and the theoretical angle at the current moment. The second determining unit is used to determine a corrected angle based on the actual distance deviation at the current moment and the theoretical angle at the current moment. This includes: determining the coordinates in the global coordinate system of the intersection point of the line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment with the actual weld seam, based on the coordinates of the laser system in the global coordinate system at the current moment, the actual distance deviation at the current moment, and the theoretical angle at the current moment; wherein the global coordinate system is a coordinate system established with the center of the welding robot body as the origin; and determining the corrected angle based on the coordinates in the global coordinate system of the intersection point of the line formed by the position of the laser system at the previous moment and the position of the laser system at the current moment with the actual weld seam. The correction unit is used to correct the theoretical angle at the current moment according to the correction angle to obtain the actual angle at the current moment.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program performs the method according to any one of claims 1 to 9.

12. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 9 when it runs.

13. A crawling welding robot and a weld seam angle model construction system, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 9.

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