Welding control method and related apparatus
By sampling and compensating for weld seams in real time, the problem of weld seam deformation causing welding robot misalignment is solved, achieving precise welding of welding robots, avoiding weld misalignment, and improving welding quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- PANASONIC WELDING SYST TANGSHAN
- Filing Date
- 2023-09-12
- Publication Date
- 2026-06-19
Smart Images
Figure CN117182408B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of welding technology, and in particular to a welding control method and related apparatus. Background Technology
[0002] With the development of welding technology, welding robots can now perform welding according to taught trajectories in many situations. However, during the welding process, factors such as the number of weld beads on the workpiece and the high welding current can cause weld deformation, leading to deviations from the taught trajectory. Moreover, the amount of weld deformation is related to various factors such as workpiece structure, size, material, and welding specifications, making it impossible to predict in advance. Therefore, in related technologies, when welding robots perform welding according to taught trajectories, weld misalignment often occurs, severely affecting welding quality. Summary of the Invention
[0003] To address the above technical problems, embodiments of this application provide a welding control method and related apparatus.
[0004] In a first aspect, embodiments of this application provide a welding control method, including:
[0005] The weld seam of the workpiece to be welded is sampled to determine the first target motion trajectory corresponding to the weld seam;
[0006] Determine the position of the first target on the trajectory of the first target, corresponding to the current position of the welding robot;
[0007] The first deviation vector is determined based on the current position of the welding robot and the first target position;
[0008] The first target compensation vector is determined based on the first deviation vector;
[0009] The welding robot is subjected to motion compensation control based on the first target compensation vector.
[0010] In one optional implementation, sampling the weld seam of the workpiece to be welded and determining the first target motion trajectory corresponding to the weld seam includes:
[0011] Real-time acquisition of the coordinates of the preceding weld seam corresponding to the current position of the welding robot, resulting in a queue of preceding weld seam coordinates;
[0012] The first target motion trajectory is obtained by curve fitting based on the pre-weld coordinate queue.
[0013] In one optional implementation, determining the first target position on the first target motion trajectory, corresponding to the current position of the welding robot, includes:
[0014] Taking the current position of the welding robot as the origin and the current direction of movement as the normal vector, determine the normal plane perpendicular to the normal vector;
[0015] The intersection point of the first target's trajectory and the normal plane is determined as the position of the first target.
[0016] In an optional implementation, determining the first target compensation vector based on the first deviation vector includes:
[0017] The first deviation vector is corrected based on at least one of the motion speed and sensitivity of the welding robot to obtain a first reference compensation vector;
[0018] The first reference compensation vector is used as the first target compensation vector, or the first target compensation vector is determined based on the first reference compensation vector and a preset compensation upper limit.
[0019] In an optional implementation, determining the first target compensation vector based on the first reference compensation vector and a preset compensation upper limit includes:
[0020] Determine whether the first reference compensation vector exceeds the aforementioned preset compensation upper limit;
[0021] If the first reference compensation vector does not exceed the preset compensation upper limit, then the first reference compensation vector is used as the first target compensation vector;
[0022] If the first reference compensation vector exceeds the preset compensation upper limit, the first reference compensation vector is corrected according to the preset compensation upper limit, and the corrected first reference compensation vector is used as the first target compensation vector.
[0023] In an optional implementation, the method further includes:
[0024] During the movement of the welding robot, the actual coordinates after compensation control are obtained to obtain the actual motion trajectory queue;
[0025] Upon receiving the hold control command, the second target motion trajectory is obtained by fitting the actual motion trajectory queue.
[0026] Determine the position of the second target on the second target's motion trajectory, corresponding to the current position of the welding robot;
[0027] The second deviation vector is determined based on the welding robot's current position and the second target position;
[0028] The second target compensation vector is determined based on the second deviation vector;
[0029] The welding robot is subjected to motion compensation control based on the second target compensation vector.
[0030] Secondly, embodiments of this application provide a welding control device, comprising:
[0031] The sampling unit is used to sample the weld seam of the workpiece to be welded and determine the first target motion trajectory corresponding to the weld seam.
[0032] The first compensation unit is used to determine a first target position on the first target motion trajectory, corresponding to the current position of the welding robot; determine a first deviation vector based on the current position of the welding robot and the first target position; and determine a first target compensation vector based on the first deviation vector.
[0033] The control unit is used to perform motion compensation control on the welding robot based on the first target compensation vector.
[0034] In one optional implementation, the sampling unit is used to sample the weld seam of the workpiece to be welded and determine the first target motion trajectory corresponding to the weld seam, which may specifically include:
[0035] The sampling unit is used to collect the coordinates of the preceding weld seam corresponding to the current position of the welding robot in real time, and obtain the preceding weld seam coordinate queue; and to perform curve fitting based on the preceding weld seam coordinate queue to obtain the first target motion trajectory.
[0036] In one optional implementation, the first compensation unit is used to determine a first target position on the first target motion trajectory, corresponding to the current position of the welding robot, which may specifically include:
[0037] The first compensation unit is used to determine a normal plane perpendicular to the normal vector, with the current position of the welding robot as the origin and the current forward direction as the normal vector; and to determine the intersection point of the first target motion trajectory and the normal plane as the first target position.
[0038] In one optional implementation, the first compensation unit is used to determine a first target compensation vector based on the first deviation vector, which may specifically include:
[0039] The first compensation unit is used to correct the first deviation vector based on at least one of the welding robot's movement speed and sensitivity to obtain a first reference compensation vector; and to use the first reference compensation vector as the first target compensation vector, or to determine the first target compensation vector based on the first reference compensation vector and a preset compensation upper limit.
[0040] In an optional implementation, the first compensation unit is used to determine the first target compensation vector based on the first reference compensation vector and a preset compensation upper limit, specifically including:
[0041] The first compensation unit is used to determine whether the first reference compensation vector exceeds the preset compensation upper limit; if the first reference compensation vector does not exceed the preset compensation upper limit, the first reference compensation vector is used as the first target compensation vector; if the first reference compensation vector exceeds the preset compensation upper limit, the first reference compensation vector is corrected according to the preset compensation upper limit, and the corrected first reference compensation vector is used as the first target compensation vector.
[0042] In an optional embodiment, the welding control device further includes:
[0043] The recording unit is used to acquire the actual coordinates after compensation control during the movement of the welding robot, and to obtain the actual motion trajectory queue.
[0044] The second compensation unit is used to, upon receiving a holding control command, fit a second target motion trajectory based on the actual motion trajectory queue to obtain a second target motion trajectory; determine a second target position on the second target motion trajectory corresponding to the current position of the welding robot; determine a second deviation vector based on the current position and the second target position of the welding robot; and determine a second target compensation vector based on the second deviation vector.
[0045] The control unit is also used to: perform motion compensation control on the welding robot according to the second target compensation vector.
[0046] Thirdly, embodiments of this application provide a welding robot, including the welding control device described in the above embodiments.
[0047] Fourthly, embodiments of this application provide an electronic device, including:
[0048] Memory, used to store computer program products;
[0049] A processor is configured to execute a computer program product stored in the memory, and when the computer program product is executed, to implement the method described in the first aspect above.
[0050] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions that, when executed, implement the method described in the first aspect above.
[0051] In summary, in this embodiment, by sampling the weld in real time, a first target motion trajectory matching the actual weld is obtained, and the real-time position deviation of the welding robot is determined based on the first target motion trajectory. Then, a first target compensation vector is determined based on the real-time position deviation, and the welding robot is subjected to motion compensation control in real time based on the first target compensation vector. This makes the actual motion trajectory of the welding robot approach or even coincide with the first target motion trajectory. Thus, regardless of whether the weld is deformed, the actual welding position of the welding robot can be guaranteed to approach or even coincide with the actual position of the weld, achieving precise welding and avoiding weld deviation.
[0052] Secondly, this application embodiment establishes a real-time coordinate system based on the position of the welding robot to quantitatively calculate the deviation vector and the compensation vector. At the same time, it corrects the deviation vector by combining the movement speed and sensitivity of the welding robot to determine the compensation vector, ensuring that the final determined compensation vector matches the real-time position, speed, performance, etc. of the welding robot, thereby achieving precise control of the welding robot. Furthermore, it limits the compensation value of the compensation vector by setting a compensation upper limit to avoid excessive compensation value causing the welding robot to jump, thus ensuring the smooth movement of the welding robot.
[0053] In addition to determining the first target motion trajectory based on the position of the pre-weld seam and determining the first target compensation vector based on the first target motion trajectory to achieve tracking control of the welding robot, this embodiment of the application can also record the actual coordinates of the welding robot in real time during the tracking control process and form an actual motion trajectory queue. Then, a second target motion trajectory is obtained by fitting the actual motion trajectory queue, and a second target compensation vector is determined based on the second target motion trajectory to achieve holding control of the welding robot. This meets different control requirements in actual application scenarios and expands the application range of the welding robot. Attached Figure Description
[0054] Figure 1 A flowchart illustrating a welding control method provided in one embodiment of this application;
[0055] Figure 2 This is a schematic diagram illustrating an application scenario provided in one embodiment of this application;
[0056] Figure 3 A schematic diagram illustrating the principle of determining the deviation vector according to one embodiment of this application;
[0057] Figure 4 A schematic diagram illustrating the principle of determining the compensation vector according to one embodiment of this application;
[0058] Figure 5 This is a schematic diagram of the structure of a welding control device provided in one embodiment of this application;
[0059] Figure 6 This is a schematic diagram of the result of an electronic device provided in one embodiment of this application. Detailed Implementation
[0060] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present application will become clearer and more apparent.
[0061] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.
[0062] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.
[0063] The welding control method and related devices and systems provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.
[0064] Figure 1 This is a flowchart illustrating a welding control method provided in one embodiment of this application. This welding control method can be applied to welding robots to solve the problem of weld misalignment caused by weld deformation. (Refer to...) Figure 1 The method includes the following steps:
[0065] Step 101: Sample the weld seam of the workpiece to be welded and determine the first target motion trajectory corresponding to the weld seam;
[0066] In this embodiment, image information of the weld seam to be welded by the welding robot can be collected using sensors built into the robot or external sensors, such as laser sensors and vision cameras. By analyzing this image information, the location information of one or more weld seam sampling points can be obtained. Figure 2 The schematic diagram of the welding scene shown indicates the forward direction of the welding robot 10, as indicated by the dashed arrow. As the welding robot 10 moves, it collects real-time position information of the weld seam 20 on the workpiece to be welded along its forward direction, i.e., the position information of the preceding weld seam. For example, when the welding robot 10 moves to point A, it can acquire the position information of preceding weld seam sampling points such as A1 and A2 located in front of point A; similarly, when the welding robot moves to point B, it can acquire the position information of preceding weld seam sampling points such as B1 and B2 located in front of point B. It should be noted that the sampling control parameters, such as the sampling time interval and the number of sampling points collected by the welding robot at each position, are related to factors such as the sampling accuracy requirements in the actual application scenario or the performance of the sampling equipment. This embodiment does not impose any limitations on these factors.
[0067] As can be seen, through the above real-time sampling process, even if the weld seam deforms during the welding process, the position information of the deformed weld seam can be obtained in real time. Based on the position information of the deformed weld seam, the first target motion trajectory can be determined in real time. Through subsequent control steps, the welding robot is motion controlled according to the first target motion trajectory to ensure accurate welding of the weld seam and avoid the problem of off-center welding.
[0068] Step 102: Determine the first target position on the first target motion trajectory that corresponds to the current position of the welding robot;
[0069] Step 103: Determine the first deviation vector based on the current position of the welding robot and the first target position;
[0070] Step 104: Determine the first target compensation vector based on the first deviation vector;
[0071] Since the first target motion trajectory is determined based on the weld position information collected in real time, the first target motion trajectory is the ideal motion trajectory of the welding robot. That is, only by moving along the first target motion trajectory can the weld be accurately welded. However, the current position of the welding robot may deviate from the first target motion trajectory, so it is necessary to compensate and control it to make the actual position and actual motion trajectory of the welding robot as close as possible to or even coincide with the first target motion trajectory.
[0072] Therefore, for any given control moment, the current position of the welding robot can be obtained, and a point can be determined on the first target motion trajectory as the first target position. This first target position is the ideal position that the welding robot should move to at that control moment. The deviation distance and direction between the first target position and the current position of the welding robot constitute the first deviation vector; then, based on the first deviation vector, the first target compensation vector for motion compensation of the welding robot can be determined.
[0073] Step 105: Perform motion compensation control on the welding robot based on the first target compensation vector.
[0074] As the welding robot moves, at each control moment, the corresponding first deviation vector and first target compensation vector can be determined. That is, in the embodiments of this application, the position deviation of the welding robot can be determined in real time during the movement of the welding robot, and then the first target compensation vector used to correct the position deviation can be determined in real time. The movement of the welding robot can be compensated and controlled in real time according to the first target compensation vector, so as to correct the deviation between the welding position of the welding robot and the weld in a timely manner.
[0075] As described above, the embodiments of this application obtain a first target motion trajectory that matches the actual weld by sampling the weld in real time, and determine the real-time position deviation of the welding robot based on the first target motion trajectory. Then, determine the first target compensation vector based on the real-time position deviation, and perform motion compensation control on the welding robot in real time based on the first target compensation vector. This makes the actual motion trajectory of the welding robot approach or even coincide with the first target motion trajectory. Thus, regardless of whether the weld is deformed, the actual welding position of the welding robot can be guaranteed to approach or even coincide with the actual position of the weld, achieving precise welding and avoiding weld deviation.
[0076] In an optional embodiment of this application, the sampling of the weld seam of the workpiece to be welded and the determination of the first target motion trajectory corresponding to the weld seam in step 101 above includes:
[0077] Step 1011: Collect the coordinates of the preceding weld seam corresponding to the current position of the welding robot in real time to obtain the preceding weld seam coordinate queue;
[0078] Step 1012: Perform curve fitting based on the pre-weld coordinate queue to obtain the first target motion trajectory.
[0079] As the welding robot moves, the coordinates of multiple sampling points on the weld seam can be successively obtained, namely the preceding weld seam coordinates, forming a preceding weld seam coordinate queue. Then, through a curve fitting algorithm, this preceding weld seam coordinate queue can be fitted into a curve, thus obtaining the first target motion trajectory. The fitted first target motion trajectory can be represented by a linear function or a nonlinear function.
[0080] Optionally, the process of curve fitting for the front weld coordinate queue may specifically include: smoothing the data in the front weld coordinate queue through filtering, noise reduction and other algorithms, and then using the smoothed front weld coordinate queue to perform curve fitting, so that the obtained first target motion trajectory is smoother and the fitted curve will not have abnormal fluctuations such as sawtooth due to noise data, thus ensuring stable control of the welding robot.
[0081] Optionally, when welding a new workpiece to be welded by a welding robot, after starting the welding robot, it can be controlled to move according to the taught trajectory, and the weld seam can be sampled through the above steps 101 or 1011-1012 during the movement, and the first target motion trajectory can be obtained by fitting the sampling results.
[0082] Since the fitted curve may have a large deviation when there are few sampling points, in view of this application, in an optional embodiment, to ensure control accuracy, a minimum sampling distance L0 can be preset. After obtaining the first target motion trajectory through step 1012, the following judgment steps are performed:
[0083] Step 1013: Determine whether the trajectory length L of the first target motion trajectory S1 is not less than L0. If L1 is not less than L0, i.e., L1≥L0, then proceed to the subsequent steps 102, i.e., enter the tracking control stage, and use the first target motion trajectory as the standard to perform real-time tracking control on the motion trajectory of the welding robot. If L1<L0, it means that there are too few sampling points at this time, and it is difficult to guarantee the accuracy of the fitting result. Therefore, tracking control is not performed temporarily, but the process returns to step 1011 to continue sampling, and then refits the curve through step 1012 until the trajectory length L1 of the fitted first target motion trajectory is no longer less than the preset shortest sampling distance L0.
[0084] It should be noted that in actual control scenarios, the steps in the above welding control method can be executed cyclically or repeatedly. For example, real-time sampling of the weld can be carried out throughout the entire control process. That is, when L1≥L0 is determined and the tracking control stage is entered, during the real-time motion compensation control of the welding robot through steps 102-105, as the welding robot moves, the coordinates of the weld seam at the position of the welding robot can still be collected in real time by executing steps 1011-1012 to correct the first target motion trajectory in real time, improve the accuracy of trajectory fitting, and at the same time, when the weld seam is deformed, the coordinates of the deformed weld seam can be collected in time, so that the curve can be refitted based on the deformed weld seam coordinates to correct the first target motion trajectory, ensure that it matches the deformed weld seam, and avoid weld deviation.
[0085] In an optional embodiment of this application, step 102, determining the first target position on the first target motion trajectory corresponding to the current position of the welding robot, includes:
[0086] Step 1021: Taking the current position of the welding robot as the origin and the current forward direction as the normal vector, determine the normal plane perpendicular to the normal vector;
[0087] Step 1022: Determine the intersection point of the first target's motion trajectory and the normal plane, and use it as the position of the first target.
[0088] Reference Figure 3The schematic diagram of welding control principle shown shows that during the movement of the welding robot, the current position of the welding robot is taken as the origin O and the current forward direction of the welding robot is taken as the normal vector I. According to the normal vector I, the normal plane can be determined, that is, the plane perpendicular to the normal vector I. The intersection point P of the first target motion trajectory S1 and the normal plane can be used as the first target position corresponding to the current position of the welding robot.
[0089] To facilitate the representation of the positions of each point and the calculation of related data such as distances, a real-time three-dimensional coordinate system that moves with the welding robot can be established based on the aforementioned normal vectors and normal planes, such as... Figure 3 As shown: The current position of the welding robot is the origin O of this real-time 3D coordinate system. The axis containing the normal vector I is taken as one coordinate axis I of this real-time 3D coordinate system. The two coordinate axes of the two-dimensional rectangular coordinate system containing the normal plane perpendicular to I are taken as the other two coordinate axes of this real-time 3D coordinate system. Optionally, the straight line where the projection of the welding torch on the welding robot onto the above-mentioned normal plane is located can be taken as the second coordinate axis V of this real-time 3D coordinate system. In this normal plane, the straight line perpendicular to V is taken as the third coordinate axis H of this real-time 3D coordinate system, thus obtaining the real-time 3D coordinate system HVI. Based on this HVI coordinate system, the current position of the welding robot, i.e., the origin O, has coordinates (0,0,0). The determined first target position, i.e., the above-mentioned intersection point P, has coordinates (H). p V p ,0), and then in step 103, the first deviation vector of the welding robot at the current position can be obtained, that is, vector
[0090] In an optional embodiment of this application, step 104 above, which involves determining the first target compensation vector based on the first position deviation vector, includes:
[0091] Step 1041: Correct the first deviation vector according to at least one of the motion speed and sensitivity of the welding robot to obtain the first reference compensation vector;
[0092] In theory, the aforementioned first deviation vector can be directly used as the compensation vector to achieve motion compensation for the welding robot. However, in reality, the compensation control effect is affected by factors such as the welding robot's movement speed and sensitivity. For example, under the control of the same compensation vector, the greater the movement speed or the higher the sensitivity of the welding robot, the greater its approach to the target within the same time period. Therefore, in order to avoid over-compensation or under-compensation, the embodiments of this application determine the compensation vector by combining factors such as the welding robot's movement speed or sensitivity.
[0093] Specifically, such as Figure 3 As shown, the first deviation vector The projections onto the coordinate axes H and V are the deviation components of the first deviation vector in the H-axis and V-axis directions, respectively. p and V p The process of correcting it can be expressed as the following formula:
[0094]
[0095] In the above formula, H p ′ represents the reference compensation component of the first reference compensation vector in the H-axis direction, V p Let f' be the reference compensation component of the first reference compensation vector in the V-axis direction, f1 be the correction function in the H-axis direction, and f2 be the correction function in the V-axis direction. The correction functions f1 and f2 in the H-axis and V-axis directions are related to factors such as the real-time motion speed u and sensitivity k of the welding robot, and can be expressed as f1(u,k,...) and f2(u,k,...). Furthermore, f1 and f2 can be the same or different, depending on the actual application scenario and the motion characteristics of the welding robot and the correction requirements in the two directions. Based on the above formulas, the reference compensation components H in the H-axis and V-axis directions are calculated respectively. p ′ and V p ′, that is, the first reference compensation vector is obtained.
[0096] In an optional implementation, after performing step 1041, execution can continue:
[0097] Step 1042: Use the first reference compensation vector as the first target compensation vector.
[0098] In one optional embodiment of this application, to avoid the welding robot from jumping, the compensation value should not be too large. Therefore, a preset compensation upper limit can be set, and execution can continue after step 1041:
[0099] Step 1043: Determine the first target compensation vector based on the first reference compensation vector and the preset compensation upper limit.
[0100] Specifically, step 1043, which involves determining the first target compensation vector based on the first reference compensation vector and the preset compensation upper limit, includes:
[0101] Step 10431: Determine whether the first reference compensation vector exceeds the above-mentioned preset compensation upper limit;
[0102] Step 10432: If the first reference compensation vector does not exceed the preset compensation upper limit, then the first reference compensation vector is used as the first target compensation vector.
[0103] Step 10433: If the first reference compensation vector exceeds the preset compensation upper limit, then the first reference compensation vector is corrected according to the preset compensation upper limit, and the corrected first reference compensation vector is used as the first target compensation vector.
[0104] Optionally, the preset compensation upper limit can be a compensation vector value t. Accordingly, step 10431 compares the vector values of the first reference compensation vector. With respect to the size of t, if Then the first reference compensation vector is used as the first target compensation vector; if Then the vector value of the first reference compensation vector is modified to t, the vector direction remains unchanged, and the modified first compensation vector is used as the first target compensation vector.
[0105] Optionally, the preset compensation upper limit may include the upper limit values t of the compensation components in both the H-axis and V-axis directions. H and t V Accordingly, step 10431 involves comparing H respectively. p ′ and t H The size, and V p ′ and t V If the compensation component in any direction is greater than or equal to the corresponding upper limit value of the compensation component, then the compensation component in that direction is modified to the corresponding upper limit value. Assume that the target compensation components of the first target compensation vector in the H-axis and V-axis directions are T... H and T V In this embodiment of the application, steps 10431 to 10433 are performed based on the aforementioned upper limit value t of the compensation component. H and t V Determine T H and T V The process can be represented by the following formula:
[0106]
[0107]
[0108] The compensation control process in this application embodiment can be represented as follows: Figure 4 The control chart shown. (Refer to...) Figure 4First, based on the first target position and the current position of the welding robot (i.e., the actual position of the welding robot acquired in real time), a first deviation vector is calculated. Then, based on the welding robot's real-time movement speed u, sensitivity k, and preset compensation upper limit, a first target compensation vector is determined. This first target compensation vector is then sent to the actuator of the welding robot's motion control, such as a motor that controls the welding robot's movement or turning. This allows the welding robot to approach the first target trajectory according to the first target compensation vector. This embodiment of the application sets a preset compensation upper limit. When the compensation value calculated based on the deviation vector, speed, and sensitivity exceeds the preset compensation upper limit, compensation is performed according to this preset compensation upper limit, ensuring smooth movement and turning of the welding robot and preventing it from jumping.
[0109] In an optional embodiment of this application, the welding control method may further include:
[0110] Step 106: During the movement of the welding robot, the actual coordinates after compensation control are obtained to obtain the actual motion trajectory queue.
[0111] Through step 106 above, the actual motion trajectory of the welding robot is acquired and recorded in real time. In practical applications, the control effect can be analyzed based on this actual motion trajectory, and relevant parameters in the control process, such as the aforementioned correction function and preset compensation upper limit, can be optimized to achieve better control results.
[0112] During the welding process, the control mode can be changed by sending relevant instructions to the welding robot; for example, after receiving a stop control instruction, the welding robot stops the tracking control process based on steps 102-105 above, or, after receiving a hold control instruction, the welding robot enters the hold control phase. In an optional embodiment of this application, based on the actual motion trajectory queue recorded in step 106 above, the welding control method may further include the following steps related to the hold control phase:
[0113] Step 107: After receiving the hold control command, the second target motion trajectory is obtained by fitting the actual motion trajectory queue.
[0114] Based on the actual motion trajectory queue of the welding robot collected and recorded in step 106, the second target motion trajectory can be fitted. The specific fitting method can refer to the method of fitting the first target motion trajectory in step 1012 in the previous embodiment. For example, it can include smoothing the actual motion trajectory queue, or performing curve fitting through a preset curve fitting algorithm.
[0115] Step 108: Determine the position of the second target on the second target motion trajectory, corresponding to the current position of the welding robot;
[0116] Step 109: Determine the second deviation vector based on the current position and the second target position of the welding robot;
[0117] Step 110: Determine the second target compensation vector based on the second deviation vector;
[0118] Step 111: Perform motion compensation control on the welding robot according to the second target compensation vector.
[0119] The process of determining the compensation vector of the second target in real time based on the trajectory of the second target in steps 108-110 above can be referred to steps 102-104 in the previous embodiment. Figure 4 The relevant descriptions include the method for establishing the real-time coordinate system of the welding robot, and the process of determining the second target compensation vector based on the second deviation vector and in combination with the welding robot's motion speed, sensitivity, preset compensation upper limit, etc. The data processing principles and processes are the same or similar, and will not be repeated in this embodiment.
[0120] As can be seen from the above embodiments, the welding control method provided in this application includes a sampling stage, a tracking control stage, and a holding control stage. In the sampling stage, the welding robot moves according to the taught trajectory, while simultaneously collecting the coordinate information of the preceding weld seam to obtain a first target motion trajectory. When the trajectory length exceeds a preset sampling distance, the robot enters the tracking control stage. In the tracking control stage, a first target compensation vector is determined based on the first target motion trajectory, and the welding robot's motion process is real-time compensated according to this first target compensation vector until a stop control command or a holding control command is received. After receiving the holding control command, the welding robot enters the holding control stage, determines a second target motion trajectory based on the actual motion trajectory collected and recorded in the aforementioned tracking control stage, and determines a second target compensation vector based on this second target motion trajectory. Then, the welding robot's motion process is real-time compensated according to this second target compensation vector until a stop control command is received. In practical applications, control commands can be used to control the welding robot into different control modes to meet different control requirements, ensure precise control of the welding process, address weld seam deformation during welding, avoid weld misalignment, improve welding quality, and expand the application scenarios of the welding robot.
[0121] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.
[0122] Based on the same inventive concept, one or more embodiments of this specification also provide a welding control device. Since the principle of the welding control device in solving the problem is similar to that of the aforementioned welding control method, the implementation of the welding control device can refer to the implementation of the aforementioned welding control method, and the repeated parts will not be described again.
[0123] Figure 5 This is a schematic diagram of a welding control device provided in an embodiment of this application. This welding control device can be applied to a welding robot. (Refer to...) Figure 5 The welding control device 400 includes:
[0124] The sampling unit 401 is used to sample the weld seam of the workpiece to be welded and determine the first target motion trajectory corresponding to the weld seam.
[0125] The first compensation unit 402 is used to determine a first target position on the first target motion trajectory that corresponds to the current position of the welding robot; determine a first deviation vector based on the current position of the welding robot and the first target position; and determine a first target compensation vector based on the first deviation vector.
[0126] The control unit 403 is used to perform motion compensation control on the welding robot according to the first target compensation vector.
[0127] In one optional embodiment of this application, the sampling unit 401 is used to sample the weld seam of the workpiece to be welded and determine the first target motion trajectory corresponding to the weld seam, which may specifically include:
[0128] The sampling unit 401 is used to collect the coordinates of the preceding weld seam corresponding to the current position of the welding robot in real time, and obtain the preceding weld seam coordinate queue; and to perform curve fitting based on the preceding weld seam coordinate queue to obtain the first target motion trajectory.
[0129] In one optional embodiment of this application, the first compensation unit 402 is used to determine the first target position on the first target motion trajectory, corresponding to the current position of the welding robot, and may specifically include:
[0130] The first compensation unit 402 is used to determine a normal plane perpendicular to the normal vector, with the current position of the welding robot as the origin and the current forward direction as the normal vector; and to determine the intersection point of the first target motion trajectory and the normal plane as the first target position.
[0131] In one optional embodiment of this application, the first compensation unit 402 is used to determine a first target compensation vector based on the first deviation vector, specifically including:
[0132] The first compensation unit 402 is used to correct the first deviation vector according to at least one of the motion speed and sensitivity of the welding robot to obtain a first reference compensation vector; and to use the first reference compensation vector as the first target compensation vector, or to determine the first target compensation vector according to the first reference compensation vector and a preset compensation upper limit.
[0133] In one optional embodiment of this application, the first compensation unit 402 is used to determine the first target compensation vector based on the first reference compensation vector and a preset compensation upper limit, specifically including:
[0134] The first compensation unit 402 is used to determine whether the first reference compensation vector exceeds the preset compensation upper limit; if the first reference compensation vector does not exceed the preset compensation upper limit, the first reference compensation vector is used as the first target compensation vector; if the first reference compensation vector exceeds the preset compensation upper limit, the first reference compensation vector is corrected according to the preset compensation upper limit, and the corrected first reference compensation vector is used as the first target compensation vector.
[0135] In an optional embodiment of this application, the welding control device 400 further includes:
[0136] The recording unit is used to acquire the actual coordinates after compensation control during the movement of the welding robot, and to obtain the actual motion trajectory queue.
[0137] The second compensation unit is used to, upon receiving a holding control command, fit a second target motion trajectory based on the actual motion trajectory queue to obtain a second target motion trajectory; determine a second target position on the second target motion trajectory corresponding to the current position of the welding robot; determine a second deviation vector based on the current position and the second target position of the welding robot; and determine a second target compensation vector based on the second deviation vector.
[0138] The control unit 403 is also used to: perform motion compensation control on the welding robot according to the second target compensation vector.
[0139] This application embodiment also provides a welding robot, including: a welding control device 400 as described in the previous embodiment. The welding control device 400 performs motion compensation control on the welding robot, so that its motion trajectory is close to the actual weld position, thereby enabling precise welding even when the weld is deformed, without weld deviation, and improving welding quality.
[0140] In addition, the welding robot provided in this application embodiment may also include components such as a front-facing camera unit and a motor. The front-facing camera unit is located at the front end of the welding robot and is used to perform real-time imaging of the weld seam in front of the welding robot, so that the sampling unit 401 in the welding control device 400 can collect the position information of the weld seam. This front-facing camera unit can be a laser sensor, a binocular or multi-view structured light vision camera, etc. The motor provides power for the movement and steering of the welding robot. In this application embodiment, the control unit 403 in the welding control device 400 controls the motor according to a first target compensation vector or a second target compensation vector, ultimately achieving motion compensation control of the welding robot.
[0141] This application also provides an electronic device, see [link to relevant documentation] Figure 6 The electronic device 500 includes a processor 501, a memory 502, and a program or instructions stored in the memory 502 that can run on the processor 501. When the program or instructions are executed by the processor 501, they implement the various processes of the above-described welding control method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here. In one possible implementation, the electronic device can be a welding robot.
[0142] In one possible implementation, the functionality of the welding control device 400 can be integrated into the processor 501. The processor 501 can be configured to perform the following operations:
[0143] The weld seam of the workpiece to be welded is sampled to determine the first target motion trajectory corresponding to the weld seam;
[0144] Determine the position of the first target on the trajectory of the first target, corresponding to the current position of the welding robot;
[0145] The first deviation vector is determined based on the current position of the welding robot and the first target position;
[0146] The first target compensation vector is determined based on the first deviation vector;
[0147] The welding robot is subjected to motion compensation control based on the first target compensation vector.
[0148] In another possible implementation, the welding control device 400 can be configured separately from the processor 501. For example, the welding control device 400 can be configured as a chip connected to the processor 501, and the welding control method described in the previous embodiment can be implemented through the control of the processor 501.
[0149] Furthermore, in some alternative implementations, the electronic device 500 may also include: a communication module, an input unit, an audio processor, a display, a power supply, etc. It is worth noting that the electronic device 500 is not necessarily required to include these components. Figure 6 All components shown; in addition, the electronic device 500 may also include Figure 6 For components not shown, please refer to existing technologies.
[0150] In some alternative implementations, the processor 501, sometimes also referred to as a controller or operating control, may include a microprocessor or other processor device and / or logic device, which receives input and controls the operation of various components of the electronic device 500.
[0151] The memory 502 may be, for example, one or more of a cache, flash memory, hard drive, removable medium, volatile memory, non-volatile memory, or other suitable devices. It can store the aforementioned information related to the welding control device 400, and may also store programs for executing that information. The processor 501 can execute the program stored in the memory 502 to perform information storage or processing, etc.
[0152] The input unit can provide input to the processor 501. This input unit may be, for example, a button or touch input device, or an imaging device. A power supply can be used to provide power to the electronic device 500. The display can be used to display images and text, etc. This display may be, for example, an LCD display, but is not limited to this.
[0153] Memory 502 can be a solid-state memory, such as read-only memory (ROM), random access memory (RAM), SIM card, etc. It can also be a memory that retains information even when power is off, can be selectively erased, and contains more data; examples of this type of memory are sometimes referred to as EPROM, etc. Memory 502 can also be some other type of device. Memory 502 includes buffer memory (sometimes referred to as a buffer). Memory 502 may include an application / function storage unit for storing application programs and function programs or processes for executing the operation of electronic device 500 via processor 501.
[0154] The memory 502 may also include a data storage section for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the computing device. The driver storage section of the memory 502 may include various drivers for the computer device for communication functions and / or for performing other functions of the computer device (such as messaging applications, address book applications, etc.).
[0155] The communication module is a transmitter / receiver that sends and receives signals via an antenna. The communication module (transmitter / receiver) is coupled to the processor 501 to provide input signals and receive output signals, which is the same as in a conventional mobile communication terminal.
[0156] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the various processes of the above-described welding control method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here.
[0157] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.
[0158] This application also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above-described welding control method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.
[0159] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
[0160] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.
[0161] While this application provides method operation steps as shown in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the method can be executed sequentially as shown in the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment).
[0162] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, apparatus (systems), or computer program products. Therefore, the embodiments of this specification can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0163] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0164] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are relatively simple in description because they are fundamentally similar to the method embodiments; relevant parts can be referred to the descriptions in the method embodiments. In this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.
[0165] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship in the working state of this application. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0166] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0167] The present application has been described above with reference to preferred embodiments; however, these embodiments are merely exemplary and illustrative. Various substitutions and modifications can be made to the present application based on these embodiments, all of which fall within the protection scope of the present application.
Claims
1. A welding control method characterized by, include: The weld seam of the workpiece to be welded is sampled to determine the first target motion trajectory corresponding to the weld seam; Determine the position of the first target on the trajectory of the first target, corresponding to the current position of the welding robot; The first deviation vector is determined based on the current position of the welding robot and the first target position; The first target compensation vector is determined based on the first deviation vector; The welding robot is subjected to motion compensation control based on the first target compensation vector; The method further includes: during the movement of the welding robot, acquiring the actual coordinates after compensation control to obtain the actual motion trajectory queue; Upon receiving the hold control command, the second target motion trajectory is obtained by fitting the actual motion trajectory queue. Determine the position of the second target on the second target's motion trajectory, corresponding to the current position of the welding robot; The second deviation vector is determined based on the welding robot's current position and the second target position; The second target compensation vector is determined based on the second deviation vector; The welding robot is subjected to motion compensation control based on the second target compensation vector.
2. The method of claim 1, wherein, The step of sampling the weld seam of the workpiece to be welded and determining the first target motion trajectory corresponding to the weld seam includes: Real-time acquisition of the coordinates of the preceding weld seam corresponding to the current position of the welding robot, resulting in a queue of preceding weld seam coordinates; The first target motion trajectory is obtained by curve fitting based on the pre-weld coordinate queue.
3. The method of claim 1, wherein, Determining the first target position on the first target motion trajectory, corresponding to the current position of the welding robot, includes: Taking the current position of the welding robot as the origin and the current direction of movement as the normal vector, determine the normal plane perpendicular to the normal vector; The intersection point of the first target's trajectory and the normal plane is determined as the position of the first target.
4. The method of claim 1, wherein, Determining the first target compensation vector based on the first deviation vector includes: The first deviation vector is corrected based on at least one of the motion speed and sensitivity of the welding robot to obtain a first reference compensation vector; The first reference compensation vector is used as the first target compensation vector, or the first target compensation vector is determined based on the first reference compensation vector and a preset compensation upper limit.
5. The method of claim 4, wherein, The step of determining the first target compensation vector based on the first reference compensation vector and the preset compensation upper limit includes: Determine whether the first reference compensation vector exceeds the aforementioned preset compensation upper limit; If the first reference compensation vector does not exceed the preset compensation limit, then the first reference compensation vector is used as the first target compensation vector. If the first reference compensation vector exceeds the preset compensation upper limit, the first reference compensation vector is corrected according to the preset compensation upper limit, and the corrected first reference compensation vector is used as the first target compensation vector.
6. A welding control device, characterized in that, include: The sampling unit is used to sample the weld seam of the workpiece to be welded and determine the first target motion trajectory corresponding to the weld seam. The first compensation unit is used to determine the first target position on the first target motion trajectory, corresponding to the current position of the welding robot; A first deviation vector is determined based on the current position and the first target position of the welding robot; and a first target compensation vector is determined based on the first deviation vector. A control unit is used to perform motion compensation control on the welding robot according to the first target compensation vector. It also includes: a recording unit, used to acquire the actual coordinates after compensation control during the movement of the welding robot, and obtain the actual motion trajectory queue; The second compensation unit is used to, upon receiving a holding control command, fit a second target motion trajectory based on the actual motion trajectory queue to obtain a second target motion trajectory; determine a second target position on the second target motion trajectory corresponding to the current position of the welding robot; determine a second deviation vector based on the current position and the second target position of the welding robot; and determine a second target compensation vector based on the second deviation vector. The aforementioned control unit is also used to: perform motion compensation control on the welding robot according to the second target compensation vector.
7. A welding robot, characterized in that, include: The welding control device as described in claim 6 above.
8. An electronic device, comprising: include: Memory, used to store computer program products; A processor is configured to execute a computer program product stored in the memory, wherein, when the computer program product is executed, it implements the method described in any one of claims 1-5.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed, implement the method described in any one of claims 1-5.