Weld tracking method, system, electronic device, and computer-readable storage medium

Abstract

The embodiment of the application relates to the technical field of robots, and discloses a welding seam tracking method, a system, electronic equipment and a computer readable storage medium, which are applied to a robot, the method comprises the following steps: acquiring point position information of a target actual welding seam point position through an external sensor mounted on the robot; storing the point position information into a cache area, and carrying out spline fitting on all the point position information stored in the cache area; obtaining a tracking coefficient curve based on a fitting spline obtained through the spline fitting and a preset teaching reference welding seam path; determining information of an actual interpolation point corresponding to the target actual welding seam point position according to the teaching reference welding seam path and the tracking coefficient curve, and carrying out welding according to the information of the actual interpolation point. The welding seam tracking method provided by the embodiment of the application can effectively track complex welding seams with high quality, improves the quality of products processed through welding, and thus improves the reputation and benefits of a factory.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a weld seam tracking method, system, electronic device, and computer-readable storage medium. Background Technology

[0002] With the rapid development of robotics technology, industrial robots are involved in all aspects of industrial production, such as assembly and welding. When industrial robots participate in welding, they can automatically track the weld seam. However, due to factors such as processing precision, the weld seam may deviate from the theoretical pose and size. To overcome this difficulty, industrial robots can use weld seam tracking algorithms to track and weld the actual weld seam based on the actual information obtained from external sensors.

[0003] However, as the components requiring welding become increasingly complex, the weld seams also become more complex. Traditional weld seam tracking algorithms perform poorly on complex, curved weld seams with large angle changes, failing to achieve effective weld seam tracking and resulting in welded products that do not meet production requirements. Summary of the Invention

[0004] The purpose of this application is to provide a weld seam tracking method, system, electronic device, and computer-readable storage medium that can effectively track complex weld seams with high quality, improve the quality of welded products, and thus enhance the reputation and efficiency of the factory.

[0005] To address the aforementioned technical problems, embodiments of this application provide a weld seam tracking method applied to a robot. The method includes the following steps: acquiring the position information of the target actual weld seam location using external sensors mounted on the robot; storing the position information in a buffer and performing spline fitting on all position information stored in the buffer; obtaining a tracking coefficient curve based on the fitted spline obtained from the spline fitting and a preset teaching reference weld seam path; determining the information of the actual interpolation point corresponding to the target actual weld seam location according to the teaching reference weld seam path and the tracking coefficient curve, and performing welding according to the information of the actual interpolation point.

[0006] Embodiments of this application also provide a weld seam tracking system, including: an external sensor mounted on a robot, a cache module, a fitting module, a calculation module, and an execution module; the external sensor is used to acquire the position information of the target actual weld seam position and store the position information in the cache module; the fitting module is used to perform spline fitting on all the position information stored in the cache module; the calculation module is used to obtain a tracking coefficient curve based on the fitted spline obtained by the fitting module and a preset teaching reference weld seam path, and determine the information of the actual interpolation point corresponding to the target actual weld seam position according to the teaching reference weld seam path and the tracking coefficient curve; the execution module is used to control the robot to perform welding according to the information of the actual interpolation point.

[0007] Embodiments of this application also provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the weld seam tracking method described above.

[0008] Embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the weld seam tracking method described above.

[0009] The weld seam tracking method, system, electronic device, and computer-readable storage medium provided in the embodiments of this application require the robot to first acquire the position information of the target actual weld seam location through its own external sensors when performing welding work. The position information of the target actual weld seam location is stored in a buffer area, and spline fitting is performed on all the position information stored in the buffer area. Then, based on the fitted spline obtained by spline fitting and the preset teaching reference weld seam path, a tracking coefficient curve is obtained. Then, based on the teaching reference weld seam path and the tracking coefficient curve, the information of the actual interpolation point corresponding to the target actual weld seam location is determined. Finally, welding is performed based on the information of the actual interpolation point corresponding to the target actual weld seam location. Considering that traditional weld seam tracking algorithms perform poorly when dealing with complex, curved weld seams with large angle changes, they cannot achieve effective weld seam tracking, resulting in welded products that do not meet production requirements. Therefore, the embodiments of this application are based on spline fitting technology, which comprehensively considers the teaching reference weld seam path and the position information of the actual weld seam points traversed by the robot, and corrects the target actual weld seam points. That is, it obtains the information of the actual interpolation points corresponding to the target actual weld seam points. Welding is performed based on the information of the actual interpolation points, thereby enabling high-quality and effective tracking of complex, curved, and large-angle weld seams, improving the quality of welded products, and thus enhancing the factory's reputation and efficiency.

[0010] In some optional embodiments, the step of performing spline fitting on all point information stored in the buffer includes: when the buffer has already stored four point information, performing an initial spline fitting on all point information stored in the buffer to obtain an initial fitted spline; wherein the four point information are a first point information, a second point information, a third point information, and a fourth point information; determining the first-order boundary conditions and second-order boundary conditions of the initial fitted spline based on the first point information, the second point information, the third point information, and the fourth point information; when the buffer has already stored five point information and a new spline fitting is performed, directly using the first-order boundary conditions and second-order boundary conditions of the initial fitted spline as the first-order boundary conditions and second-order boundary conditions of the fitted spline obtained in the new spline fitting. When the buffer stores fewer than four point information points, spline fitting is meaningless and wasteful of resources. Initial spline fitting is performed only when four point information points are stored, ensuring sufficient basic information for the fitting. This guarantees that the first and second-order boundary conditions of the spline are scientifically accurate, ensuring good results for subsequent spline fitting. When performing subsequent spline fitting, the first and second-order boundary conditions are no longer determined; they are directly used from the initial fitting, balancing accuracy, efficiency, and computational cost.

[0011] In some optional embodiments, the first-order and second-order boundary conditions of the first-fit spline are determined based on the first point information, the second point information, the third point information, and the fourth point information using the following formula: s i =|Q i -Q i-1 |, i = 1, 2, 3, 4, where Q1 is the first point information, Q2 is the second point information, Q3 is the third point information, Q4 is the fourth point information, and Q′ s For the first-order boundary condition, Q″ s The second-order boundary condition is given.

[0012] In some optional embodiments, when the number of point information already stored in the buffer is equal to a preset storage threshold, when the robot finishes welding the target actual weld point and / or the external sensor acquires new target actual weld point information, the point information with the longest storage time in the buffer is removed. Limiting the capacity of the buffer ensures that the computational resources used for spline fitting are not too high, and the fitting time is not too long, further improving the accuracy and speed of weld tracking.

[0013] In some optional embodiments, obtaining the tracking coefficient curve based on the fitted spline obtained by the spline fitting and the preset teaching reference weld path includes: determining the remaining length of the teaching reference weld path according to the preset teaching reference weld path and the actual weld points that the robot has completed welding; determining the tracking coefficient according to the length of the fitted spline and the length of the teaching reference weld path; and fitting the tracking coefficient based on the fitted curve with second-order continuity to obtain the tracking coefficient curve.

[0014] In some optional embodiments, determining the information of the actual interpolation point corresponding to the target actual weld point based on the teaching reference weld path and the tracking coefficient curve includes: determining the planned interpolation point corresponding to the target actual weld point in the teaching reference weld path, and the previous planned interpolation point of the target planned interpolation point; determining the planned increment corresponding to the target actual weld point based on the target planned interpolation point and the previous planned interpolation point of the target planned interpolation point; and determining the information of the actual interpolation point corresponding to the target actual weld point based on the planned increment corresponding to the target actual weld point, the tracking coefficient curve, and the spline fitting function used when performing spline fitting.

[0015] In some optional embodiments, the step of determining the planning increment corresponding to the actual weld point based on the target planning interpolation point and the previous planning interpolation point of the target planning interpolation point is achieved by the following formula: dQ i =|p i -p i-1 |, where p i p represents the target planning interpolation point. i-1 dQ represents the previous interpolation point of the target interpolation point. i This represents the planned increment corresponding to the actual weld point of the target; the determination of the information of the actual interpolation point corresponding to the actual weld point of the target, based on the planned increment corresponding to the actual weld point of the target, the tracking coefficient curve, and the spline fitting function used in spline fitting, is achieved through the following formula: Qk i =spline[f(sk i )], sk i =dQ i +sk i-1 , sk0 = s start , where s start Let f(·) represent the initial parameters of the tracking coefficient curve, f(·) represent the tracking coefficient curve, and spline[·] represent the spline fitting function. Qk i This indicates the information of the actual interpolation point corresponding to the actual weld point of the target. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.

[0017] Figure 1 This is a flowchart of a weld seam tracking method provided in one embodiment of this application;

[0018] Figure 2 This is a flowchart of spline fitting for all point information stored in the cache area in one embodiment of this application;

[0019] Figure 3 In one embodiment of this application, a flowchart is used to obtain the tracking coefficient curve based on the fitted spline obtained by spline fitting and the preset teaching reference weld path;

[0020] Figure 4 This is a flowchart illustrating, in one embodiment of the present application, the information of the actual interpolation point corresponding to the target actual weld point position is determined based on the teaching reference weld path and the tracking coefficient curve.

[0021] Figure 5 This is a schematic diagram of a weld seam tracking system provided in another embodiment of this application;

[0022] Figure 6 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this application to help readers better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the various embodiments below is for the convenience of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.

[0024] One embodiment of this application relates to a weld seam tracking method applied to an electronic device, wherein the electronic device can be a terminal or a server. In this embodiment and the following embodiments, the electronic device is described using a server as an example. The implementation details of the weld seam tracking method of this embodiment are described below. The following implementation details are provided for ease of understanding and are not essential for implementing this solution.

[0025] The specific process of the weld seam tracking method in this embodiment can be as follows: Figure 1 As shown, it includes:

[0026] Step 101: Obtain the location information of the actual weld seam of the target by using external sensors mounted on the robot.

[0027] In practice, when industrial robots are performing welding work, they are used in conjunction with external sensors. The external sensors are aligned with the position to be welded to obtain the position information of the target actual weld point. The target actual weld point is the next actual weld point after the actual weld point that has been obtained.

[0028] In some examples, the location information of the target actual weld point is the two-dimensional or three-dimensional coordinate of the target actual weld point on the component to be welded (based on a two-dimensional or three-dimensional coordinate system established on the component to be welded). The location information of the target actual weld point can be denoted as Q. i .

[0029] Step 102: Store the point information in the cache area, and perform spline fitting on all the point information stored in the cache area.

[0030] In practical implementation, after obtaining the location information of the actual weld seam points, the server can store this information in a cache (the server's cache module) and perform spline fitting on all the location information stored in the cache based on a preset spline fitting algorithm. The preset spline fitting algorithm can be selected and set by those skilled in the art according to actual needs.

[0031] In some examples, the preset spline fitting algorithm can be a cubic spline fitting algorithm, a B-spline fitting algorithm, or other spline fitting algorithms with high-order continuous properties.

[0032] In some examples, the buffer has a capacity limit, meaning it has a preset storage threshold. When the number of point information points already stored in the buffer equals the preset threshold, it indicates that the buffer has reached its capacity limit, and a removal operation is required. When the robot finishes welding the actual target weld point and / or the external sensor acquires new target weld point information, the point information point with the longest storage time in the buffer is removed. This ensures that the number of point information points in the buffer is not too large and that all points are up-to-date. Limiting the buffer capacity minimizes the computational resources used for spline fitting and reduces the fitting time, thus significantly improving the accuracy and speed of weld tracking.

[0033] In some examples, a preset storage threshold of 10 is set, meaning that a maximum of 11 point information points can be stored in the cache. When the server obtains the point information of the eleventh target actual weld point (i.e., Q),11 After that, the point information that has been stored in the cache the longest, i.e., Q1, can be removed from the cache.

[0034] In some examples, the resulting fitted spline can be denoted as spline(s) i ), where s i =|Q i -Q i-1 |, Q i This indicates the location information of the actual weld point of the target, Q. i-1 This represents the location information of the previous actual weld point of the target actual weld point, and spline(·) is the spline fitting function used.

[0035] Step 103: Based on the fitted spline obtained by spline fitting and the preset teaching reference weld path, the tracking coefficient curve is obtained.

[0036] In the specific implementation, after the server performs spline fitting on all the point information stored in the cache based on a preset spline fitting algorithm, it can obtain a fitted spline. Based on the fitted spline obtained by spline fitting and the preset teaching reference weld path, the server obtains the tracking coefficient curve. The preset teaching reference weld path is obtained by the technicians according to the parts to be welded before the welding process begins. The teaching reference weld path includes several planned interpolation points, which are the planned points that need to be welded.

[0037] In some cases, the server determines the tracking coefficient α corresponding to the spline fitting based on the fitted spline obtained by spline fitting and the preset teaching reference weld path. Then, it uses a curve with second-order continuous properties, such as a trigonometric function curve or a polynomial curve, to fit the tracking coefficient α and obtain the tracking coefficient curve f(s).

[0038] In some cases, the tracking coefficient curve satisfies the following three conditions: First, the area of ​​integration of the tracking coefficient curve f(s) is equal to the tracking coefficient α; second, the first derivative k1 at the starting position of the tracking coefficient curve f(s) is controllable; third, the second derivative k2 at the starting position of the tracking coefficient curve f(s) is controllable. If tracking has just begun (i.e., the welding process has just started), then k1 = 1 and k2 = 0 must be satisfied.

[0039] Step 104: Based on the teaching reference weld path and tracking coefficient curve, determine the information of the actual interpolation point corresponding to the target actual weld point, and perform welding based on the information of the actual interpolation point.

[0040] In practical implementation, after obtaining the tracking coefficient curve, the server can determine the information of the actual interpolation point corresponding to the target actual weld point based on the taught reference weld path and the tracking coefficient curve, and then perform welding based on the information of the actual interpolation point. When the component to be welded has a large angle change, it cannot travel to the target actual weld point according to the taught reference weld path because the planned interpolation point in the taught reference weld path is not accurate enough. At this time, it is necessary to correct the taught reference weld path by combining the tracking coefficient curve, that is, to obtain the information of the actual interpolation point corresponding to the target actual weld point. The server controls the robot to perform welding based on the information of the actual interpolation point, so that it can accurately travel to the target actual weld point. Compared with conventional weld tracking methods, it can not only effectively track complex curves, but also make the welding speed more stable, effectively avoid the impact of speed fluctuations on welding quality, and ensure that the welding effect meets expectations.

[0041] In this embodiment, when the robot performs welding work, it first needs to acquire the position information of the actual weld seam location through its own external sensors, store the position information of the actual weld seam location in a buffer, and perform spline fitting on all the position information stored in the buffer. Then, based on the fitted spline obtained by spline fitting and the preset teaching reference weld seam path, a tracking coefficient curve is obtained. Then, based on the teaching reference weld seam path and the tracking coefficient curve, the information of the actual interpolation point corresponding to the actual weld seam location is determined. Finally, welding is performed based on the information of the actual interpolation point corresponding to the actual weld seam location. Considering that traditional weld seam tracking algorithms perform poorly when dealing with complex, curved weld seams with large angle changes, they cannot achieve effective weld seam tracking, resulting in welded products that do not meet production requirements. Therefore, the embodiments of this application are based on spline fitting technology, which comprehensively considers the teaching reference weld seam path and the position information of the actual weld seam points traversed by the robot, and corrects the target actual weld seam points. That is, it obtains the information of the actual interpolation points corresponding to the target actual weld seam points. Welding is performed based on the information of the actual interpolation points, thereby enabling high-quality and effective tracking of complex, curved, and large-angle weld seams, improving the quality of welded products, and thus enhancing the factory's reputation and efficiency.

[0042] In some embodiments, the server performs spline fitting on all point information stored in the cache, which can be achieved through methods such as... Figure 2 The steps shown are implemented as follows:

[0043] Step 201: Given that the cache already stores four point information, perform the first spline fitting on all the point information stored in the cache to obtain the first fitted spline. The four point information are the first point information, the second point information, the third point information, and the fourth point information.

[0044] In the specific implementation, the server can trigger the first spline fitting when the cache already contains information on four points. This is because large-angle curves are generally not present at the beginning of welding processes, and performing the first spline fitting with the cache already containing information on four points can save computational resources. The four points are denoted as Q1, Q2, Q3, and Q4.

[0045] Step 202: Based on the first point information, the second point information, the third point information, and the fourth point information, determine the first-order boundary conditions and the second-order boundary conditions of the first fitted spline.

[0046] In the specific implementation, after the server performs the first spline fitting and obtains the fitted spline of the first spline fitting, it can determine the first-order boundary conditions and second-order boundary conditions of the first fitted spline based on the first point information, the second point information, the third point information and the fourth point information.

[0047] In some examples, the first-order and second-order boundary conditions for the initial fitting spline are determined using the following formula, based on the first, second, third, and fourth point location information:

[0048]

[0049]

[0050] s i =|Q i -Q i-1 |,i=1,2,3,4

[0051] In the formula, Q1 represents the first location information, Q2 represents the second location information, Q3 represents the third location information, Q4 represents the fourth location information, and Q′ represents the fourth location information. s For the first-order boundary conditions of the first-fit spline, Q″ s The second-order boundary conditions are used for the first fitting of the spline.

[0052] Step 203: With five point information already stored in the buffer and a new spline fitting performed, the first-order and second-order boundary conditions of the first-fit spline are directly used as the first-order and second-order boundary conditions of the fitted spline obtained in the new spline fitting.

[0053] In the specific implementation, after the initial spline fitting, the server continues to acquire the location information of the actual weld seam points through external sensors. With five location points already stored in the cache, and a new spline fitting is performed, the server directly uses the first and second order boundary conditions of the initially fitted spline as the first and second order boundary conditions of the newly fitted spline. This eliminates the need for further calculations, saving computational resources.

[0054] In this embodiment, spline fitting is meaningless and wasteful of resources when the cache stores fewer than four point information points. The first spline fitting is performed only when four point information points are stored, ensuring sufficient basic information for fitting. This ensures that the first and second order boundary conditions of the determined spline are scientifically accurate, guaranteeing good results for subsequent spline fitting. When performing subsequent spline fitting, the first and second order boundary conditions are no longer determined; the first and second order boundary conditions of the initially fitted spline are directly used, balancing accuracy, efficiency, and computational cost.

[0055] In one embodiment, the server obtains a tracking coefficient curve based on the fitted spline obtained from spline fitting and a preset teaching reference weld path, which can be achieved through methods such as... Figure 3 The steps shown are implemented as follows:

[0056] Step 301: Determine the length of the remaining teaching reference weld path based on the preset teaching reference weld path and the actual weld points that the robot has completed welding.

[0057] In practical implementation, after obtaining the fitted spline, the server can first use integral formulas, including but not limited to Simpson's integral method, to calculate the total length S of the fitted spline. s Based on the preset teaching reference weld path and the actual weld points already welded by the robot, the length S of the remaining teaching reference weld path is determined. r .

[0058] Step 302: Determine the tracking coefficient based on the length of the fitted spline and the length of the teaching reference weld path.

[0059] In practical implementation, the tracking coefficient is determined based on the length of the fitted spline and the length of the taught reference weld path using the following formula:

[0060]

[0061] In the formula, S s S is the total length of the fitted spline. r α represents the length of the remaining teaching reference weld path, and α is the tracking coefficient.

[0062] Step 303: Fit the tracking coefficients based on the fitting curve with second-order continuous properties to obtain the tracking coefficient curve.

[0063] In a practical implementation, the server can fit the tracking coefficient α to a curve with second-order continuous properties, such as a trigonometric function curve or a polynomial curve, to obtain the tracking coefficient curve f(s).

[0064] In some embodiments, the server determines the information of the actual interpolation point corresponding to the target actual weld point based on the teaching reference weld path and the tracking coefficient curve, which can be achieved through methods such as... Figure 4 The steps shown are implemented as follows:

[0065] Step 401: Determine the planned interpolation point corresponding to the actual target weld point in the teaching reference weld path, as well as the previous planned interpolation point of the target planned interpolation point.

[0066] In the specific implementation, after obtaining the tracking coefficient curve, the server can determine the planning interpolation point corresponding to the actual weld point of the target, as well as the previous planning interpolation point of the target planning interpolation point, in the teaching reference weld path.

[0067] Step 402: Determine the planning increment corresponding to the actual weld point of the target based on the target planning interpolation point and the previous planning interpolation point of the target planning interpolation point.

[0068] In practical implementation, the planning increment corresponding to the actual weld point is determined based on the target planning interpolation point and the previous planning interpolation point of the target planning interpolation point, using the following formula:

[0069] dQ i =|p i -p i-1 |

[0070] In the formula, p i p represents the interpolation point for the target programming. i-1 dQ represents the previous interpolation point of the target interpolation point. i This indicates the planned increment corresponding to the actual weld point of the target.

[0071] Step 403: Based on the planned increment, tracking coefficient curve, and spline fitting function used when performing spline fitting, determine the information of the actual interpolation point corresponding to the actual weld point of the target.

[0072] In practical implementation, the information of the actual interpolation point corresponding to the actual weld point is determined based on the planned increment, tracking coefficient curve, and spline fitting function used when performing spline fitting. This is achieved through the following formula:

[0073] Qk i =spline[f(sk i )]

[0074] sk i =dQ i +sk i-1

[0075] sk0 = s start

[0076] In the formula, dQ i s represents the planned increment corresponding to the actual weld point of the target. start The initial parameters of the tracking coefficient curve are represented by f(·), f(·) represents the tracking coefficient curve, spline[·] represents the spline fitting function, and Qk i This indicates the information of the actual interpolation point corresponding to the actual weld location of the target.

[0077] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this patent.

[0078] Another embodiment of this application relates to a weld seam tracking system. The implementation details of the weld seam tracking system in this embodiment are described below. The following implementation details are provided for ease of understanding and are not essential for implementing this solution. A schematic diagram of the weld seam tracking system in this embodiment can be seen as follows: Figure 5 As shown, it includes: an external sensor 501 mounted on the robot, a cache module 502, a fitting module 503, a calculation module 504, and an execution module 505.

[0079] External sensor 501 is used to acquire the location information of the actual weld seam of the target and store the location information in cache module 502.

[0080] The fitting module 503 is used to perform spline fitting on all point information stored in the cache module 502.

[0081] The calculation module 504 is used to obtain the tracking coefficient curve based on the fitting spline obtained by the fitting module 503 and the preset teaching reference weld path, and to determine the information of the actual interpolation point corresponding to the target actual weld point according to the teaching reference weld path and the tracking coefficient curve.

[0082] The execution module 505 is used to control the robot to perform welding based on the information of the actual interpolation points.

[0083] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed in this application; however, this does not mean that other units are absent in this embodiment.

[0084] Another embodiment of this application relates to an electronic device, such as... Figure 6 As shown, it includes: at least one processor 601; and a memory 602 communicatively connected to the at least one processor 601; wherein the memory 602 stores instructions executable by the at least one processor 601, the instructions being executed by the at least one processor 601 to enable the at least one processor 601 to perform the weld seam tracking methods in the above embodiments.

[0085] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.

[0086] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0087] Another embodiment of this application relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the method embodiments described above.

[0088] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing this application, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this application.

Claims

1. A weld seam tracking method, characterized in that, Applications in robots, including: The robot acquires the location information of the actual weld seam by using external sensors mounted on it. The point information is stored in a cache area, and spline fitting is performed on all the point information stored in the cache area. Based on the preset teaching reference weld path and the actual weld points that the robot has already welded, determine the length of the remaining teaching reference weld path; The tracking coefficient is determined based on the length of the fitted spline obtained from spline fitting and the length of the teaching reference weld path; The tracking coefficients are fitted based on a fitting curve with second-order continuous properties to obtain a tracking coefficient curve; Based on the teaching reference weld path and the tracking coefficient curve, the information of the actual interpolation point corresponding to the target actual weld point is determined, and welding is performed based on the information of the actual interpolation point.

2. The weld seam tracking method according to claim 1, characterized in that, The step of performing spline fitting on all point information stored in the cache area includes: Given that the cache already stores four point information, a first spline fitting is performed on all point information stored in the cache to obtain the first fitted spline; wherein, the four point information are the first point information, the second point information, the third point information, and the fourth point information, respectively; Based on the first point information, the second point information, the third point information, and the fourth point information, the first-order boundary conditions and the second-order boundary conditions of the first-fit spline are determined; If the buffer has already stored five point information and a new spline fitting is performed, the first-order and second-order boundary conditions of the first-fit spline are directly used as the first-order and second-order boundary conditions of the fitted spline obtained in the new spline fitting.

3. The weld seam tracking method according to claim 2, characterized in that, The first-order and second-order boundary conditions of the first-fit spline are determined using the following formula, based on the first point information, the second point information, the third point information, and the fourth point information: in, This refers to the information of the first location. This is the information for the second location. For the third point information, This refers to the fourth point information. For the first-order boundary conditions, The second-order boundary condition is given.

4. The weld seam tracking method according to any one of claims 1 to 3, characterized in that, If the number of point information already stored in the buffer is equal to the preset storage threshold, when the robot finishes welding the target actual weld point and / or the external sensor obtains new target actual weld point information, the point information with the longest storage time in the buffer is removed.

5. The weld seam tracking method according to claim 1, characterized in that, The step of determining the information of the actual interpolation point corresponding to the target actual weld point based on the teaching reference weld path and the tracking coefficient curve includes: In the teaching reference weld path, determine the target planning interpolation point corresponding to the target actual weld point, and the previous planning interpolation point of the target planning interpolation point; Based on the target planning interpolation point and the previous planning interpolation point of the target planning interpolation point, determine the planning increment corresponding to the target actual weld point; Based on the planned increment corresponding to the actual weld point of the target, the tracking coefficient curve, and the spline fitting function used in spline fitting, the information of the actual interpolation point corresponding to the actual weld point of the target is determined.

6. The weld seam tracking method according to claim 5, characterized in that, The step of determining the planning increment corresponding to the actual weld point based on the target planning interpolation point and the previous planning interpolation point of the target planning interpolation point is achieved through the following formula: in, Indicates the target planning interpolation point, This represents the previous planning interpolation point of the target planning interpolation point. This represents the planned increment corresponding to the actual weld point of the target; The determination of the actual interpolation point information corresponding to the actual weld point based on the planned increment corresponding to the actual weld point, the tracking coefficient curve, and the spline fitting function used in spline fitting is achieved through the following formula: in, This represents the initial parameters of the tracking coefficient curve. This represents the tracking coefficient curve. Denotes the spline fitting function, This indicates the information of the actual interpolation point corresponding to the actual weld point of the target.

7. A weld seam tracking system, characterized in that, include: External sensors, cache modules, fitting modules, calculation modules, and execution modules are mounted on the robot. The external sensor is used to acquire the location information of the actual weld seam of the target and store the location information in the cache module; The fitting module is used to perform spline fitting on all point information stored in the cache module; The calculation module is used to determine the remaining length of the teaching reference weld path based on the preset teaching reference weld path and the actual weld points that the robot has completed welding, determine the tracking coefficient based on the length of the fitted spline obtained by spline fitting and the length of the teaching reference weld path, and fit the tracking coefficient based on the fitting curve with second-order continuous properties to obtain the tracking coefficient curve. The calculation module is also used to determine the information of the actual interpolation point corresponding to the target actual weld point based on the teaching reference weld path and the tracking coefficient curve; The execution module is used to control the robot to perform welding based on the information of the actual interpolation point.

8. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the weld seam tracking method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the weld seam tracking method according to any one of claims 1 to 6.

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