Welding path planning method, electronic device, and computer-readable storage medium

Abstract

Embodiments of the present application provide a welding path planning method, an electronic device and a computer readable storage medium, the method comprising: obtaining a reference path, each welding pass generating a plurality of first welding paths according to each segment of the reference path, each two first welding paths generating a connecting path according to the relationship between the segments and the first welding paths, and finally combining the plurality of first welding paths and the plurality of connecting paths to obtain a second welding path corresponding to each welding pass. The method can automatically generate a second welding path corresponding to each welding pass according to the reference path after the user teaches the reference path once, the transition at the inflection point of each second welding path is smooth, the width change between the automatically generated second welding path and the reference path is within the required range, the consistency between the automatically generated welding path and the reference path is improved, and the final welding effect is improved.

Description

Technical Field

[0001] This application relates to the field of industrial automation technology, and in particular to a welding path planning method, electronic device, and computer-readable storage medium. Background Technology

[0002] With the continuous advancement of automation and intelligence in the welding industry, welding robots are gradually replacing traditional welding. In scenarios such as ships, heat exchangers, large tanks, and high-pressure vessels, medium and thick plate workpieces are frequently encountered, which often result in wide weld seams. In such cases, multi-layer welding of the same weld seam is usually adopted, including multi-layer single-pass welding and multi-layer multi-pass welding.

[0003] In related technologies, industrial welding robots typically require repeated manual training for specific weld seams when performing multi-layer, multi-pass welding. If the workpiece is changed or its position altered, the trajectory needs to be repeatedly trained, resulting in lengthy manual operation times. Reducing this manual operation time is a pressing issue that needs to be discussed and resolved. Summary of the Invention

[0004] This application provides a welding path planning method, an electronic device, and a computer-readable storage medium, which aim to reduce manual operation time and improve work efficiency.

[0005] In a first aspect, embodiments of this application provide a welding path planning method, the method comprising:

[0006] Obtain at least two weld beads corresponding to the target weld;

[0007] Obtain a reference path, wherein the reference path is composed of multiple consecutive sub-paths connected together;

[0008] Based on the reference path, multiple first welding paths are obtained for each weld bead, wherein the first welding path corresponds one-to-one with the sub-path, and the first welding path is obtained by parallel offset of the corresponding sub-path.

[0009] Based on the spacing between the first welding path and the corresponding sub-path, determine the first connection point between the adjacent ends of every two segments of the first welding path;

[0010] Based on the first connection point, plan the connection path between the two segments of the first welding path corresponding to the first connection point, wherein the difference between the width of the connection path and the corresponding sub-path and the spacing is less than a preset value;

[0011] The first welding path and the connection path of each weld bead are combined to obtain the second welding path corresponding to the weld bead.

[0012] According to the welding path planning method provided in the first aspect of this application, by obtaining a reference path, each weld bead is parallel-offset according to each segment of the sub-path of the reference path to generate corresponding multiple first welding paths. Based on the relationship between the sub-paths and the first welding paths, a connection path is generated between every two segments of the first welding paths. Finally, the multiple segments of the first welding paths and the multiple connection paths corresponding to each weld bead are sequentially combined to obtain the second welding path corresponding to the weld bead. Through this method, the user only needs to teach the reference path once, and the second welding path corresponding to each weld bead can be automatically generated based on the reference path. Furthermore, the transition at the inflection points of each second welding path is smooth, ensuring that the width variation between the automatically generated second welding path and the reference path is within the required range, improving the consistency between the automatically generated welding path and the reference path, and enhancing the final welding effect.

[0013] Wherein, when both segments of the first welding path are straight lines, or when the two segments of the first welding path are a straight line and a curve respectively, determining the first connection point between adjacent ends of every two segments of the first welding path based on the distance between the first welding path and the corresponding sub-path includes:

[0014] The spacing is taken as the first radius;

[0015] A circle is determined based on the first radius and the endpoints of the adjacent ends of the two segments of the first welding path;

[0016] The first connection point is determined based on the center of the circle.

[0017] The step of determining the first connection point based on the center of the circle includes:

[0018] A straight line is determined based on the center of the circle and the second connection point, wherein the second connection point is the connection point of the corresponding two sub-path segments;

[0019] A point is selected on the straight line as the first connection point, wherein the distance between the first connection point and the second connection point is 1 to 1.5 times the radius of the circle.

[0020] Where both segments of the first welding path are curves, determining the first connection point between adjacent ends of every two segments of the first welding path based on the distance between the first welding path and the corresponding sub-path includes:

[0021] Each pair of the first welding paths is designated as the first path and the second path, respectively.

[0022] A first vector is determined based on the direction of the distance between the first end of the first path and the corresponding sub-path, wherein the first end is the end of the first path adjacent to the second path;

[0023] The second vector is determined based on the direction of the distance between the second end of the second path and the corresponding sub-path, wherein the second end is the end of the second path adjacent to the first path;

[0024] The sum vector is determined based on the first vector and the second vector;

[0025] The target area is determined based on the two corresponding sub-paths and the second connection point, wherein the second connection point is the connection point of the two corresponding sub-paths;

[0026] The first connection point is determined based on the line containing the sum vector and the target region.

[0027] The step of determining the target region based on the corresponding two sub-paths and the second connection point includes:

[0028] Starting from the second connection point, and using twice the length of the distance as the arc length, determine a vertex on each of the two sub-path segments;

[0029] A triangle is determined as the target region based on the second connection point and the two vertices.

[0030] Prior to obtaining at least two weld passes corresponding to the target weld, the process includes:

[0031] Obtain the depth and width of the target weld;

[0032] Obtain the target layer number and the target weld bead number for each layer;

[0033] Based on the depth, the width, the number of target layers, and the number of target weld beads, weld bead group information corresponding to the target weld is generated, wherein the weld bead group information includes at least two weld beads and an offset corresponding to each weld bead.

[0034] The step of obtaining multiple first welding paths corresponding to each weld bead based on the reference path includes:

[0035] Obtain the offset corresponding to each weld bead;

[0036] Based on the offset and the corresponding multiple sub-paths, the corresponding multiple segments of the first welding path are obtained by parallel offset.

[0037] In a second aspect, embodiments of this application provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the welding path planning method as described in the first aspect.

[0038] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the welding path planning method as described in the first aspect.

[0039] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0040] Figure 1 A flowchart of a welding path planning method provided in an embodiment of this application;

[0041] Figure 2 This is a schematic diagram showing that both first welding paths are straight lines, according to an embodiment of this application.

[0042] Figure 3 A schematic diagram showing two first welding paths, one a straight line and the other a curve, provided for an embodiment of this application;

[0043] Figure 4 This is a schematic diagram showing that both first welding paths are curves, as provided in an embodiment of this application.

[0044] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0046] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0047] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in the embodiments of this application in conjunction with the specific content of the technical solution.

[0048] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0049] In related technologies, with the continuous advancement of automation and intelligence in the welding industry, welding robots are gradually replacing traditional welding methods. In scenarios such as shipbuilding, heat exchangers, large tanks, and high-pressure vessels, medium-thick plate workpieces are frequently encountered, often resulting in wide weld seams. For weld seams exceeding 12mm, incomplete fusion (lack of penetration) is highly likely to occur during a single-pass welding process, demonstrating that traditional welding methods have reached the physical limits of weld seam width. In such cases, multi-pass welding of the same weld seam is typically employed, including multi-pass single-pass welding and multi-pass multi-pass welding.

[0050] In related technologies, industrial welding robots typically require repeated manual training for specific weld seams when performing multi-layer, multi-pass welding. If the workpiece is changed or its position altered, the trajectory needs to be repeatedly trained, resulting in lengthy manual operation times and heavily relying on the operator's experience. Reducing manual operation time is a pressing issue that needs to be discussed and resolved.

[0051] This application provides a welding path planning method, an electronic device, and a computer-readable storage medium. By obtaining a reference path, each weld bead is parallelly offset according to each segment of the reference path to generate multiple corresponding first welding paths. Based on the relationship between the sub-paths and the first welding paths, a connection path is generated between every two segments of the first welding paths. Finally, the multiple segments of the first welding paths and the multiple connection paths corresponding to each weld bead are sequentially combined to obtain the second welding path corresponding to the weld bead. This achieves that, with the user teaching the reference path once, the second welding path corresponding to each weld bead can be automatically generated based on the reference path. Furthermore, the transition at the inflection points of each second welding path is smooth, ensuring that the width variation between the automatically generated second welding path and the reference path is within the required range, thereby improving the consistency between the automatically generated welding path and the reference path and enhancing the final welding effect.

[0052] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0053] Figure 1 This is a flowchart of a welding path planning method provided in an embodiment of this application. Figure 1As shown, the welding path planning method of this embodiment includes, but is not limited to, steps S110, S120, S130, S140, S150, and S160.

[0054] S110: Obtain at least two weld beads corresponding to the target weld;

[0055] S120: Obtain a reference path, wherein the reference path consists of multiple consecutive sub-paths connected together;

[0056] S130: Based on the reference path, obtain multiple segments of the first welding path corresponding to each weld bead, wherein the first welding path corresponds one-to-one with the sub-path, and the first welding path is obtained by parallel offset of the corresponding sub-path.

[0057] S140: Determine the first connection point between adjacent ends of every two segments of the first welding path based on the spacing between the first welding path and the corresponding sub-path;

[0058] S150: Based on the first connection point, plan the connection path between the two segments of the first welding path corresponding to the first connection point, wherein the difference between the width and spacing between the connection path and the corresponding sub-path is less than a preset value.

[0059] S160: Combine the multiple first welding paths and multiple connection paths of each weld bead to obtain the second welding path corresponding to the weld bead.

[0060] In step S110, the target weld refers to the weld of the product that needs to be welded. The weld bead refers to the corresponding weld bead in the multi-layer, multi-pass welding method corresponding to the target weld. It can be understood that the path of each weld bead matches the shape of the target weld.

[0061] In step S120, the reference path refers to the teaching path obtained by the user through a teaching process based on the target weld; the sub-path refers to the different segments that make up the reference path. For example, when the reference path is composed of two straight line segments, the two straight line segments correspond to two sub-path segments.

[0062] In step S130, the first welding path refers to the welding gun movement path corresponding to the weld bead during welding. It can be understood that since the first welding path is obtained by parallel offset of the corresponding sub-path based on the spatial positional relationship between the corresponding weld bead and the target weld, there are gaps between some adjacent segments of the first welding path, which is discontinuous.

[0063] In step S140, the first connection point refers to the point determined by an algorithm based on the distance between the first welding paths of two adjacent segments and their respective sub-paths; the first connection point is located between the adjacent endpoints of the first welding paths of the two segments.

[0064] In step S150, the connection path is obtained by fitting the first connection point and the corresponding two segments of the first welding path. The difference between the width between the connection path and the corresponding two sub-paths and the distance between the corresponding first welding path and the sub-path is within a preset range, so that the corner transition of the connection path can be smoother, and the path shape formed by the combination of the first welding path and the connection path can be as consistent as possible with the reference path. It can be understood that the connection path refers to the corner segment of the continuous first welding path formed by the gap connection between two adjacent segments of the first welding path.

[0065] In step S160, the second welding path refers to the complete welding path obtained by sequentially combining the corresponding first welding path and connection path.

[0066] The welding path planning method provided in this application allows for the automatic generation of a second welding path for each weld bead after the user teaches a reference path only once. This enables rapid planning of welding paths for each weld bead even after changing the workpiece or its position, reducing user operation time and lowering the requirements for user expertise. Furthermore, the welding path planning method of this application results in smooth transitions at the inflection points of each second welding path, ensuring that the width variation between the automatically generated second welding path and the reference path is within the required range. This improves the consistency between the automatically generated welding path and the reference path, ultimately enhancing the welding effect.

[0067] In some embodiments, when both first welding paths are straight lines, or when the two first welding paths are a straight line and a curve respectively, step S140 includes: using the spacing as a first radius; determining a circle based on the first radius and the endpoints of adjacent ends of the two first welding paths; and determining a first connection point based on the center of the circle.

[0068] In some embodiments, determining the first connection point based on the center of the circle includes: determining a straight line based on the center of the circle and a second connection point, wherein the second connection point is the connection point of the corresponding two sub-paths; selecting a point on the straight line as the first connection point, wherein the distance between the first connection point and the second connection point is 1 to 1.5 times the radius of the circle.

[0069] In the case where both segments of the first welding path are straight lines, for example, as follows: Figure 2 As shown, in Figure 2In the reference path, line segments AB and BC are two adjacent sub-paths, with B being the connection point between them. Line segment B2C1 is the first welding path B2C1 obtained by parallel offsetting sub-path BC, and line segment A1B1 is the first welding path A1B1 obtained by parallel offsetting sub-path AB. The width between the reference path and the first welding path obtained by offsetting must be consistent.

[0070] Generally speaking, for a straight path, the exact location of the path can be determined by identifying the two endpoints. For points A and B, based on the preset direction of weld bead movement and the current posture of the welding torch, points A1 and B1 on the offset weld bead can be easily obtained.

[0071] After obtaining the first connecting weld bead based on the sub-path and weld bead position, as follows: Figure 2 As shown, the first welding paths A1B1 and B2C1 are not connected at this point, leaving a gap in between. If this gap is not removed, the welding path will become A1-B1-C1 (or C1-B2-A1) during the welding process, which is clearly inconsistent with the desired welding path. Therefore, it is necessary to plan a connection path between the first welding paths A1B1 and B2C1 to connect them and form the desired complete welding path. It can be understood that the desired welding path refers to a path similar in shape to the reference path, with a width that remains consistent with the reference path or varies within a preset range.

[0072] Assuming the intersection of the extended lines of the two first welding paths is taken as the connection point between the two first welding paths, the distance between this intersection point and point B will increase as the angle between the two lines decreases and decrease as the angle increases. This will result in the planned connection path being too large or too small from the reference path, which will not meet the requirements.

[0073] Therefore, in this application, the first connection point is determined in the following way: line segment BB1 is the distance between the first welding path A1B1 and the sub-path AB, line segment BB2 is the distance between the first welding path B2C1 and the sub-path BC, and the lengths of distance BB1 ​​and distance BB2 are equal. Using the length of the distance as the radius, and taking the endpoints B2 and B1 of the adjacent ends of the first welding path A1B1 and the first welding path B2C1 as two points on the arc, a circle and the center of the circle are calculated.

[0074] Once the center of the circle is determined, the connection point between sub-paths BC and AB is the second connection point. The first connection point D is then taken on the straight line between the second connection point B and the center of the circle. The length of BD can be adjusted appropriately, generally 1 to 1.5 times the radius of the arc. Alternatively, the center of the circle can be directly used as the first connection point D. After determining the first connection point D, connect B1, D, and B2 to obtain the connection path. Combining these paths yields the final welding path A1-B1-D-B2-C1. Alternatively, the connection method between the first welding path A1B1 and the first welding path B2C1 can be determined through the first connection point D, ultimately determining the welding path trajectory as A1-D-C1 (or C1-D-A1).

[0075] In the case where the two first welding paths are a straight line and a curve, respectively, for example, as follows: Figure 3 As shown, in Figure 3 In the diagram, straight line segment AB and curved line segment BC represent two adjacent sub-paths within the reference path, with B being the connection point between the two sub-paths. Curved line segment B2C1 is the first welding path B2C1 obtained by parallel offsetting sub-path BC, and straight line segment A1B1 is the first welding path A1B1 obtained by parallel offsetting sub-path AB. The width between the reference path and the first welding path obtained by offsetting must be consistent.

[0076] like Figure 3 As shown, there is also a gap between the first welding path B2C1 and the first welding path A1B1, requiring path planning. Similar to the example above, in this example, the first connection point is determined as follows: line segment BB1 is the distance between the first welding path A1B1 and the sub-path AB, and line segment BB2 is the distance between the first welding path B2C1 and the sub-path BC. The lengths of distances BB1 and BB2 are equal. Using the length of the distance as the radius, and taking the endpoints B2 and B1 of the adjacent ends of the first welding paths A1B1 and B2C1 as two points on an arc, a circle and its center are calculated. After determining the center, the connection point between sub-paths BC and AB is the second connection point. The first connection point D is taken on the straight line containing the second connection point B and the center. The length of BD can be adjusted appropriately, generally 1 to 1.5 times the radius of the arc. Alternatively, the center can be directly used as the first connection point D. After determining the first connection point D, connect B1, D, and B2 to obtain the connection path. Combining these paths yields the final welding path A1-B1-D-B2-C1. Alternatively, the connection method between the first welding path A1B1 and the first welding path B2C1 can be determined through the first connection point D, ultimately determining the trajectory of the welding path as A1-D-C1 (or C1-D-A1). Specifically, when determining the trajectory D-C1, several points are selected within the first welding path B2C1, and the trajectory D-C1 is fitted using these points, C1, and D.

[0077] It is understandable that straight lines and curves are no longer on the same plane, but the welding path planning method provided in this application example can still be used for path planning.

[0078] In some embodiments, when both first welding paths are curves, step S140 includes: taking each pair of first welding paths as a first path and a second path respectively; determining a first vector based on the direction of the distance between the first end of the first path and the corresponding sub-path, wherein the first end is the end of the first path adjacent to the second path; determining a second vector based on the direction of the distance between the second end of the second path and the corresponding sub-path, wherein the second end is the end of the second path adjacent to the first path; determining a sum vector based on the first vector and the second vector; determining a target region based on the corresponding two sub-paths and the second connection point, wherein the second connection point is the connection point of the corresponding two sub-paths; and determining a first connection point based on the straight line containing the sum vector and the target region.

[0079] In some embodiments, determining the target region based on the corresponding two sub-paths and the second connection point includes: determining a vertex on each of the two sub-paths, starting from the second connection point and using twice the distance as the arc length; and determining a triangle as the target region based on the second connection point and the two vertices.

[0080] For example, such as Figure 4 As shown, in Figure 4 In the diagram, curve segments AB and BC represent two adjacent sub-paths within the reference path, with B being the connection point between the two sub-paths. Curve segment B2C1 is the first welding path B2C1 obtained by parallel offsetting sub-path BC, and curve segment A1B1 is the first welding path A1B1 obtained by parallel offsetting sub-path AB. The width between the reference path and the first welding path obtained by offsetting must be consistent. Figure 4 As shown, there is also a gap between the first welding path B2C1 and the first welding path A1B1, which requires path planning.

[0081] For cases where the first welding path is a curve, the first connection point is determined in this application as follows: First, the first vector BB2 is determined based on the first end B2 of the first welding path B2C1 and the endpoint B of the corresponding sub-path BC. The second vector BB1 is determined based on the first end B1 of the first welding path A1B1 and the endpoint B of the corresponding sub-path AB. The angle between the first vector BB2 and the second vector BB1 is determined using the law of cosines. The sum vector BD of the first vector BB2 and the second vector BB1 is calculated using the first vector BB2 and the second vector BB1, where point D lies on the straight line containing vector BD.

[0082] Then, taking the second connection point B as the starting point, and using the length of line segment BB1, which is the length of the distance between the first welding path A1B1 and the sub-path AB, take one point in each of the positive and negative directions of the line containing vector BD, and record them as points D1 and D2.

[0083] On sub-paths AB and BC, starting from B, and using twice the length of BB1 as the arc length, take one point on each sub-path AB and BC, and record them as points G1 and G2. Connect points B, G1, and G2 to form a triangle, which is the target area. Determine which point, D1 or D2, is in the target area, and identify the point in the target area as the first connection point D. After determining the first connection point D, take several points in the first welding path B2C1. Based on these points, C1, and D, fit the trajectory D-C1; take several points in the first welding path A1B1. Based on these points, A1, and D, fit the trajectory D-A1. Thus, the complete path connecting the first welding paths A1B1 and B2C1 is determined to be A1-D-C1 (or C1-D-A1).

[0084] It is understandable that in actual working scenarios, the target weld may simultaneously have three situations: straight segments connected to straight segments, straight segments connected to curved segments, and curved segments connected to curved segments. In this case, for each two adjacent first welding paths, the welding path planning method provided in the above examples is used to plan the connection path between each two adjacent first welding paths. These paths are combined in sequence to finally obtain the completed welding path of each weld bead that matches the target weld, i.e., the second welding path.

[0085] In some embodiments, before step S110, the method includes: obtaining the depth and width of the target weld; obtaining the number of target layers and the number of target weld beads in each layer; generating weld bead group information corresponding to the target weld based on the depth, width, number of target layers and number of target weld beads, wherein the weld bead group information includes at least two weld beads and the offset corresponding to each weld bead.

[0086] In some embodiments, obtaining multiple first welding paths corresponding to each weld bead based on a reference path includes: obtaining the offset corresponding to each weld bead; and obtaining the corresponding multiple first welding paths by parallel offset based on the offset and the corresponding multiple sub-paths.

[0087] For example, before planning the path for each weld pass, the user first needs to determine the path of the target weld, which is along the center of the weld and is located in the innermost layer of each weld pass. Assuming a 2-layer, 3-weld-pass welding method is used, where the innermost weld pass 1 belongs to layer 1, and weld passes 2 and 3 belong to layer 2, then the user needs to determine the path of weld pass 1.

[0088] Let the welding direction along the target weld be the positive X-axis, and the direction along the welding torch be the Z1 axis. Then, based on the direction vectors of the X and Z1 axes, the Y-axis vector is determined by cross product calculation. Since the direction of the welding torch may not be on the welding surface of the weld, the Z-axis vector is determined by cross product calculation using the direction vectors of the X and Y axes. The X, Y, and Z axes determined above have mutually perpendicular direction vectors, and the YZ plane lies on the cross-section of the weld. At any position on the weld, let the coordinate system formed by the X, Y, and Z axes be denoted as O. i The coordinate system corresponding to the welding start point is O0.

[0089] Once weld bead 1 is determined, if weld bead n is to be used, some parameters need to be set, such as the offset Δx of the welding torch along the X / Y / Z axes. n / Δy n / Δz n And adjust the tilt angle Δθ of the welding torch in the YZ plane. n The tilt angle refers to the angle at which the welding torch is adjusted on the weld cross-section; all parameter values ​​are relative to weld pass 1. Each weld pass can be set individually, with different currents, voltages, and oscillation settings for different passes. Each weld pass has a corresponding number and can be used independently; different weld passes can be selected based on different scenarios.

[0090] For example, in multi-layer, multi-pass welding, the parameters for each weld pass in a weld pass group are set on a separate page, and multiple sets of parameters can be saved according to the file number. Each set of parameters applies to all multi-layer, multi-pass traces used in the current file, eliminating the need for repeated instruction.

[0091] For example, the parameters of each weld bead in each weld bead group can be automatically generated by the depth and width of the corresponding target weld, the desired number of target layers, and the number of target weld beads in each layer.

[0092] In another example, after automatically generating the parameters for each weld bead, the parameters for each weld bead are fine-tuned as needed before saving the weld bead group file.

[0093] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 5 As shown, the electronic device 2000 includes a memory 2100 and a processor 2200. The number of memory 2100 and processor 2200 can be one or more. Figure 5 Taking a memory 2101 and a processor 2201 as an example; the memory 2101 and the processor 2201 in the electronic device can be connected through a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0094] The memory 2101, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the methods provided in any embodiment of this application. The processor 2201 implements the welding path planning method provided in any of the above embodiments by running the software programs, instructions, and modules stored in the memory 2101.

[0095] Memory 2101 may primarily include a program storage area and a data storage area, wherein the program storage area may store the operating system and application programs required for at least one function. Furthermore, memory 2101 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, memory 2101 further includes memory remotely located relative to processor 2201, and this remote memory can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0096] One embodiment of this application also provides a computer-readable storage medium storing computer-executable instructions for performing the welding path planning method as provided in any embodiment of this application.

[0097] An embodiment of this application also provides a computer program product, including a computer program or computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the welding path planning method as provided in any embodiment of this application.

[0098] The system architecture and application scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will understand that as system architectures evolve and new application scenarios emerge, the technical solutions provided in this application are also applicable to similar technical problems.

[0099] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0100] In hardware implementations, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0101] The terms “component,” “module,” “system,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process or execution thread, and components may be located on a single computer or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local or remote processes based on signals having one or more data packets—e.g., data from two components interacting with another component between a local system, a distributed system, or a network, such as the Internet interacting with other systems via signals.

[0102] The above description, with reference to the accompanying drawings, illustrates some embodiments of this application, but does not limit the scope of this application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and spirit of this application shall be within the scope of this application.

Claims

1. A method of weld path planning, characterized by, The method comprises: acquiring at least two welding passes corresponding to a target weld seam; acquiring a reference path, wherein the reference path is composed of a plurality of continuous sub-paths connected in series; based on the reference path, obtaining a plurality of first welding paths corresponding to each of the welding passes, wherein the first welding paths correspond to the sub-paths one by one, and the first welding paths are obtained by parallel offsetting the corresponding sub-paths; determining a first connection point between adjacent ends of every two first welding paths according to a distance between the first welding paths and the corresponding sub-paths; when both of the two first welding paths are straight lines, or when the two first welding paths are a straight line and a curve respectively, taking the distance as a first radius, and determining a circle according to the first radius and end points of the adjacent ends of the two first welding paths, determining a straight line according to a center of the circle and a second connection point, wherein the second connection point is a connection point of the corresponding two sub-paths, and selecting a point on the straight line as the first connection point, wherein a distance between the first connection point and the second connection point is 1 to 1.5 times of the radius of the circle; when both of the two first welding paths are curves, taking every two first welding paths as a first path and a second path respectively, determining a first vector according to a direction in which a distance between a first end of the first path and the corresponding sub-path is located, wherein the first end is an end adjacent to the second path of the first path, determining a second vector according to a direction in which a distance between a second end of the second path and the corresponding sub-path is located, wherein the second end is an end adjacent to the first path of the second path, determining a sum vector according to the first vector and the second vector, determining two vertices on the two sub-paths respectively with the second connection point as a starting point and with a length of twice the distance as an arc length, wherein the second connection point is a connection point of the corresponding two sub-paths, determining a target area as a triangle according to the second connection point and the two vertices, and determining the first connection point according to a straight line in which the sum vector is located and the target area; planning a connection path between the two first welding paths corresponding to the first connection point according to the first connection point, wherein a width difference between the connection path and the corresponding sub-path is less than a preset value; combining the plurality of first welding paths and the plurality of connection paths of each welding pass to obtain a second welding path corresponding to the welding pass.

2. The weld path planning method of claim 1, wherein, Before the acquiring at least two welding passes corresponding to a target weld seam, the method comprises: acquiring a depth and a width of the target weld seam; acquiring a target layer number and a target welding pass number of each layer; generating welding pass group information corresponding to the target weld seam according to the depth, the width, the target layer number and the target welding pass number, wherein the welding pass group information at least includes two welding passes and an offset corresponding to each welding pass.

3. The weld path planning method of claim 2, wherein, The method based on the reference path to obtain a plurality of first welding paths corresponding to each of the welding passes comprises: obtaining the offset corresponding to each of the welding passes; obtaining the offset corresponding to each of the welding passes; 4. An electronic device, comprising: obtaining the offset corresponding to each of the welding passes; The welding path planning method comprises the following steps:

5. A computer readable storage medium, characterized in that, The welding path planning method comprises the following steps: The welding path planning method comprises the following steps:

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