Automatic welding control method and apparatus

Abstract

The application provides an automatic welding control method and device. An upper computer can generate a first sensing control instruction containing initial coordinate information. A welding robot can detect the specified positions of each workpiece to be welded according to the initial coordinate information in the first sensing control instruction, obtain the corresponding actual coordinate information and upload the upper computer. The upper computer generates a welding control instruction based on the sensing parameters and the actual coordinate information of the specified positions of each workpiece to be welded, to instruct the welding robot to perform a welding operation on the workpiece to be welded. When the welding robot cannot detect the specified positions according to the first sensing control instruction, the upper computer can also be notified to generate a second sensing control instruction containing a preset detection step, to further detect according to the second control instruction until each specified position is detected. In this way, targeted automatic welding can be realized according to the actual position information corresponding to workpieces of different specifications, and the operation is more flexible.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to an automatic welding control method and apparatus. Background Technology

[0002] Currently, automated welding typically uses a robot teach-and-playback method to control the welding process. This method is suitable for workpieces with fixed specifications, large batches, and repeatable welding capabilities. However, for workpieces with small batches, low precision, and variable specifications, especially when welding multiple workpieces uniformly but with some requiring different welding methods, the teach-and-playback approach is insufficient for targeted automated welding. Summary of the Invention

[0003] To achieve automated welding of different types of workpieces, this application provides an automatic welding control method, apparatus, equipment, and storage medium.

[0004] In a first aspect, embodiments of this application provide an automatic welding control method applicable to welding robots, comprising: receiving a first sensing control instruction issued by a host computer, the first sensing control instruction including initial coordinate information indicating a specified position on each workpiece to be welded; detecting the specified position on each workpiece to be welded according to the initial coordinate information; if the specified position on the first workpiece cannot be detected, notifying the host computer to generate a second sensing control instruction, wherein the first workpiece is any one of the workpieces to be welded; receiving the second sensing control instruction issued by the host computer, the second sensing control instruction including a preset detection step size, used to instruct to continue detecting the specified position on the first workpiece according to the preset detection step size; continuing to detect the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size; if detected, determining the actual coordinate information of the specified position on the first workpiece; and uploading the actual coordinate information to the host computer so that the host computer can generate welding control instructions based on the actual coordinate information.

[0005] In one possible implementation, receiving a first sensing control command issued by a host computer includes: calibrating the coordinate information of the center point of each workpiece to be welded in the robot coordinate system and uploading the calibrated coordinate information to the host computer; receiving the first sensing control command issued by the host computer, wherein the first sensing control command is generated based on the calibrated coordinate information of each workpiece to be welded and pre-set sensing parameters, wherein the sensing parameters include specification parameters, and the specification parameters are used to determine the initial coordinate information of a specified position of each workpiece to be welded.

[0006] In one possible implementation, when a specified position on the first workpiece is detected based on the initial coordinate information, the method further includes: uploading the initial coordinate information of the specified position on the first workpiece as actual coordinate information to the host computer, so that the host computer can generate welding control instructions based on the actual coordinate information.

[0007] In one possible implementation, the host computer is notified to generate a second sensing control command, including:

[0008] A notification message is sent to the host computer, informing it that the specified position on the first workpiece has not been detected, so that the host computer can generate a second sensing control command based on the initial coordinate information of the specified position on the first workpiece.

[0009] In one possible implementation, the method further includes: receiving welding control instructions issued by the host computer, the welding control instructions including welding trajectory information corresponding to each workpiece to be welded; and performing welding operations on each workpiece to be welded according to the welding trajectory information corresponding to each workpiece to be welded.

[0010] Secondly, embodiments of this application provide another automatic welding control method, applicable to control equipment, comprising: receiving coordinate information uploaded by a welding robot, the coordinate information being obtained by performing a calibration operation on the center point of each workpiece to be welded; acquiring pre-set sensing parameters for each workpiece to be welded, the sensing parameters including specification parameters and a preset detection step size; determining initial coordinate information of a specified position of each workpiece to be welded based on the coordinate information of the center point of each workpiece to be welded and the corresponding specification parameters; generating a first sensing control instruction based on the initial coordinate information, the first sensing control instruction being used to instruct the detection of the corresponding specified position according to the initial coordinate information; upon receiving a notification message from the welding robot, determining, based on the notification message, that a first workpiece at the specified position needs to continue detection; generating a second sensing control instruction based on the initial coordinate information of the specified position on the first workpiece and the preset detection step size, the second sensing control instruction being used to instruct the continued detection of the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size.

[0011] In one feasible approach, the initial coordinate information of a specified position of each workpiece to be welded is determined based on the coordinate information of the center point of each workpiece and the corresponding specification parameters. This includes: determining the length, width, and height information of each workpiece to be welded based on the specification parameters set for each workpiece; determining the vertex position of each workpiece to be welded as the specified position based on the length, width, and height information; determining the coordinate value components of the center point coordinate information of each workpiece to be welded on each coordinate axis in the robot coordinate system; and determining the initial coordinate information of the specified position of each workpiece to be welded based on the length, width, and height information of each workpiece to be welded, as well as the coordinate value components of the corresponding center point coordinate information on each coordinate axis.

[0012] In one possible implementation, the method further includes: receiving actual coordinate information uploaded by the welding robot, wherein the actual coordinate information is the coordinate information of a specified position on each workpiece to be welded; determining welding trajectory information corresponding to each workpiece to be welded based on the actual coordinate information; and generating welding control instructions based on the welding trajectory information, wherein the welding control instructions are used to instruct welding operations to be performed on each workpiece to be welded according to the corresponding welding trajectory information.

[0013] Thirdly, embodiments of this application provide an automatic welding control device, comprising: a first receiving module, configured to receive a first sensing control command issued by a host computer, the first sensing control command including initial coordinate information of a specified position on each workpiece to be welded; a first detection module, configured to detect the specified position on each workpiece to be welded according to the initial coordinate information; a notification module, configured to notify the host computer to generate a second sensing control command when the first detection module fails to detect the specified position on the first workpiece, wherein the first workpiece is any one of the workpieces to be welded; a second receiving module, configured to receive the second sensing control command issued by the host computer, the second sensing control command including a preset detection step size, configured to instruct to continue detecting the specified position on the first workpiece according to the preset detection step size; a second detection module, configured to continue detecting the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size; a determining module, configured to determine the actual coordinate information of the specified position on the first workpiece when the second detection module detects it; and a sending module, configured to upload the actual coordinate information to the host computer so that the host computer can generate welding control commands based on the actual coordinate information.

[0014] Fourthly, embodiments of this application provide an automatic welding control device, comprising: a receiving module for receiving coordinate information uploaded by a welding robot, wherein the coordinate information is obtained by performing a calibration operation on the center point of each workpiece to be welded; an acquisition module for acquiring sensing parameters preset for each workpiece to be welded, wherein the sensing parameters include specification parameters and a preset detection step size; a first determining module for determining initial coordinate information of a specified position of each workpiece to be welded based on the coordinate information of the center point of each workpiece to be welded and the corresponding specification parameters; a first generating module for generating a first sensing control instruction based on the initial coordinate information, wherein the first sensing control instruction is used to instruct the detection of the corresponding specified position according to the initial coordinate information; a second determining module for determining, when the receiving module receives a notification message sent by the welding robot, a first workpiece that needs to continue detecting the specified position according to the notification message; and a second generating module for generating a second sensing control instruction based on the initial coordinate information of the specified position on the first workpiece and the preset detection step size, wherein the second sensing control instruction is used to instruct the continued detection of the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size.

[0015] Fifthly, embodiments of this application provide a computer device including a processor and a memory, the memory storing computer programs / instructions, and the processor executing the computer programs / instructions to implement an automatic welding control method suitable for welding robots.

[0016] Sixthly, embodiments of this application provide a computer device including a processor and a memory, the memory storing computer programs / instructions, and the processor executing the computer programs / instructions to implement an automatic welding control method suitable for a host computer.

[0017] In a seventh aspect, embodiments of this application provide a storage medium storing a computer program / instruction, which, when executed by a processor, is used to implement an automatic welding control method suitable for welding robots.

[0018] Eighthly, embodiments of this application provide a storage medium storing a computer program / instruction, which, when executed by a processor, is used to implement an automatic welding control method suitable for a host computer.

[0019] This application provides an automatic welding control method, apparatus, device, and storage medium. For each workpiece to be welded, corresponding sensing parameters can be pre-set in a host computer. The welding robot collects the position information of the center point of each workpiece and uploads it to the host computer. Based on this, the host computer can generate a first sensing control command containing initial position information based on the received coordinate information and corresponding sensing parameters, and issue it to the welding robot. The welding robot can then detect a designated position of each workpiece based on the initial position information in the first sensing control command and collect the corresponding actual coordinate information, uploading it to the host computer. The host computer then generates a welding control command based on the sensing parameters corresponding to each workpiece and the actual coordinate information of the designated position to instruct the welding robot to perform welding operations on the workpiece. Furthermore, if the welding robot cannot detect the corresponding designated position according to the first sensing control command, it can also notify the host computer to generate a second sensing control command containing a preset detection step size, so as to further detect according to the second control command until each designated position is detected. In this way, targeted automated welding can be achieved based on the actual position information corresponding to workpieces of different specifications, making the operation more flexible. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a top view of a method of placing a workpiece to be welded on a welding platform, provided for one or more embodiments of this application.

[0022] Figure 2a A flowchart illustrating an automated welding control method for welding robots, provided for one or more embodiments of this application.

[0023] Figure 2b An automatic welding control method suitable for a host computer is provided for one or more embodiments of this application.

[0024] Figure 2c This is a schematic diagram illustrating how to determine the initial coordinate information of any specified position on any workpiece to be welded, according to one or more embodiments of this application.

[0025] Figure 2d This is a schematic diagram corresponding to the process of a welding robot detecting a specified position on a workpiece to be welded, provided in one or more embodiments of this application.

[0026] Figure 2e This is an interaction signaling diagram between a welding robot and a host computer, provided for one or more embodiments of this application.

[0027] Figure 3a This is a structural block diagram of an automatic welding control device for welding robots, provided for one or more embodiments of this application.

[0028] Figure 3b This is a structural block diagram of an automatic welding control device suitable for a host computer, provided for one or more embodiments of this application.

[0029] Figure 4 This is a structural block diagram of a computer device provided for one or more embodiments of this application. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] 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.

[0033] In scenarios where welding robots are used to achieve automated welding, the teach-and-playback method is typically employed to control the welding process. This method is suitable for products with fixed specifications, large batches, and high repeatability. However, for products with variable specifications, small batches, low precision, and unsuitable for designing precise positioning fixtures, the traditional teach-and-playback method is insufficient for automated welding. Therefore, precise positioning is required for these types of products to achieve targeted automated welding. For example, in actual welding scenarios, before performing the welding operation on each workpiece, each workpiece needs to be pre-placed on the welding platform. Furthermore, the welding robot can perform sensor data acquisition on each workpiece to collect its actual position information in the robot's coordinate system. The welding robot can then upload this position information to a host computer, which generates welding control commands based on the acquired position information. Based on these commands, the welding robot can then perform the welding operation on each workpiece.

[0034] However, the placement of different workpieces on the welding platform may vary, for example, Figure 1A top view of a method for placing a workpiece to be welded on a welding platform, as provided in an embodiment of this application, such as... Figure 1 As shown, the placement of workpieces ①, ②, and ⑤ is relatively regular, with their length, width, and height parallel to their corresponding coordinate axes in the robot coordinate system. Therefore, it is relatively convenient for the welding robot to determine the position information of each workpiece; it only needs an initial position combined with the specifications of each workpiece to determine the position information of the entire workpiece. However, for workpieces placed in ways like ③ and ④, their length, width, and height are not parallel to their corresponding coordinate axes in the robot coordinate system. When determining the position information of these workpieces, the welding robot may not be able to accurately determine the actual position information of each workpiece based solely on an initial position and corresponding specifications. Therefore, for workpieces with these special placement methods, the welding robot needs to perform further precise positioning when determining the corresponding position information.

[0035] Therefore, one or more embodiments of this application provide an automatic welding control method, apparatus, device and storage medium, which can achieve precise positioning for different workpieces to be welded, so as to achieve automated welding for workpieces that are not easy to be welded repeatedly.

[0036] The automatic welding control method, apparatus, equipment, and storage medium provided in one or more embodiments of this application will be described below with reference to the accompanying drawings.

[0037] Figure 2a A flowchart illustrating an automatic welding control method provided for one or more embodiments of this application, applicable to welding robots, such as... Figure 2a As shown, the method includes:

[0038] S101. Receive the first sensor control command sent by the host computer. The first sensor control command includes the initial coordinate information indicating the specified position on each workpiece to be welded.

[0039] S102. Based on the initial coordinate information, detect the specified position on each workpiece to be welded;

[0040] S103. If the specified position on the first workpiece cannot be detected, notify the host computer to generate a second sensing control command. The first workpiece is any one of the workpieces to be welded.

[0041] S104. Receive the second sensor control command sent by the host computer. The second sensor control command includes a preset detection step size, which is used to instruct to continue to detect the specified position on the first workpiece according to the preset detection step size.

[0042] S105. If detected, determine the actual coordinate information of the specified position on the first workpiece;

[0043] S106. Upload the actual coordinate information to the host computer so that the host computer can generate welding control instructions based on the actual coordinate information.

[0044] In this embodiment, the welding robot can receive a first sensing control command issued by a host computer. This first sensing control command includes initial coordinate information indicating a specified position on each workpiece to be welded. Optionally, the specified position can be the vertex position of each workpiece, or any other position that can determine the overall shape of each workpiece. This embodiment is applicable and not limited here. Since the initial coordinate information in the first sensing control command is coordinate information indicated by the host computer, whether it matches the actual coordinates of the specified position on each workpiece needs further determination. Based on this, the welding robot can detect the specified position on each workpiece to be welded according to the initial coordinate information in the first sensing control command.

[0045] For any of the first workpieces to be welded, if the welding robot cannot detect the specified position on the first workpiece based on the initial coordinate information in the first sensing control command, it can notify the host computer to generate a second sensing control command. This second sensing control command includes a preset detection step size, instructing the robot to continue detecting the specified position on the first workpiece according to the preset detection step size based on the aforementioned initial coordinate information. Furthermore, upon receiving the second sensing control command from the host computer, the welding robot can continue detecting the specified position on the first workpiece along different coordinate axes of the robot coordinate system according to the preset detection step size in the second sensing control command, until it is detected. Based on this, for the first workpiece, if the welding robot further detects the specified position, it can determine the actual coordinate information of the specified position on the first workpiece by performing a sensing acquisition operation and upload the acquired actual coordinate information to the host computer, so that the host computer can generate welding control commands based on the actual coordinate information.

[0046] Accordingly, if the welding robot detects the designated position on the first workpiece based on the initial coordinate information in the first sensing control command, it indicates that the initial position information indicated by the host computer in the first sensing control command is accurate. In this case, the welding robot can directly upload the initial coordinate information of the designated position on the first workpiece as the actual coordinate information to the host computer, so that the host computer can generate welding control commands based on the actual coordinate information.

[0047] In this embodiment, the specific shape of each workpiece to be welded is not limited. Depending on the welding requirements, the shape of the workpiece can vary. Optionally, this embodiment uses a rib plate with a regular shape such as a rectangle or trapezoid as an example. Furthermore, this embodiment also does not limit the specific location of a designated position on each workpiece to be welded. Depending on the shape of the workpiece, the corresponding designated position can also be different. In this embodiment, the position of each vertex of each workpiece to be welded in the robot coordinate system is used as the designated position. For each designated position on a workpiece to be welded, the specific method for determining its corresponding initial coordinate information is not limited. Depending on the specific shape of the workpiece, the determination method can also be different. Optionally, to simplify the process of determining the initial coordinate information of the designated position, for each workpiece to be welded, the welding robot first calibrates the coordinate information of the center point of each workpiece in the robot coordinate system and uploads the calibrated coordinate information to the host computer. Further, based on the sensing parameters pre-set by the host computer for each workpiece to be welded, combined with the coordinate information of the center point of each workpiece, the initial coordinate information corresponding to each vertex of the designated position on each workpiece to be welded can be preliminarily determined.

[0048] In this embodiment, the specific content of the sensing parameters preset for each workpiece to be welded is not limited. Optionally, the sensing parameters may include at least the specification parameters of each workpiece to be welded, such as length, width, height, thickness, etc. As for how to determine the initial coordinate information of the specified coordinate point based on the specification parameters and center point coordinate information of each workpiece to be welded, please refer to the description of the automatic welding control method embodiment of the practical host computer in the following description, which will not be detailed here.

[0049] It should be noted that the embodiments of this application do not limit the specific method by which the welding robot notifies the host computer to generate the second sensor control command. In one optional method, since the host computer has already determined the initial coordinate information corresponding to the specified position on each workpiece to be welded through the aforementioned method, when the welding robot sends a notification message to the host computer, it can only inform the host computer that the specified position on the first workpiece has not been detected. Based on this, the host computer can determine the initial coordinate information of the specified position on the first workpiece from the initial coordinate information determined for the specified position on each workpiece to be welded, and then generate the second sensor control command based on the initial coordinate information of the specified position on the first workpiece. In another optional method, when the welding robot sends a notification message to the host computer, it can also directly send the initial coordinate information corresponding to the specified position on the first workpiece to the host computer, so that the host computer can directly generate the second sensor control command based on the received initial coordinate information.

[0050] Based on the above, regardless of whether the welding robot detects a designated position on each workpiece based on a first sensor control command issued by the host computer, or a second sensor control command issued by the host computer, it can collect the actual coordinate information of the designated position on each workpiece and upload the collected coordinate information to the host computer. The host computer then generates corresponding welding control commands based on the received coordinate information and issues them to the welding robot. These welding control commands include welding trajectory information corresponding to each workpiece. Therefore, upon receiving the welding control commands from the host computer, the welding robot can perform welding operations on each workpiece according to the welding trajectory information corresponding to each workpiece in the welding control commands, thereby achieving automated welding of different workpieces.

[0051] Accordingly, one or more embodiments of this application also provide an automatic welding control method suitable for a host computer. Figure 2b Here is a flowchart of the method, such as Figure 2b The method includes:

[0052] P101. Receive coordinate information uploaded by the welding robot. The coordinate information is obtained by performing a calibration operation on the center point of each workpiece to be welded.

[0053] P102. Obtain the pre-set sensing parameters for each workpiece to be welded. The sensing parameters include specification parameters and preset detection step size.

[0054] P103. Based on the coordinate information of the center point of each workpiece to be welded and the corresponding specification parameters, determine the initial coordinate information of the specified position of each workpiece to be welded.

[0055] P104. Generate a first sensing control command based on the initial coordinate information. The first sensing control command is used to instruct the detection of the corresponding specified position based on the initial coordinate information.

[0056] P105. Upon receiving a notification message from the welding robot, determine, based on the notification message, that the first workpiece at the designated location needs to be probed further.

[0057] P106. Based on the initial coordinate information of the specified position on the first workpiece and the preset detection step size, generate a second sensing control command. The second sensing control command is used to instruct the continued detection of the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size.

[0058] In this embodiment, before determining the initial coordinate information of a specified position on each workpiece to be welded, the host computer can receive coordinate information uploaded by the welding robot. Optionally, this coordinate information can be obtained by the welding robot performing a calibration operation on the center point of each workpiece in the robot coordinate system. Further, in order to determine the initial coordinate information corresponding to the specified position on each workpiece to be welded, the host computer can obtain the sensing parameters preset for each workpiece to be welded, wherein the sensing parameters include specification parameters and a preset detection step size. The host computer can determine the initial coordinate information of the specified position of each workpiece to be welded based on the coordinate information of the center point of each workpiece and the corresponding specification parameters. Then, based on the initial coordinate information of the specified position of each workpiece to be welded, a first control command is generated to instruct the detection of the corresponding specified position according to the initial coordinate information.

[0059] Furthermore, if the welding robot fails to detect the designated position on the first workpiece based on the initial coordinate information in the first control command and sends a notification message to the host computer, the host computer, upon receiving the notification message, can determine that it needs to continue detecting the designated position on the first workpiece. Then, based on the initial coordinate information of the designated position on the first workpiece and a preset detection step size, it generates a second sensing control command. This second sensing control command instructs the robot to continue detecting the designated position on the first workpiece along different coordinate axes of the robot coordinate system, based on the initial coordinate information and the preset detection step size, until the position is detected. Conversely, if the welding robot detects the designated position on the first workpiece based on the initial coordinate information in the first control command, it can directly upload the initial coordinate information as the actual coordinate information to the host computer.

[0060] Based on this, when the host computer receives the actual coordinate information of a specified position on each workpiece to be welded uploaded by the welding robot, it can determine the welding trajectory information corresponding to each workpiece. Then, based on the welding trajectory information corresponding to each workpiece, it generates welding control commands and sends them to the welding robot, so that the welding robot can execute welding operations according to the welding control commands. The welding control commands instruct the welding robot to perform welding operations on each workpiece according to the corresponding welding trajectory information.

[0061] It should be noted that the embodiments of this application do not limit the specific method by which the host computer obtains the sensing parameters. The method of obtaining the parameters varies depending on how the sensing parameters are set for each workpiece to be welded. In one optional method, the host computer can provide a designated storage location for storing a parameter configuration file. The sensing parameters set for each workpiece to be welded can then be pre-set in the parameter configuration file. Based on this, when the host computer needs to determine the initial coordinate information of a specified position on each workpiece to be welded, it can obtain the parameter configuration file from the designated storage location and read the pre-set sensing parameters therein. In another optional method, the host computer can provide a sensing parameter configuration page. The operator can perform a workpiece selection operation on the sensing parameter configuration page, selecting the workpiece to be welded. Furthermore, the operator can set corresponding specification parameters and welding parameters for each selected workpiece. Upon confirmation that all workpieces to be welded have been set and confirmed by the operator, the host computer can obtain all set specification parameters and welding parameters as sensing parameters. Based on this, when the host computer needs to determine the initial coordinate information of a specified position on each workpiece to be welded, it can obtain the sensing parameters pre-set by the operator through the sensing parameter configuration page.

[0062] Based on the above, when the host computer determines the initial coordinate information of a specified position for each workpiece to be welded according to the coordinate information of the center point of each workpiece and the corresponding specification parameters, it can at least determine the length, width, and height information of each workpiece based on the specification parameters set for each workpiece. Further, based on the length, width, and height information of each workpiece, the vertex position of each workpiece is determined as the specified position, thereby determining the coordinate components of the center point of each workpiece on each coordinate axis in the robot coordinate system. Based on this, the initial coordinate information of the specified position of each workpiece is determined according to the length, width, and height information of each workpiece, and the coordinate components of the corresponding center point on each coordinate axis.

[0063] The process of determining the initial coordinate information of a specified position on each workpiece to be welded is illustrated below with reference to the accompanying drawings.

[0064] Figure 2c A schematic diagram for determining the initial coordinate information of any specified position on any workpiece to be welded, such as... Figure 2cAs shown, the workpiece to be welded is a thin ribbed plate in the shape of a cuboid. Point O is the center point of the workpiece. Assume the welding robot collects the coordinates of point O as (x0, y0, z0). If the host computer obtains the length information (h) and width information (w) of the workpiece's specifications (thickness information is negligible), then the host computer can initially determine the coordinates of a vertex B of the workpiece, assuming its corresponding coordinates are (x1, y1, z1). Based on the specifications, x1 = x0 + h / 2, y1 = y0, and z1 = z0 + w / 2. Similarly, the coordinates of other vertices A, C, and D can be determined. Furthermore, once the coordinates of vertices A, B, C, and D are determined, they can be used as designated positions on the workpiece, and the determined coordinates can be used as the initial coordinates for each designated position.

[0065] Based on the above, after determining the initial coordinate information of the specified position on each workpiece to be welded, the host computer sends it to the welding robot. The welding robot can find the corresponding position and collect the corresponding actual coordinate information based on each initial position information.

[0066] It should be noted that the embodiments of this application do not limit the specific content of the first and second sensor control commands. Depending on the actual needs, the corresponding command content may also be different.

[0067] The following description, in conjunction with the accompanying drawings and the following sensor control command format, provides an exemplary illustration of the control process for a welding robot to collect the actual coordinate information of a designated point.

[0068] Optionally, Figure 2d This is a schematic diagram illustrating the process of a welding robot detecting a designated location on a workpiece to be welded, as provided in an embodiment of this application. Figure 2d As shown, the welding robot includes a robotic arm that can move under the control of the welding robot and detect the execution position point on the workpiece to be welded.

[0069] Assume the first or second sensor control command format is as follows:

[0070] :first Y

[0071] MOVEL, P008, 5, m / min, 0, N

[0072] OUT, o1#(1:O1#0001 High Voltage Contact Sensor), ON

[0073] TCHSNS, 1

[0074] MOVEL, P009, 5, m / min, 0, N, -1

[0075] GETPOS, GD#(3:GD0003)

[0076] OUT, o1#(1:O1#0001 High Voltage Contact Sensor), OFF

[0077] MOVEL, P010, 5, m / min, 0, N, -1

[0078] Based on this, when the welding robot receives the first or second sensor control command mentioned above, it can read each sensor control command in sequence and control the robot arm to move according to the read sensor control command to detect the specified point on the workpiece to be welded.

[0079] The following explains each sensor control command in the above example:

[0080] Among them, ":first Y" is a comment indicating that the current sensor control command is to determine the coordinate information on the Y-axis; "MOVEL, P008, 5, m / min, 0, N" is a movement command used to instruct the robot arm to move to the coordinate point P008 at a speed of 5 m / min, and N indicates movement in a non-arc state; "OUT, o1#(1:O1#0001 high-voltage contact sensor), ON" instructs the welding robot to turn on the high-voltage contact sensor to collect the coordinate information corresponding to the detected position point; "TCHSNS, 1" and "MOVEL, P009, 5, m / min, 0, N, -1" are also included. This command is used to instruct the robot arm to move at a speed of 1 m / min toward the position indicated by P009, with each movement being 10 cm (this value can be preset when setting the sensor parameters, and the specific value is not limited). The robot arm will not stop detecting until the corresponding position is detected or the maximum detection distance (this value can be preset when setting the sensor parameters, and the specific value is not limited) is exceeded; it will continue to move the robot arm according to the current command. "GETPOS, GD#(3:GD0003)" instructs that, upon obtaining the actual coordinate information, the actual coordinate information be stored in the welding robot's register variable GD003. "OUT, o1#(1:O1#0001 High-voltage contact sensor), OFF" instructs that the high-voltage contact sensor be turned off. "MOVEL, P010, 5, m / min, 0, N, -1" instructs the robot arm to move from its current position to a safe position for the next movement to continue detection.

[0081] To clearly illustrate the implementation process of the embodiments of this application, the interaction process between the welding robot and the host computer will be described in general with reference to the accompanying drawings below.

[0082] Figure 2e The signaling diagram between the welding robot and the host computer is as follows: Figure 2e As shown, before the welding robot interacts with the host computer, the sensing parameters of each workpiece to be welded can be pre-set on the host computer, and the coordinate information of the center point of each workpiece to be welded can be collected by the welding robot. Based on this, the welding robot can upload the coordinate information of the center point of each workpiece to the host computer. After receiving the information, the host computer can determine the initial coordinate information of a specified position on each workpiece to be welded based on the coordinate information of the center point of each workpiece, and generate a first sensing control command containing the initial coordinate information. Further, as... Figure 2e As shown, the welding robot can detect the corresponding designated position based on the initial coordinate information of the designated position of each workpiece to be welded, and obtain the corresponding actual coordinate information when the position is detected.

[0083] Furthermore, for the first workpiece where the designated position is not detected, the welding robot can notify the host computer to generate a second sensor control command. Based on this, after receiving the notification, the host computer can generate the second sensor control command according to the initial coordinate information of the designated position on the first workpiece and the preset detection step size, and then send the generated second sensor control command to the welding robot. Further, such as... Figure 2e As shown, for each specified position on the first workpiece, the welding robot can use the corresponding initial coordinate information and preset detection step size to continue probing in each coordinate axis direction until the corresponding specified position is detected, and then obtain the corresponding actual coordinate information and upload it to the host computer. Based on this, as... Figure 2e As shown, the host computer can determine the welding trajectory information of each workpiece based on the actual coordinate information of a specified position on each workpiece, and then generate corresponding welding control commands. Furthermore, the host computer sends the generated welding commands to the welding robot, which can then perform welding operations on each workpiece according to the welding control commands.

[0084] It should be noted that, in this embodiment, the case where the welding robot fails to detect the designated position on the workpiece to be welded based on the first sensor control command is illustrated by the example where the welding robot detects the designated position on the workpiece to be welded based on the second sensor control command. However, in practical applications, this is not the only limitation. For example, if the welding robot still fails to detect the designated position on the workpiece to be welded based on the second sensor control command, the above steps can be repeated to continue instructing the host computer to generate a third sensor control command, a fourth sensor control command, and so on, based on the currently detected position, until each designated position on the workpiece to be welded is detected. The specific process can be found in the description of the foregoing embodiments, and will not be repeated here.

[0085] It is understood that the above embodiments are merely examples, and modifications can be made to the above embodiments in actual implementation. Those skilled in the art will understand that any modifications to the above embodiments that do not require creative effort fall within the protection scope of this application, and will not be described in detail in the embodiments.

[0086] Based on the same inventive concept, this application also provides an automatic welding control device. Since the principle of the automatic welding device in solving the problem is similar to that of the aforementioned automatic welding control method, the implementation of the automatic welding control device can refer to the implementation of the aforementioned automatic welding control method, and the repeated parts will not be described again.

[0087] See Figure 3a , Figure 3a This is a structural block diagram of an automatic welding control device provided in an embodiment of this application. In this embodiment, the automatic welding control device is referred to as the first automatic welding control device 301. The first automatic welding control device 301 is applicable to welding robots, such as... Figure 3a As shown, the first automatic welding control device 301 includes a first receiving module 301a, a first detection module 302a, a notification module 303a, a second receiving module 304a, a second detection module 305a, a determining module 306a, and a sending module 307a; wherein,

[0088] The first receiving module 301a is used to receive the first sensing control command issued by the host computer. The first sensing control command includes the initial coordinate information of a specified position on each workpiece to be welded. The first detection module 302a is used to detect the specified position on each workpiece to be welded based on the initial coordinate information. The notification module 303a is used to notify the host computer to generate a second sensing control command when the first detection module cannot detect the specified position on the first workpiece. The first workpiece is any one of the workpieces to be welded. The second receiving module 304a is used to receive the second sensing control command issued by the host computer. The second sensing control command includes a preset detection step size, which is used to instruct to continue detecting the specified position on the first workpiece according to the preset detection step size. The second detection module 305a is used to continue detecting the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size. The determining module 306a is used to determine the actual coordinate information of the specified position on the first workpiece when the second detection module detects it. The sending module 307a is used to upload the actual coordinate information to the host computer so that the host computer can generate welding control commands based on the actual coordinate information.

[0089] In one possible implementation, when the first receiving module 301a receives the first sensing control command issued by the host computer, it is used to: calibrate the coordinate information of the center point of each workpiece to be welded in the robot coordinate system and upload the calibrated coordinate information to the host computer; receive the first sensing control command issued by the host computer, the first sensing control command being generated based on the calibrated coordinate information of each workpiece to be welded and the preset sensing parameters, the sensing parameters including specification parameters, the specification parameters being used to determine the initial coordinate information of the specified position of each workpiece to be welded.

[0090] In one possible implementation, when the first detection module 302a detects a specified position on the first workpiece based on the initial coordinate information, it is further configured to: upload the initial coordinate information of the specified position on the first workpiece as actual coordinate information to the host computer, so that the host computer can generate welding control instructions based on the actual coordinate information.

[0091] In one possible implementation, when the notification module 303a notifies the host computer to generate the second sensing control command, it is used to: send a notification message to the host computer, informing the host computer that the specified position on the first workpiece has not been detected, so that the host computer can generate the second sensing control command based on the initial coordinate information of the specified position on the first workpiece.

[0092] In one possible implementation, the first automatic welding control device 301 further includes a processing module 308a, and the second receiving module 304a is further used to receive welding control instructions issued by the host computer. The welding control instructions include welding trajectory information corresponding to each workpiece to be welded. The processing module 308a is used to perform welding operations on each workpiece to be welded according to the welding trajectory information corresponding to each workpiece to be welded.

[0093] See Figure 3b , Figure 3b This is a structural block diagram of another automatic welding control device provided in an embodiment of this application. In this embodiment, the automatic welding control device is referred to as the second automatic welding control device 302. The second automatic welding control device 302 is applicable to a host computer, such as... Figure 3b As shown, the second automatic welding control device 302 includes: a receiving module 301b, an acquiring module 302b, a first determining module 303b, a first generating module 304b, a second determining module 305b, and a second generating module 306b; wherein,

[0094] The receiving module 301b receives coordinate information uploaded by the welding robot. The coordinate information is obtained by performing a calibration operation on the center point of each workpiece to be welded. The acquiring module 302b acquires the pre-set sensing parameters for each workpiece to be welded, including specification parameters and a preset detection step size. The first determining module 303b determines the initial coordinate information of a specified position of each workpiece to be welded based on the coordinate information of the center point of each workpiece and the corresponding specification parameters. The first generating module 304b generates a first sensing control command based on the initial coordinate information. The first sensing control command instructs the probe to detect the corresponding specified position based on the initial coordinate information. The second determining module 305b determines, upon receiving a notification message from the welding robot, that the probe needs to continue detecting the first workpiece at the specified position. The second generating module 306b generates a second sensing control command based on the initial coordinate information of the specified position on the first workpiece and the preset detection step size. The second sensing control command instructs the probe to continue detecting the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size.

[0095] In one possible implementation, when the first determining module 303b determines the initial coordinate information of a specified position of each workpiece to be welded based on the coordinate information of the center point of each workpiece and the corresponding specification parameters, it is configured to: determine the length, width, and height information of each workpiece to be welded based on the specification parameters set for each workpiece; determine the vertex position of each workpiece to be welded as the specified position based on the length, width, and height information of each workpiece to be welded; determine the coordinate value components of the coordinate information of the center point of each workpiece to be welded on each coordinate axis in the robot coordinate system; and determine the initial coordinate information of the specified position of each workpiece to be welded based on the length, width, and height information of each workpiece to be welded, and the coordinate value components of the corresponding center point coordinate information on each coordinate axis.

[0096] In one possible implementation, the receiving module 301b is further configured to receive actual coordinate information uploaded by the welding robot, wherein the actual coordinate information is the coordinate information of a specified position on each workpiece to be welded; the second determining module 305b is further configured to determine the welding trajectory information corresponding to each workpiece to be welded based on the actual coordinate information; and generate welding control instructions based on the welding trajectory information, wherein the welding control instructions are used to instruct the welding operation to be performed on each workpiece to be welded according to the corresponding welding trajectory information.

[0097] See Figure 4 , Figure 4 This is a structural block diagram of a computer device provided in an embodiment of this application. Figure 4As shown, the computer device 400 may include a processor 401 and a memory 402; the memory 402 may be coupled to the processor 401. It is worth noting that... Figure 4 This is an example; other types of structures can also be used to supplement or replace this structure to achieve telecommunications functions or other functions.

[0098] In one alternative embodiment, the functionality of the first automatic welding control device 301 suitable for the welding robot can be integrated into the processor 401. The processor 401 can be configured to perform the following control:

[0099] The system receives a first sensor control command from a host computer, which includes initial coordinate information indicating a specified position on each workpiece to be welded. Based on the initial coordinate information, it detects the specified position on each workpiece to be welded. If the specified position on the first workpiece cannot be detected, it notifies the host computer to generate a second sensor control command, where the first workpiece is any one of the workpieces to be welded. The system then receives the second sensor control command from the host computer, which includes a preset detection step size to instruct continued detection of the specified position on the first workpiece according to the preset detection step size. Based on the preset detection step size, it continues to detect the specified position on the first workpiece along different coordinate axes of the robot coordinate system. If the position is detected, it determines the actual coordinate information of the specified position on the first workpiece. Finally, it uploads the actual coordinate information to the host computer so that the host computer can generate welding control commands based on the actual coordinate information.

[0100] Furthermore, in some alternative implementations, the computer device 400 may also include: a communication module, an input unit, an audio processor, a display, a power supply, etc. It is worth noting that the computer device 400 is not necessarily required to include these components. Figure 4 All components shown; in addition, computer device 400 may also include Figure 4 For components not shown, please refer to existing technologies.

[0101] In some alternative implementations, processor 401, sometimes also referred to as controller or operation control, may include a microprocessor or other processor device and / or logic device, which receives input and controls the operation of various components of computer device 400.

[0102] The memory 402 may be, for example, one or more of a cache, flash memory, hard drive, removable medium, volatile memory, non-volatile memory, or other suitable device. It may store the aforementioned information related to the first automatic welding control device 301, and may also store programs for executing that information. The processor 401 may execute the program stored in the memory 402 to perform information storage or processing, etc.

[0103] An input unit can provide input to the processor 401. This input unit may be, for example, a keypad or touch input device. A power supply can be used to provide power to the computer device 400. A 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.

[0104] Memory 402 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 402 can also be some other type of device. Memory 402 includes buffer memory (sometimes referred to as a buffer). Memory 402 may include an application / function storage unit for storing application programs and function programs or processes for executing operations of computer device 400 via processor 401.

[0105] The memory 402 may also include a data storage unit for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit of the memory 402 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.).

[0106] 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 401 to provide input signals and receive output signals, which can be the same as in a conventional mobile communication terminal.

[0107] Based on different communication technologies, multiple communication modules can be configured in the same computer device, such as cellular network modules, Bluetooth modules, and / or wireless LAN modules. The communication module (transmitter / receiver) is also coupled to a speaker and microphone via an audio processor to provide audio output through the speaker and receive audio input from the microphone, thereby enabling typical telecommunications functions. The audio processor may include any suitable buffer, decoder, amplifier, etc. Additionally, the audio processor is coupled to processor 401, enabling on-device recording via the microphone and on-device playback of stored sound via the speakers.

[0108] This application embodiment also provides a computer device, the structural block diagram of which is similar to... Figure 4 The structure shown is similar; please refer to [link / reference]. Figure 4 This will not be elaborated upon here.

[0109] In one optional embodiment, the second automatic welding control device 302 suitable for a host computer can be integrated into the processor of the computer device. The processor can be configured to perform the following control:

[0110] The system receives coordinate information uploaded by the welding robot. This coordinate information is obtained by calibrating the center point of each workpiece to be welded. It acquires pre-set sensing parameters for each workpiece, including specification parameters and a preset detection step size. Based on the coordinate information of the center point of each workpiece and the corresponding specification parameters, it determines the initial coordinate information of a specified position on each workpiece. Based on the initial coordinate information, it generates a first sensing control command, which instructs the probe to detect the corresponding specified position according to the initial coordinate information. Upon receiving a notification message from the welding robot, it determines the first workpiece that needs to continue probing the specified position according to the notification message. Based on the initial coordinate information of the specified position on the first workpiece and the preset detection step size, it generates a second sensing control command, which instructs the probe to continue probing the specified position on the first workpiece along different coordinate axes of the robot coordinate system according to the preset detection step size.

[0111] Embodiments of this application also provide a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements all the steps in the automatic welding control method for welding robots described above. For example, when the processor executes the computer program, it implements the following steps:

[0112] The system receives a first sensing control command from a host computer, which includes initial coordinate information indicating a specified position on each workpiece to be welded. Based on the initial coordinate information, it detects the specified position on each workpiece to be welded. If the specified position on the first workpiece cannot be detected, it notifies the host computer to generate a second sensing control command, where the first workpiece is any one of the workpieces to be welded. The system also receives the second sensing control command from the host computer, which includes a preset detection step size to instruct continued detection of the specified position on the first workpiece according to the preset detection step size. Based on the preset detection step size, it continues to detect the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system. If detected, it determines the actual coordinate information of the specified position on the first workpiece. The actual coordinate information is then uploaded to the host computer for the host computer to generate welding control commands based on the actual coordinate information. Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program. When executed by a processor, this computer program implements all the steps in the above-described automatic welding control method applicable to a host computer. For example, when the processor executes the computer program, it implements the following steps:

[0113] The system receives coordinate information uploaded by the welding robot. This coordinate information is obtained by calibrating the center point of each workpiece to be welded. It acquires pre-set sensing parameters for each workpiece, including specification parameters and a preset detection step size. Based on the coordinate information of the center point of each workpiece and the corresponding specification parameters, it determines the initial coordinate information of a specified position for each workpiece. Based on the initial coordinate information, it generates a first sensing control command, which instructs the probe to detect the corresponding specified position according to the initial coordinate information. Upon receiving a notification message from the welding robot, it determines the first workpiece that needs to continue probing the specified position according to the notification message. Based on the initial coordinate information of the specified position on the first workpiece and the preset detection step size, it generates a second sensing control command, which instructs the probe to continue detecting the specified position on the first workpiece along different coordinate axes of the robot coordinate system according to the preset detection step size. In summary, the automatic welding control method, automatic welding control device, computer equipment, and computer-readable storage medium provided in this application all have the following advantages:

[0114] For each workpiece to be welded, corresponding sensing parameters can be pre-set in the host computer. The welding robot collects the position information of the center point of each workpiece and uploads it to the host computer. Based on this, the host computer can generate a first sensing control command containing initial position information based on the received coordinate information and corresponding sensing parameters, and issue it to the welding robot. The welding robot can then detect the specified position of each workpiece based on the initial position information in the first sensing control command, collect the corresponding actual coordinate information, and upload it to the host computer. The host computer then generates welding control commands based on the sensing parameters corresponding to each workpiece and the actual coordinate information of the specified position to instruct the welding robot to perform the welding operation. Furthermore, if the welding robot cannot detect the corresponding specified position according to the first sensing control command, it can also notify the host computer to generate a second sensing control command containing a preset detection step size, so as to further detect according to the second control command until each specified position is detected. In this way, targeted automated welding can be achieved based on the actual position information corresponding to workpieces of different specifications, making the operation more flexible.

[0115] While this application provides the method operation steps as described 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 methods shown in the embodiments or drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0116] 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.

[0117] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0119] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0120] 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 its differences from other embodiments. In particular, the device and system embodiments are relatively simple in description because they are fundamentally similar to the method embodiments; relevant parts can be referred to the descriptions of the method embodiments. In this document, relational terms such as "first" and "second" are used merely 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. The terms "upper," "lower," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. It should be noted that, without conflict, the embodiments and features in the embodiments of this application can be combined with each other. This application is not limited to any single aspect, nor to any single embodiment, nor to any combination and / or substitution of these aspects and / or embodiments. Moreover, each aspect and / or embodiment of this application can be used alone or in combination with one or more other aspects and / or embodiments.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application.

[0122] 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.

[0123] 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.

[0124] 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. An automatic welding control method, characterized in that, Suitable for welding robots, including: Receive the first sensing control command issued by the host computer, the first sensing control command including the initial coordinate information of the specified position on each workpiece to be welded; Based on the initial coordinate information, detect the specified position on each workpiece to be welded; If the specified position on the first workpiece cannot be detected, the host computer is notified to generate a second sensing control command, wherein the first workpiece is any one of the workpieces to be welded; The system receives a second sensing control command from the host computer. The second sensing control command includes a preset detection step size, which is used to instruct the system to continue detecting a specified position on the first workpiece according to the preset detection step size. According to the preset detection step size, continue to detect the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system; Upon detection, determine the actual coordinates of a specified position on the first workpiece; The actual coordinate information is uploaded to the host computer so that the host computer can generate welding control commands based on the actual coordinate information; Receive the first sensor control command issued by the host computer, including: The coordinates of the center point of each workpiece to be welded in the robot coordinate system are calibrated, and the calibrated coordinates are uploaded to the host computer. The system receives a first sensing control command issued by the host computer. The first sensing control command is generated based on the coordinate information calibrated for each welding workpiece and the preset sensing parameters. The sensing parameters include specification parameters, which are used to determine the initial coordinate information of a specified position for each workpiece to be welded.

2. The method according to claim 1, characterized in that, When a specified position on the first workpiece is detected based on the initial coordinate information, the method further includes: The initial coordinate information of a specified position on the first workpiece is uploaded to the host computer as actual coordinate information, so that the host computer can generate welding control instructions based on the actual coordinate information.

3. The method according to claim 2, characterized in that, The host computer is notified to generate a second sensor control command, including: A notification message is sent to the host computer, informing it that the specified position on the first workpiece has not been detected, so that the host computer can generate a second sensing control command based on the initial coordinate information of the specified position on the first workpiece.

4. The method according to claim 3, characterized in that, The method further includes: Receive welding control instructions issued by the host computer, the welding control instructions including welding trajectory information corresponding to each workpiece to be welded; Welding operations are performed on each workpiece based on the welding trajectory information corresponding to each workpiece to be welded.

5. An automatic welding control method, characterized in that, Applicable to host computers, including: Receive coordinate information uploaded by the welding robot, wherein the coordinate information is obtained by performing a calibration operation on the center point of each workpiece to be welded; Acquire the pre-set sensing parameters for each workpiece to be welded, including specification parameters and preset detection step size; Based on the coordinate information of the center point of each workpiece to be welded and the corresponding specification parameters, determine the initial coordinate information of the specified position of each workpiece to be welded; Based on the initial coordinate information, a first sensing control command is generated, which is used to instruct the detection of the corresponding specified position based on the initial coordinate information. Upon receiving a notification message from the welding robot, it is determined, based on the notification message, that it is necessary to continue probing the first workpiece at a designated location; Based on the initial coordinate information of the specified position on the first workpiece and the preset detection step size, a second sensing control command is generated. The second sensing control command is used to instruct the continued detection of the specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size.

6. The method according to claim 5, characterized in that, Based on the coordinate information of the center point of each workpiece to be welded and the corresponding specification parameters, determine the initial coordinate information of a specified position of each workpiece to be welded, including: Based on the specifications set for each workpiece to be welded, determine the length, width, and height information of each workpiece to be welded; Based on the length, width, and height information of each workpiece to be welded, the vertex position of each workpiece to be welded is determined as the specified position; the coordinate components of the center point of each workpiece to be welded on each coordinate axis in the robot coordinate system are determined. Based on the length, width, and height information of each workpiece to be welded, as well as the coordinate components of the corresponding center point on each coordinate axis, the initial coordinate information of the specified position of each workpiece to be welded is determined.

7. The method according to claim 6, characterized in that, The method further includes: Receive the actual coordinate information uploaded by the welding robot, wherein the actual coordinate information is the coordinate information of a specified position on each workpiece to be welded; Based on the actual coordinate information, determine the welding trajectory information corresponding to each workpiece to be welded; Based on the welding trajectory information, welding control instructions are generated, which are used to instruct welding operations to be performed on each workpiece to be welded according to the corresponding welding trajectory information.

8. An automatic welding control device, characterized in that, include: The first receiving module is used to receive the first sensing control command issued by the host computer. The first sensing control command includes the initial coordinate information of a specified position on each workpiece to be welded. The first detection module is used to detect a specified position on each workpiece to be welded based on the initial coordinate information; The notification module is used to notify the host computer to generate a second sensing control command when the first detection module cannot detect a specified position on the first workpiece. The first workpiece is any one of the workpieces to be welded. The second receiving module is used to receive the second sensing control command issued by the host computer. The second sensing control command includes a preset detection step size, which is used to instruct to continue to detect the specified position on the first workpiece according to the preset detection step size. The second detection module is used to continue to detect a specified position on the first workpiece in different coordinate axis directions of the robot coordinate system according to the preset detection step size; The determining module is used to determine the actual coordinate information of a specified position on the first workpiece when the second detection module detects it. The sending module is used to upload the actual coordinate information to the host computer so that the host computer can generate welding control commands based on the actual coordinate information; When the first receiving module receives the first sensor control command issued by the host computer, it is used for: The coordinates of the center point of each workpiece to be welded in the robot coordinate system are calibrated, and the calibrated coordinates are uploaded to the host computer. The system receives a first sensing control command issued by the host computer. The first sensing control command is generated based on the coordinate information calibrated for each welding workpiece and the preset sensing parameters. The sensing parameters include specification parameters, which are used to determine the initial coordinate information of a specified position for each workpiece to be welded.

9. An automatic welding control device, characterized in that, include: The receiving module is used to receive coordinate information uploaded by the welding robot. The coordinate information is obtained by performing a calibration operation on the center point of each workpiece to be welded. The acquisition module is used to acquire the pre-set sensing parameters for each workpiece to be welded, including specification parameters and preset detection step size; The first determining module is used to determine the initial coordinate information of a specified position of each workpiece to be welded based on the coordinate information of the center point of each workpiece and the corresponding specification parameters. The first generation module is used to generate a first sensing control command based on the initial coordinate information. The first sensing control command is used to instruct the detection of a specified position based on the initial coordinate information. The second determining module is used to determine, based on the notification message, that the receiving module needs to continue probing the first workpiece at a specified position when it receives a notification message from the welding robot; The second generation module is used to generate a second sensing control command based on the initial coordinate information of the specified position on the first workpiece and the preset detection step size. The second sensing control command is used to instruct the specified position on the first workpiece to continue to be detected in different coordinate axis directions of the robot coordinate system according to the preset detection step size.

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