A welding production line management method, device, equipment and medium

Abstract

The application relates to the field of welding production line management, in particular to a welding production line control method, device, equipment and medium, the method comprising: acquiring first position information corresponding to a plurality of welding points and a workable position of a mechanical arm; based on the first position information corresponding to the plurality of welding points and the workable position of the mechanical arm, determining target welding points corresponding to the mechanical arm respectively, the target welding point being a welding point located in the workable position; if the first quantity of the target welding points is not less than a preset quantity threshold, then determining a starting target welding point and an ending target welding point from all the target welding points; acquiring a movement mode of the mechanical arm, and generating a welding path based on the starting target welding point, the ending target welding point and the movement mode; and controlling the mechanical arm to weld all the target welding points according to the welding path. The application can effectively improve the welding efficiency.

Description

Technical Field

[0001] This application relates to the field of welding production line management technology, and in particular to a welding production line management method, apparatus, equipment and medium. Background Technology

[0002] Currently, with the development and progress of science and technology, welding production lines have become more intelligent, with higher welding efficiency, and are widely used in various welding fields, such as automobiles, rail transportation, and white goods industries.

[0003] When faced with a number of welding points exceeding the number of welding robotic arms, the relevant technology controls the welding robotic arms to use a turn-based welding method to allocate welding points and control the welding robotic arms to weld on the welding points in turn. That is, the next welding robotic arm must wait for the previous welding robotic arm to complete the welding before it can continue to perform the welding operation and complete the welding of the entire workpiece. However, when there are multiple welding points on the workpiece to be welded, the welding efficiency of the workpiece to be welded will be greatly reduced because each subsequent welding robotic arm must wait for the previous welding robotic arm. It can be seen that the welding efficiency of the relevant technology is low. Summary of the Invention

[0004] To improve welding efficiency, this application provides a welding production line management method, apparatus, equipment, and medium.

[0005] Firstly, this application provides a welding production line management method, which adopts the following technical solution:

[0006] A welding production line management method, comprising:

[0007] Obtain the first position information corresponding to multiple welding points and the working position of the robotic arm;

[0008] Based on the first position information corresponding to the plurality of welding points and the working position of the robotic arm, the target welding point corresponding to the robotic arm is determined, wherein the target welding point is a welding point located within the working position;

[0009] If the first number of target welding points is not less than a preset number threshold, then the welding sequence corresponding to each of the target welding points is determined.

[0010] Obtain the movement mode identifier of the robotic arm, and generate a welding path based on the welding sequence corresponding to each of the target welding points and the movement mode identifier;

[0011] The robotic arm is controlled to weld all the target welding points according to the welding path.

[0012] In a preferred embodiment, this application can be further configured such that determining the welding sequence corresponding to each of the target weld points includes:

[0013] Based on the first position information corresponding to all the target welding points, the next target welding point corresponding to each of the target welding points is determined. The next target welding point represents the target welding point with the shortest moving distance when moving from the current target welding point to the next target welding point.

[0014] Determine the initial target welding point;

[0015] Based on the initial target welding point and the next target welding point corresponding to each of the target welding points, the welding sequence corresponding to each of the target welding points is determined.

[0016] In a preferred embodiment, this application can be further configured such that determining the initial target welding point includes:

[0017] Obtain the functional attributes and workpiece identifiers of all the target welding points, wherein the workpieces corresponding to the workpiece identifiers are the workpieces where all the target welding points are located;

[0018] Based on the functional attributes of all the target welding points and the workpiece identifier, determine the weight value corresponding to each of the target welding points;

[0019] All target welding points are arranged in descending order of weight value, and the first target welding point is determined as the starting target welding point. The first target welding point is the target welding point corresponding to the maximum weight value. In a preferred embodiment, this application can be further configured such that determining the first target welding point as the starting target welding point includes:

[0020] If there are at least two first target welding points, then the second position information of the robotic arm is obtained, and the second position information represents the position of the robotic arm before welding;

[0021] Based on the first position information and the second position information corresponding to each of the first target welding points, the first distance between each of the first target welding points and the robotic arm is determined.

[0022] Based on the first distances between all the first target welding points and the robotic arm, and all the first target welding points, determine the first target welding point corresponding to the minimum first distance;

[0023] The first target welding point corresponding to the minimum first distance is determined as the starting target welding point.

[0024] In a preferred embodiment, this application can be further configured such that generating the welding path based on the welding sequence corresponding to each of the target welding points and the movement mode includes:

[0025] Based on the welding sequence corresponding to each of the target welding points, multiple target welding point groups are generated, and the target welding point group represents two target welding points with adjacent welding sequences.

[0026] Based on the plurality of target welding point groups and all the movement mode identifiers, generate several movement mode groups corresponding to each of the plurality of target welding point groups, wherein the movement mode group includes several movement mode identifiers.

[0027] Obtain the movement speed corresponding to the movement mode identifier and the second distance corresponding to each of the plurality of target welding point groups;

[0028] Based on the movement speed and the second distance corresponding to each of the movement modes, the movement duration corresponding to each of the movement mode groups is determined;

[0029] For each of the target welding point groups, a target movement mode group is determined based on the movement time corresponding to each of the movement mode groups. The target movement mode group is the movement mode group corresponding to the shortest movement time.

[0030] The welding path is generated based on all the target welding point groups and their corresponding target movement mode groups.

[0031] In a preferred embodiment, this application may be further configured such that, after determining the target welding point corresponding to each of the robotic arms based on the first position information corresponding to the plurality of welding points and the workable position of the robotic arm, the application further includes: determining whether there is a duplicate target welding point based on the target welding points corresponding to all the robotic arms, wherein the position of the duplicate target welding point is located at the intersection of the workable positions of the two robotic arms.

[0032] If there are duplicate target welding points, then obtain the second number of target welding points of the first robotic arm and the third number of target welding points of the second robotic arm, wherein the two robotic arms include the first robotic arm and the second robotic arm;

[0033] Determine whether the second quantity is greater than the third quantity;

[0034] If the second quantity is greater than the third quantity, then the repeated target welding point is determined as the target welding point of the second robotic arm;

[0035] If the second quantity is less than the third quantity, then the repeated target welding point is determined as the target welding point of the first robotic arm.

[0036] Secondly, this application provides a welding production line management device, which adopts the following technical solution:

[0037] A welding production line management device, comprising:

[0038] The acquisition module is used to acquire the first position information corresponding to multiple welding points and the working position of the robotic arm;

[0039] The target welding point determination module is used to determine the target welding point corresponding to the robotic arm based on the first position information corresponding to the plurality of welding points and the working position of the robotic arm. The target welding point is a welding point located within the working position.

[0040] The welding sequence determination module is used to determine the welding sequence corresponding to each of the target welding points if the first number of the target welding points is not less than a preset number threshold.

[0041] The welding path generation module is used to obtain the movement mode identifier of the robotic arm and generate a welding path based on the welding sequence corresponding to each of the target welding points and the movement mode identifier.

[0042] The control module is used to control the robotic arm to weld all the target welding points according to the welding path.

[0043] In a preferred embodiment, this application can be further configured such that, when the welding sequence determination module performs the task of determining the welding sequence corresponding to each of the target welding points, it is used to:

[0044] Based on the first position information corresponding to all the target welding points, the next target welding point corresponding to each of the target welding points is determined. The next target welding point represents the target welding point with the shortest moving distance when moving from the current target welding point to the next target welding point.

[0045] Determine the initial target welding point;

[0046] Based on the initial target welding point and the next target welding point corresponding to each of the target welding points, the welding sequence corresponding to each of the target welding points is determined.

[0047] Thirdly, this application provides an electronic device that adopts the following technical solution:

[0048] At least one processor;

[0049] Memory;

[0050] At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: execute the welding production line management method as described in any of the first aspects.

[0051] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0052] A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the welding production line management method as described in any of the first aspects.

[0053] In summary, this application includes the following beneficial technical effects:

[0054] The method acquires the positions corresponding to multiple welding points and the working positions of the robotic arm, and determines the target welding points based on these positions. When the first number of target welding points is not less than a preset threshold, it indicates that the robotic arm needs to repeatedly move between the target welding points for welding. Therefore, it is necessary to determine the welding sequence corresponding to each target welding point. Then, the movement mode identifier of the robotic arm is acquired, and a welding path is generated based on the movement mode identifier and the welding sequence. The movement path of the robotic arm is different under different movement modes, and the movement time is also different. By generating a welding path, it can be ensured that the robotic arm moves in the shortest possible time. Then, the robotic arm is controlled to weld all target welding points according to the welding path, which effectively improves the welding efficiency. Compared with the welding method of alternating welding in related technologies, this application welds according to the optimal path, that is, according to the welding path with the shortest movement time, while ensuring that the robotic arm does not have welding collisions. This achieves the technical effect of improving welding efficiency and solves the technical problem of low welding efficiency in related technologies. Attached Figure Description

[0055] Figure 1 This is a flowchart illustrating a welding production line management method provided in an embodiment of this application.

[0056] Figure 2 This is a schematic diagram of a movement mode provided in an embodiment of this application.

[0057] Figure 3 This is a schematic diagram of a welding production line management device provided in an embodiment of this application.

[0058] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0059] The following is in conjunction with the appendix Figure 1 To be continued Figure 4 This application will be described in further detail.

[0060] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of this application.

[0061] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application are described clearly and completely. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0062] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0063] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0064] This application provides a welding production line management method executed by an electronic device, which can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, laptop, desktop computer, etc., but is not limited to these. The terminal device and the server can be directly or indirectly connected via wired or wireless communication. This application does not impose any limitations on this. Figure 1 As shown, the method includes steps S101, S102, S103, S104, and S105, wherein:

[0065] Step S101: Obtain the first position information corresponding to multiple welding points and the working position of the robotic arm.

[0066] Specifically, upon receiving an acquisition request, an acquisition operation can be executed. Specifically, a monitoring program is pre-integrated into the electronic device to monitor the acquisition request behavior. Once the acquisition request is detected, the first position information of multiple welding points and the working position of the robotic arm are acquired. In one possible implementation, after the user confirms the detection, an acquisition command is automatically generated. Confirmation of acquisition can be achieved by the user clicking the acquisition button on the application or by the user confirming the acquisition via voice. In another possible implementation, an image acquisition device pre-installed on the robotic arm can detect the image and send it to the electronic device. After confirmation, the electronic device acquires the first position information and the working position.

[0067] It is understood that different welding points correspond to different first position information, and both the first position information and the workable position of the robotic arm are pre-input by technicians and can be obtained from a position information database. In this embodiment, the first position information is the three-dimensional coordinates of the welding point, and the workable position of the robotic arm is a set of coordinates of multiple three-dimensional coordinates corresponding to the positions that the robotic arm can reach. Furthermore, the first position information and the workable position are coordinates in the same coordinate system. This embodiment does not limit the construction of the coordinates; users can set them themselves. The number of robotic arms is multiple.

[0068] Step S102: Based on the first position information corresponding to multiple welding points and the working position of the robotic arm, determine the target welding point corresponding to the robotic arm. The target welding point is the welding point located within the working position.

[0069] Specifically, the welding points corresponding to each robotic arm can be determined through position matching. This can include: acquiring a first identifier of the welding point and a second identifier of the robotic arm; matching the first identifier with the second identifier to determine the initial welding point that matches the first identifier of the robotic arm; when there are at least two robotic arms with the same identifier, matching the first position information of the initial welding point with the working position of each robotic arm to determine the target welding point corresponding to the robotic arm. The first identifier of the welding point can represent the direction of the welding point on the welding production line, such as being located on the left or right side of the welding production line, and the second identifier of the robotic arm represents the direction of the robotic arm on the welding production line, such as being located on the left or right side of the welding production line. It is understood that welding production lines generally have multiple robotic arms. When there are at least two robotic arms in a certain direction of the welding production line, the first position information and the working position are matched to determine the target welding point of each robotic arm. Compared to directly matching the first position information of the welding point with the corresponding working positions of all robotic arms, this application narrows the screening range through initial screening and then directly performs screening on this basis, which effectively reduces the amount of data calculation and improves the accuracy of determining the target welding point.

[0070] Step S103: If the first number of target welding points is not less than the preset number threshold, then determine the welding sequence corresponding to each of the target welding points.

[0071] Specifically, in this embodiment, the preset quantity threshold is 4. This means that when the first number of target welding points is less than the preset quantity threshold (i.e., when a robotic arm needs to weld three target welding points, the robotic arm has only three welding paths), and when the robotic arm needs to weld two or one target welding point, the robotic arm has only one welding path. There are no multiple complex welding paths, so welding can be performed directly. However, when the first number of target welding points is not less than the preset quantity threshold, it indicates that the robotic arm has multiple complex welding paths. Determining the welding sequence of the target welding points allows for the initial determination of the robotic arm's welding path. Further determination of the welding mode when a welding start point is available simplifies the determination of the welding path and improves efficiency. The determination of the welding sequence corresponding to each target welding point can be referred to in the following embodiments.

[0072] Step S104: Obtain the movement mode identifier of the robotic arm, and generate the welding path based on the welding sequence and movement mode identifier corresponding to each of the target welding points.

[0073] Specifically, the movement mode identifiers of the robotic arms are pre-stored in the robotic arm database, and each robotic arm has the same movement mode. In this embodiment, the movement modes of the robotic arms include at least translation, flipping, or extension / retraction. The specific method for generating the welding path based on the welding sequence and movement mode identifiers corresponding to each of the target welding points can be referred to in the following embodiments.

[0074] Step S105: Control the robotic arm to weld all target welding points according to the welding path.

[0075] The electronic device generates control commands based on the welding path, target welding points, and the robotic arm corresponding to the target welding points, in order to control the robotic arm to perform welding operations on all target welding points according to the welding path.

[0076] In this embodiment, the positions corresponding to multiple welding points and the working positions of the robotic arm are obtained, and the target welding points are determined based on the positions corresponding to the multiple welding points and the working positions of the robotic arm. When the first number of target welding points is not less than a preset number threshold, it indicates that the robotic arm needs to repeatedly move between the target welding points to perform welding. Therefore, it is necessary to determine the welding sequence corresponding to each of the target welding points. Then, the movement mode identifier of the robotic arm is obtained, and a welding path is generated based on the movement mode identifier and the welding sequence. The movement path of the robotic arm is different under different movement modes, and the movement time is also different. By generating a welding path, it can be ensured that the robotic arm moves in the shortest time. Then, the robotic arm is controlled to weld all target welding points according to the welding path, which effectively improves the welding efficiency. Compared with the welding method of alternating welding in related technologies, this application welds according to the optimal path, that is, according to the welding path with the shortest movement time, while ensuring that the robotic arm does not have welding collisions. This achieves the technical effect of improving welding efficiency and solves the technical problem of low welding efficiency in related technologies.

[0077] One possible implementation of this application embodiment is that step S102, which determines the welding sequence corresponding to each of the target welding points, may specifically include:

[0078] Based on the first position information corresponding to all target welding points, determine the next target welding point corresponding to each of the target welding points. The next target welding point represents the target welding point with the shortest moving distance when moving from the current target welding point to the next target welding point.

[0079] Determine the initial target welding point;

[0080] Based on the initial target welding point and the next target welding point corresponding to each of the target welding points, determine the welding sequence corresponding to each of the target welding points.

[0081] Specifically, the next target welding point can be determined by distance filtering. This can include: calculating the distance between each pair of target welding points using a distance calculation formula. For example, if all target welding points include A, B, C, and D, the distances between A and B, A and C, and A and D can be calculated based on the first position information. The target welding point with the shortest distance to A is selected from these distances and designated as the next target welding point for A. The distances between B and C, and B and D are calculated. The target welding point with the shortest distance to B is selected from these distances and designated as the next target welding point for B. The method for determining the initial target welding point can be described in the following embodiment. The initial target welding point is determined as the first welding sequence, and the next target welding point corresponding to the initial target welding point is determined as the second welding sequence. The welding sequence corresponding to each target welding point is determined sequentially according to the above method to achieve orderly welding by the robotic arm.

[0082] In this embodiment of the application, the next target welding point is determined based on the first position information corresponding to all target welding points, so as to effectively shorten the distance from the current target welding point to the next target welding point; then the starting target welding point is determined, and welding is performed sequentially according to the starting target welding point and the next target welding point corresponding to each of the target welding points, so as to effectively improve the accuracy of the welding sequence.

[0083] One possible implementation of this application embodiment involves determining the starting target welding point from all target welding points, which may specifically include:

[0084] Obtain the functional attributes and workpiece identifiers of all target welding points. The workpieces corresponding to the workpiece identifiers are the workpieces where all target welding points are located.

[0085] Based on the functional attributes and workpiece identification of all target welding points, determine the weight value corresponding to each target welding point;

[0086] All target welding points are arranged in descending order of weight value, and the first target welding point is determined as the starting target welding point. The first target welding point represents the target welding point corresponding to the maximum weight value.

[0087] Specifically, the functional attributes and workpiece identifiers of the target welding points are pre-stored in the workpiece data. The functional attributes of the target welding points characterize their role in the workpiece, which can be: connection, force and torque transmission, sealing, or aesthetics. Further, the weight values ​​corresponding to each target welding point can be determined according to a preset correspondence between functional attributes and weight values. This preset correspondence is pre-set by technicians based on their work experience and changes with the workpiece identifier. In this embodiment, the weight values ​​may include a first weight value and a second weight value. It is understood that target welding points with different functional attributes have different meanings for the workpiece in different workpieces. For example, when the workpiece's function is support, and the functional attribute of target welding point A is force and torque transmission, while the functional attribute of target welding point B is aesthetics, then according to the preset correspondence between functional attributes and weight values ​​corresponding to the workpiece, the weight value of target welding point A can be determined as the first weight value, and the weight value of target welding point B as the second weight value. Arranging them in descending order of weight values ​​can significantly highlight target welding points with larger weight values. Furthermore, the target welding point corresponding to the maximum weight value, i.e. the target welding point corresponding to the first weight value, is determined as the starting target welding point, so as to prioritize welding the target welding point that plays an important role.

[0088] Furthermore, the target welding point corresponding to the minimum weight value, i.e., the target welding point corresponding to the second weight value, can be determined as the ending welding point. Welding the starting target welding point is prioritized. It is understood that welding deformation will occur during the welding process due to the thermal expansion and contraction of the material. Prioritizing welding the starting target welding point can effectively avoid the problem of repeatedly welding the starting target welding point due to welding deformation and stress, thus effectively improving welding efficiency. Further, when the number of target welding points corresponding to the maximum weight value is at least two, or the number of target welding points corresponding to the minimum weight value is at least two, it is necessary to determine a unique target welding point corresponding to either the maximum weight value or the minimum weight value. The specific determination method can be found in the following embodiments.

[0089] In this embodiment, different target welding points have different functional attributes, and the role of target welding points with different functional attributes also varies with the change of workpiece identification. The weight values ​​of all target welding points can be determined based on the functional attributes of the target welding points and the workpiece identification to accurately identify the target welding points that play an important role in the workpiece. Then, the target welding point corresponding to the maximum weight value is determined as the starting target welding point to highlight the target welding points that play an important role and to prioritize welding the starting target welding point. Considering the functional attributes of the target welding points, the accuracy of the starting target welding point and the ending target welding point is effectively improved.

[0090] One possible implementation of this application embodiment, where step S103 determines the first target welding point as the starting target welding point, may specifically include:

[0091] If there are at least two first target welding points, then the second position information of the robotic arm is obtained, which represents the position of the robotic arm before welding.

[0092] Based on the first position information and second position information corresponding to each of the first target welding points, determine the first distance between each of the first target welding points and the robotic arm;

[0093] Based on the first distances between all first target welding points and the robotic arm, and all first target welding points, determine the first target welding point corresponding to the minimum first distance;

[0094] The first target welding point corresponding to the minimum first distance is determined as the starting target welding point.

[0095] Specifically, the second position information of the robotic arm can be obtained from a preset position information database. This means that during the actual welding process, the robotic arm will return to a fixed position after welding, i.e., the second position information. This second position information can be in three-dimensional coordinates, and it resides in the same coordinate system as the first position information. The first distances between all the first target welding points and the robotic arm can be calculated using the position information calculation formula: Where (x1, y1, z1) are the three-dimensional coordinates corresponding to the first position information, (x2, y2, z2) are the three-dimensional coordinates corresponding to the second information, and l is the first distance between the first target welding point and the robotic arm. All distances between the first target welding points and the robotic arm are arranged in ascending order. The first distance between the first target welding point and the robotic arm with the smallest first distance is determined, and the first target welding point with the smallest first distance is determined as the starting target welding point. Using the closer target welding point as the starting welding point can effectively reduce the movement distance and movement time of the robotic arm, thereby improving welding efficiency.

[0096] In this embodiment of the application, when the number of first target welding points is at least two, the second position information of the robotic arm is obtained, and then the first distance between the first position information and the second position information of the first target welding point is calculated to filter out the first target welding point that is closest to the first distance of the robotic arm. Taking the first target welding point that is closest to the first distance of the robotic arm as the starting target welding point can effectively reduce the moving distance and moving time of the robotic arm, and improve welding efficiency while obtaining an accurate starting target welding point.

[0097] One possible implementation of the application embodiment involves generating a welding path based on the welding sequence and movement mode identifier corresponding to each of the target welding points, including:

[0098] Based on the welding sequence corresponding to each of the target welding points, multiple target welding point groups are generated. Each target welding point group represents two target welding points with adjacent welding sequences.

[0099] Based on multiple target welding point groups and all movement mode identifiers, generate several movement mode groups corresponding to each of the multiple target welding point groups. Each movement mode group includes several movement mode identifiers.

[0100] Obtain the movement speed corresponding to the movement mode identifier and the second distance corresponding to each of the multiple target welding point groups;

[0101] Based on the movement speed and second distance corresponding to each movement mode identifier, determine the movement duration corresponding to each movement mode group.

[0102] For each target welding point group, the target movement mode group is determined based on the movement time corresponding to each of the movement mode groups. The target movement mode group is the movement mode group corresponding to the shortest movement time.

[0103] A welding path is generated based on all target welding point groups and their corresponding target movement mode groups.

[0104] Specifically, target welding point groups are generated based on the target welding points corresponding to two adjacent welding sequences. For example, if there are four target welding points with welding sequences of 4, 5, 6, and 7, then welding sequences 4 and 5 can generate one target welding point group, welding sequences 5 and 6 can generate another, and welding sequences 6 and 7 can generate yet another. The movement mode group includes at least one movement mode identifier. For example, the movement mode group corresponding to the target welding point group with welding sequences 4 and 5 includes five movement mode groups: first movement mode group: translation; second movement mode group: flip; third movement mode group: translation and telescoping; fourth movement mode group: translation and flipping; fifth movement mode group: flipping and telescoping. The movement speed corresponding to the movement mode identifier is pre-input into the electronic device by a relevant technician. When the movement mode identifier is translation or telescoping, the movement speed is determined based on the movement time per unit distance. When the movement mode identifier is rotation, the movement speed is determined based on the movement time per unit angle. This application embodiment does not limit the unit distance or unit angle. The second distance is obtained based on the position information of each target welding point in the target welding point group. When the movement mode group is a single movement mode, the movement duration is determined based on the movement speed and second distance corresponding to the single movement mode. When the movement mode group includes at least two movement modes, the movement duration corresponding to each movement mode is obtained based on the first distance and the corresponding movement speed of each movement mode, and the total movement duration is calculated and determined as the movement duration corresponding to the movement mode group. (See also...) Figure 2 , Figure 2 This is a schematic diagram of a movement mode provided in an embodiment of this application. Dashed line A represents two movement modes corresponding to the movement from target welding point a to target welding point b, which can be translation followed by extension; solid line B represents two movement modes corresponding to the movement from target welding point a to target welding point b, which can be translation. The movement time corresponding to each of all movement mode groups is compared, and the shortest movement time is selected as the target movement mode group, and a welding path is generated. Accordingly, when controlling the robotic arm to perform welding, the robotic arm welds the target welding point group sequentially according to the welding order, and moves according to the movement mode corresponding to the target movement mode group.

[0105] In this embodiment, target welding point groups are generated according to the welding sequence to reduce the number of welding paths by reducing the number of target welding points. Then, corresponding movement mode groups are generated according to the movement mode identifier and multiple target welding point groups. The movement speed corresponding to the movement mode identifier and the second distance corresponding to the target welding resistance are obtained, and the movement time corresponding to each of the movement mode groups is determined to determine the movement time under different movement mode groups. Then, the movement mode group corresponding to the shortest movement time is selected from the corresponding movement time, so that the robotic arm can move from the previous target welding point group to the next target welding point group in the shortest movement time. Finally, welding paths are generated according to all target welding point groups and their corresponding target movement mode groups to effectively shorten the movement time of the robotic arm.

[0106] One possible implementation of this application embodiment is that step S102 generates a welding path based on the welding sequence and movement mode identifier corresponding to each of the target welding points, which may specifically include:

[0107] Based on the target welding points corresponding to each of the robotic arms, determine whether there are duplicate target welding points. The location of the duplicate target welding points is the intersection of the workable positions of the two robotic arms.

[0108] If there are duplicate target welding points, then obtain the second number of target welding points of the first robotic arm and the third number of target welding points of the second robotic arm. The two robotic arms include the first robotic arm and the second robotic arm.

[0109] Determine whether the second quantity is greater than the third quantity;

[0110] If the second quantity is greater than the third quantity, then the repeated target welding point will be determined as the target welding point of the second robotic arm;

[0111] If the second quantity is less than the third quantity, then the repeated target welding point is determined as the target welding point of the first robotic arm.

[0112] Specifically, the presence of duplicate target welding points can be determined based on the identifiers of the target welding points. This involves acquiring the identifiers corresponding to all welding points on the workpiece and the identifiers of all target welding points corresponding to each robotic arm, and determining if duplicate identifiers exist. If duplicate identifiers exist, duplicate target welding points are confirmed; otherwise, they are not. It is understood that when different robotic arms need to weld the same target welding point, collisions may occur. Determining the presence of duplicate target welding points effectively reduces the probability of collisions. If duplicate target welding points exist, a second and third quantity are obtained, and it is determined whether the second quantity is greater than the third quantity. The target welding points are then assigned to robotic arms with fewer target welding points. When the second quantity is greater than the third quantity, it indicates that the first robotic arm needs to weld more target welding points than the second robotic arm. In this case, the second robotic arm can perform the welding of the duplicate target welding points, avoiding the problem of a longer overall welding time for the workpiece due to the large number of target welding points on the first robotic arm. If the second quantity is less than the third quantity, the first robotic arm performs the welding of the duplicate target welding points. Furthermore, if the second quantity equals the third quantity, then the welding path of the first robotic arm and the welding path of the second robotic arm are generated according to the repeated target welding points, respectively. It is determined whether the path duration of the welding path of the first robotic arm is less than the path duration of the welding path of the second robotic arm. If so, the first robotic arm performs the welding of the repeated target welding point; otherwise, the second robotic arm performs the welding of the repeated target welding point.

[0113] In this embodiment of the application, it is determined whether there are duplicate target welding points based on the target welding points corresponding to each of the robotic arms, so as to reduce the probability of collision problems caused by different robotic arms welding duplicate target welding points; when there are duplicate target welding points, the second number of target welding points of the first robotic arm and the third number of target welding points of the second robotic arm are obtained and judged so that the robotic arm with fewer target welding points performs welding of duplicate target welding points, so as to avoid the overall welding time of the workpiece increasing due to too many target welding points of a certain robotic arm, thereby effectively improving the welding efficiency.

[0114] The above embodiments describe a welding production line management method from the perspective of process flow. The following embodiments describe a welding production line management device from the perspective of virtual modules or virtual units. For details, please refer to the following embodiments.

[0115] This application provides a welding production line management device, such as... Figure 3 As shown, the welding production line management device may specifically include:

[0116] The acquisition module 210 is used to acquire the first position information corresponding to multiple welding points and the working position of the robotic arm;

[0117] The target welding point determination module 202 is used to determine the target welding point corresponding to the robotic arm based on the first position information corresponding to multiple welding points and the working position of the robotic arm. The target welding point is the welding point located within the working position.

[0118] The welding sequence determination module 203 is used to determine the welding sequence corresponding to each of the target welding points if the first number of target welding points is not less than a preset number threshold.

[0119] The welding path generation module 204 is used to obtain the movement mode identifier of the robotic arm and generate a welding path based on the welding sequence and movement mode identifier corresponding to each of the target welding points.

[0120] The control module 205 is used to control the robotic arm to weld all target welding points according to the welding path.

[0121] In one possible implementation of this application embodiment, the welding sequence determination module 203, when determining the welding sequence corresponding to each of all target welding points, is specifically used for:

[0122] Based on the first position information corresponding to all target welding points, determine the next target welding point corresponding to each of the target welding points. The next target welding point represents the target welding point with the shortest moving distance when moving from the current target welding point to the next target welding point.

[0123] Determine the initial target welding point;

[0124] Based on the initial target welding point and the next target welding point corresponding to each of the target welding points, determine the welding sequence corresponding to each of the target welding points.

[0125] In one possible implementation of this application embodiment, the welding sequence determination module 203, when determining the starting target welding point, is specifically used for:

[0126] Obtain the functional attributes and workpiece identifiers of all target welding points. The workpieces corresponding to the workpiece identifiers are the workpieces where all target welding points are located.

[0127] Based on the functional attributes and workpiece identification of all target welding points, determine the weight value corresponding to each target welding point;

[0128] Arrange all target welding points in descending order of their weight values, and determine the first target welding point as the starting target welding point. The first target welding point is the target welding point corresponding to the maximum weight value.

[0129] In one possible implementation of this application embodiment, when the welding sequence determination module 203 determines the first target welding point as the starting target welding point, it is specifically used for:

[0130] If there are at least two first target welding points, then the second position information of the robotic arm is obtained, which represents the position of the robotic arm before welding.

[0131] Based on the first position information and second position information corresponding to each of the first target welding points, determine the first distance between each of the first target welding points and the robotic arm;

[0132] Based on the first distances between all first target welding points and the robotic arm, and all first target welding points, determine the first target welding point corresponding to the minimum first distance;

[0133] The first target welding point corresponding to the minimum first distance is determined as the starting target welding point.

[0134] In one possible implementation of this application embodiment, when the welding path generation module 204 generates a welding path based on the welding sequence and movement mode identifiers corresponding to each of the target welding points, it is specifically used for:

[0135] Based on the welding sequence corresponding to each of the target welding points, multiple target welding point groups are generated. Each target welding point group represents two target welding points with adjacent welding sequences.

[0136] Based on multiple target welding point groups and all movement mode identifiers, generate several movement mode groups corresponding to each of the multiple target welding point groups. Each movement mode group includes several movement mode identifiers.

[0137] Obtain the movement speed corresponding to the movement mode identifier and the second distance corresponding to each of the multiple target welding point groups;

[0138] Based on the movement speed and second distance corresponding to each movement mode identifier, determine the movement duration corresponding to each movement mode group.

[0139] For each target welding point group, the target movement mode group is determined based on the movement time corresponding to each of the movement mode groups. The target movement mode group is the movement mode group corresponding to the shortest movement time.

[0140] A welding path is generated based on all target welding point groups and their corresponding target movement mode groups.

[0141] One possible implementation of this application embodiment, the welding production line management device, further includes:

[0142] The judgment module is used for:

[0143] If there are duplicate target welding points, then obtain the second number of target welding points of the first robotic arm and the third number of target welding points of the second robotic arm. The two robotic arms include the first robotic arm and the second robotic arm.

[0144] Determine whether the second quantity is greater than the third quantity;

[0145] If the second quantity is greater than the third quantity, then the repeated target welding point will be determined as the target welding point of the second robotic arm;

[0146] If the second quantity is less than the third quantity, then the repeated target welding point is determined as the target welding point of the first robotic arm.

[0147] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the welding production line management device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0148] This application provides an electronic device, such as... Figure 4 As shown, Figure 4 The illustrated electronic device includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device may also include a transceiver 304. It should be noted that in practical applications, the transceiver 304 is not limited to one type, and the structure of this electronic device does not constitute a limitation on the embodiments of this application.

[0149] Processor 301 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0150] Bus 302 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 302 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0151] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0152] The memory 303 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the foregoing method embodiments.

[0153] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 4 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0154] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0155] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0156] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for managing a welding production line, characterized in that, include: Obtain the first position information corresponding to multiple welding points and the working position of the robotic arm; Based on the first position information corresponding to the plurality of welding points and the working position of the robotic arm, the target welding point corresponding to the robotic arm is determined, wherein the target welding point is a welding point located within the working position; If the first number of target welding points is not less than a preset number threshold, then the welding sequence corresponding to each of the target welding points is determined. Determining the welding sequence corresponding to each of the target welding points includes: Based on the first position information corresponding to all the target welding points, the next target welding point corresponding to each of the target welding points is determined. The next target welding point represents the target welding point with the shortest moving distance when moving from the current target welding point to the next target welding point. Determine the initial target welding point; Based on the initial target welding point and the next target welding point corresponding to each of the target welding points, determine the welding sequence corresponding to each of the target welding points; Obtain the movement mode identifier of the robotic arm, and generate a welding path based on the welding sequence corresponding to each of the target welding points and the movement mode identifier; The robotic arm is controlled to weld all the target welding points according to the welding path.

2. The welding production line management method according to claim 1, characterized in that, The determination of the initial target welding point includes: Obtain the functional attributes and workpiece identifiers of all the target welding points, wherein the workpieces corresponding to the workpiece identifiers are the workpieces where all the target welding points are located; Based on the functional attributes of all the target welding points and the workpiece identifier, determine the weight value corresponding to each of the target welding points; All the target welding points are arranged in descending order of their weight values, and the first target welding point is determined as the starting target welding point, which is the target welding point corresponding to the maximum weight value.

3. The welding production line management method according to claim 2, characterized in that, The step of determining the first target welding point as the starting target welding point includes: If there are at least two first target welding points, then the second position information of the robotic arm is obtained, and the second position information represents the position of the robotic arm before welding; Based on the first position information and the second position information corresponding to each of the first target welding points, the first distance between each of the first target welding points and the robotic arm is determined. Based on the first distances between all the first target welding points and the robotic arm, and all the first target welding points, determine the first target welding point corresponding to the minimum first distance; The first target welding point corresponding to the minimum first distance is determined as the starting target welding point.

4. The welding production line management method according to any one of claims 1-3, characterized in that, The step of generating a welding path based on the welding sequence corresponding to each of the target welding points and the movement mode identifier includes: Based on the welding sequence corresponding to each of the target welding points, multiple target welding point groups are generated, and the target welding point group represents two target welding points with adjacent welding sequences. Based on the plurality of target welding point groups and all the movement mode identifiers, generate several movement mode groups corresponding to each of the plurality of target welding point groups, wherein the movement mode group includes several movement mode identifiers. Obtain the movement speed corresponding to the movement mode identifier and the second distance corresponding to each of the plurality of target welding point groups; Based on the movement speed and the second distance corresponding to each of the movement mode identifiers, the movement duration corresponding to each of the movement mode groups is determined. For each of the target welding point groups, a target movement mode group is determined based on the movement time corresponding to each of the movement mode groups. The target movement mode group is the movement mode group corresponding to the shortest movement time. The welding path is generated based on all the target welding point groups and their corresponding target movement mode groups.

5. The welding production line management method according to claim 1, characterized in that, After determining the target welding point corresponding to each of the robotic arms based on the first position information corresponding to the plurality of welding points and the workable position of the robotic arm, the method further includes: Based on the target welding points corresponding to each of the robotic arms, it is determined whether there are duplicate target welding points, and the position of the duplicate target welding points is located at the intersection of the workable positions of the two robotic arms. If there are duplicate target welding points, then obtain the second number of target welding points of the first robotic arm and the third number of target welding points of the second robotic arm, wherein the two robotic arms include the first robotic arm and the second robotic arm; Determine whether the second quantity is greater than the third quantity; If the second quantity is greater than the third quantity, then the repeated target welding point is determined as the target welding point of the second robotic arm; If the second quantity is less than the third quantity, then the repeated target welding point is determined as the target welding point of the first robotic arm.

6. A welding production line management device, characterized in that, include: The acquisition module is used to acquire the first position information corresponding to multiple welding points and the working position of the robotic arm; The target welding point determination module is used to determine the target welding point corresponding to the robotic arm based on the first position information corresponding to the plurality of welding points and the working position of the robotic arm. The target welding point is a welding point located within the working position. The welding sequence determination module is used to determine the welding sequence corresponding to each of the target welding points if the first number of the target welding points is not less than a preset number threshold. When determining the welding sequence, the welding sequence determination module is used to: Based on the first position information corresponding to all the target welding points, the next target welding point corresponding to each of the target welding points is determined. The next target welding point represents the target welding point with the shortest moving distance when moving from the current target welding point to the next target welding point. Determine the initial target welding point; Based on the initial target welding point and the next target welding point corresponding to each of the target welding points, determine the welding sequence corresponding to each of the target welding points; The welding path generation module is used to obtain the movement mode identifier of the robotic arm and generate a welding path based on the welding sequence corresponding to each of the target welding points and the movement mode identifier. The control module is used to control the robotic arm to weld all the target welding points according to the welding path.

7. An electronic device, characterized in that, include: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, said at least one application being configured to: perform the welding production line management method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed in a computer, causes the computer to perform the welding production line management method according to any one of claims 1 to 5.

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