Weld polishing head adjusting method and device, electronic equipment and storage medium

Abstract

The embodiment of the application provides a welding seam polishing head adjusting method and device, electronic equipment and a storage medium, and belongs to the technical field of machining. The method comprises the following steps: acquiring image data of base metals at two ends of a welding seam; extracting point cloud data from the image data; constructing a welding base metal fitting plane according to the point cloud data; performing offset estimation according to the calibration plane and the welding base metal fitting plane to obtain preliminary offset data; sending the preliminary offset data to a robot, so that the robot controls the polishing head to approach the base metals at the two ends of the welding seam to perform polishing operation; acquiring force feedback data generated by a force sensor; evaluating the polishing head according to the force feedback data and the preliminary offset data to obtain an evaluation result; if the data of the polishing head does not conform to a benchmark, correcting the preliminary offset data according to the force feedback data to obtain updated offset data; and making the robot control the polishing head to approach the base metals at the two ends of the welding seam to perform polishing operation. The embodiment of the application can improve the smoothness and completeness of polishing.

Description

Technical Field

[0001] This application relates to the field of machining technology, and in particular to a method and apparatus for adjusting a weld grinding head, electronic equipment, and storage medium. Background Technology

[0002] Before robots can replace humans and are widely adopted, automation in the industrial sector often relies on pre-programmed robots to perform repetitive, mechanized tasks. However, as the complexity of scenarios increases, pre-programmed robot operating modes become increasingly difficult to cover all work scenarios, requiring more and more human intervention to operate the robots on the production line, thus generating significant labor costs.

[0003] Before robots can fully replace humans and are widely applied, automation in the industrial sector often relies on pre-programmed robots to perform repetitive, mechanized tasks. For example, during the milling and grinding of weld seams in subway and high-speed rail production systems, the base material of the car body must be smooth and intact. Specifically, when grinding weld seams on the side walls of the car body, the grinding head must maintain the correct tilt angle and normal grinding force. If the angle is mismatched with the base material or the grinding force is inconsistent, the resulting side walls will not have the required smoothness, and the base material may be damaged. Therefore, how to achieve smoothness and integrity in side wall grinding and quickly and effectively replace manual labor has become an important research focus in the industry. Summary of the Invention

[0004] The main objective of this application is to provide a method and apparatus for adjusting a weld grinding head, an electronic device, and a storage medium, which aim to improve the smoothness and integrity of the grinding process.

[0005] To achieve the above objectives, a first aspect of this application provides a method for adjusting a weld grinding head, the method comprising:

[0006] The image acquisition device acquires image data of the base material at both ends of the weld.

[0007] Point cloud data is extracted from the image data;

[0008] Construct a weld seam base material fitting plane based on the point cloud data;

[0009] Based on the calibration plane of the image acquisition device and the fitting plane of the weld base material, the offset is estimated to obtain preliminary offset data;

[0010] The preliminary offset data is sent to the robot so that the robot can control the grinding head to approach the base material at both ends of the weld and perform grinding operations based on the preliminary offset data.

[0011] The force sensor acquires force feedback data generated by the grinding head during the grinding process.

[0012] The motion data of the grinding head during the grinding operation is evaluated based on the force feedback data and the preliminary offset data to obtain an evaluation result; wherein, the evaluation result indicates whether the motion data of the grinding head during the grinding operation conforms to the benchmark;

[0013] If the evaluation result indicates that the motion data of the grinding head does not conform to the benchmark, the initial offset data is corrected according to the force feedback data to obtain updated offset data.

[0014] The updated offset data is sent to the robot so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the updated offset data.

[0015] In some embodiments, weld center position information and base material top position information are extracted from the weld base material fitting plane;

[0016] The offset between the weld center position information and the laser center position information is obtained to obtain the longitudinal position offset.

[0017] Obtain the offset between the top position information of the parent material and the zero point information of the Z-axis to obtain the vertical position offset;

[0018] The rotation angle difference between the fitted plane of the weld base material and the calibration plane is obtained to obtain the lateral angle difference;

[0019] The rotation angle difference between two adjacent fitting planes of the weld base material is obtained to obtain the longitudinal angle difference.

[0020] In some embodiments, the difference between the lateral angle difference and the angle feedback value is obtained to obtain the lateral angle difference value;

[0021] The lateral angle difference is compared with a preset angle threshold to obtain the lateral angle evaluation result;

[0022] The difference between the vertical position offset and the height feedback value is obtained to obtain the vertical height difference.

[0023] The vertical height difference is compared with a preset height threshold to obtain the vertical height evaluation result;

[0024] The evaluation result is determined by the horizontal angle evaluation result and the vertical height evaluation result.

[0025] In some embodiments, the lateral angle difference is compared with the preset angle threshold;

[0026] If the lateral angle difference is less than or equal to the preset angle threshold, the lateral angle evaluation result is determined to indicate that the angle of the grinding head conforms to the benchmark.

[0027] If the difference in the lateral angle is greater than the preset angle threshold, the lateral angle evaluation result is determined to indicate that the angle of the grinding head does not meet the benchmark.

[0028] In some embodiments, if the lateral angle evaluation result indicates that the angle of the grinding head does not conform to the benchmark, the lateral angle difference is corrected according to the lateral angle difference to obtain the corrected lateral angle difference;

[0029] If the vertical height assessment result indicates that the height of the grinding head does not conform to the benchmark, the vertical position offset is corrected according to the vertical height difference to obtain the corrected vertical position offset.

[0030] The corrected lateral angle difference and the corrected vertical position offset are combined to obtain the updated offset data.

[0031] In some embodiments, calibration operations are performed on the image acquisition device and the grinding head according to preset calibration data;

[0032] The calibrated image acquisition device and the grinding head are calibrated and verified to obtain the calibration verification results.

[0033] If the calibration verification result indicates that the image acquisition device and the grinding head have failed to be calibrated, then the calibration operation is performed again on the image acquisition device and the grinding head based on the calibration data.

[0034] In some embodiments, the image acquisition device is moved along a preset axis according to a preset step distance, and position data after the movement is acquired to obtain first position information to be verified; wherein, the preset axis is at least one of the X-axis, Y-axis and Z-axis;

[0035] The image acquisition device is moved along a preset axis according to a preset step distance, and the position data after the movement is collected to obtain the second position information to be verified.

[0036] The image acquisition device is calibrated and verified based on the preset verification location data and the first location information to be verified, and the image acquisition device calibration result is obtained.

[0037] The grinding head is calibrated and verified based on the preset verification position data and the second position information to be verified, and the grinding head calibration result is obtained.

[0038] To achieve the above objectives, a second aspect of this application provides a weld grinding head adjustment device, the device comprising:

[0039] The image acquisition module is used to acquire image data of the base material at both ends of the weld acquired by the image acquisition device;

[0040] The point cloud extraction module is used to extract point cloud data from the image data;

[0041] The fitting plane module is used to construct a fitting plane for the weld base material based on the point cloud data.

[0042] The offset estimation module is used to estimate the offset based on the calibration plane of the image acquisition device and the fitting plane of the weld base material to obtain preliminary offset data.

[0043] A preliminary offset data sending module is used to send the preliminary offset data to the robot, so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the preliminary offset data;

[0044] The feedback acquisition module is used to acquire force feedback data generated by the force sensor during the grinding process of the grinding head;

[0045] An evaluation module is used to evaluate the motion data of the grinding head during the grinding operation based on the force feedback data and the preliminary offset data, and obtain an evaluation result; wherein, the evaluation result indicates whether the motion data of the grinding head during the grinding operation conforms to the benchmark;

[0046] The correction module is used to correct the initial offset data based on the force feedback data if the evaluation result indicates that the motion data of the grinding head does not conform to the benchmark, so as to obtain updated offset data.

[0047] The module for sending updated offset data is used to send the updated offset data to the robot, so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the updated offset data.

[0048] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0049] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0050] The weld grinding head adjustment method, apparatus, electronic device, and storage medium proposed in this application acquire image data of the base material at both ends of the weld using an image acquisition device. Point cloud data is then extracted from these image data, and a fitting plane of the weld base material is constructed based on the point cloud data. To perform a more accurate grinding operation, offset prediction is performed based on the calibration plane of the image acquisition device and the fitting plane of the weld base material, obtaining preliminary offset data. This preliminary offset data is sent to a robot, enabling the robot to control the grinding head to approach the base material at both ends of the weld for grinding operations. Force feedback data generated by a force sensor is acquired during the grinding operation. Next, the motion data of the grinding head during the grinding operation is evaluated by combining the force feedback data and the preliminary offset data to obtain an evaluation result. This evaluation result reflects whether the motion data of the grinding head conforms to a reference. If the evaluation result indicates that the motion data of the grinding head does not conform to the reference, the preliminary offset data is corrected based on the force feedback data to obtain updated offset data. Finally, the updated offset data is sent to the robot, enabling it to control the grinding head to approach the base material at both ends of the weld for more precise grinding. Therefore, by combining an image acquisition device and a force sensor to correct the offset data of the grinding head, the grinding of the weld is made more accurate, allowing for smooth grinding of the weld base material. Simultaneously, the use of automated industrial grinding and self-calibration saves on labor costs during the grinding process. Attached Figure Description

[0051] Figure 1 This is a flowchart of the weld grinding head adjustment method provided in the embodiments of this application;

[0052] Figure 2 yes Figure 1 The flowchart of step S102 in the document;

[0053] Figure 3 yes Figure 1 The flowchart of step S105 in the process;

[0054] Figure 4 yes Figure 3 The flowchart of step S302 in the text;

[0055] Figure 5 yes Figure 3 The flowchart of step S304 in the process;

[0056] Figure 6 yes Figure 5 The flowchart of step S502 in the document;

[0057] Figure 7 yes Figure 1 The flowchart of step S106 in the process;

[0058] Figure 8 This is a schematic diagram of the structure of the weld grinding head adjustment device provided in the embodiments of this application;

[0059] Figure 9 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0060] 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.

[0061] 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.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0063] First, let's analyze some of the terms used in this application:

[0064] A point cloud is a dataset composed of a large number of three-dimensional points that represent the surface features of an object or scene in space. Each point contains information about its location in three-dimensional space and possibly other information such as color, normal direction, or intensity value. Point clouds have wide applications in various fields. In 3D modeling, point clouds can be used to create digital models of real-world objects. In autonomous driving, point clouds are used to perceive and understand the surrounding environment. In computer graphics, point clouds are used for rendering and surface reconstruction. Processing point cloud data involves many algorithms and techniques, such as point cloud filtering, registration, segmentation, and feature extraction. These processing steps help extract useful information from the point cloud.

[0065] A calibration plane is a special plane or object used for calibration. In computer vision and photography, calibration is the process of determining intrinsic and extrinsic parameters to map pixel coordinates in an image to three-dimensional coordinates in the real world. Calibration planes typically consist of special patterns with known dimensions and geometry, such as checkerboards or calibration boards. By capturing images containing these calibration planes and using image processing and computational methods, the camera's intrinsic parameters (e.g., focal length, principal point coordinates) and extrinsic parameters (camera position and orientation) can be extracted from the images. These parameters are crucial for various applications in computer vision, such as 3D reconstruction and pose estimation.

[0066] Before robots can fully replace humans and are widely used, automation in the industrial sector often relies on pre-programmed robots to perform repetitive, mechanized tasks. In industrial grinding, the grinding head needs to maintain the correct tilt angle and grinding force. If the angle is mismatched with the base material or the grinding force is inconsistent, it can lead to substandard smoothness of the produced sidewalls and damage to the base material. Therefore, how to achieve smoothness and integrity in sidewall grinding and quickly and effectively replace manual labor has become an important research topic in the industry. Currently, during robotic sidewall grinding, the tilt angle and grinding force are generally adjusted visually by the operator. This adjustment method is extremely inefficient, unsuitable for high-precision product processing, and inevitably subject to accidental errors introduced by visual inspection.

[0067] Based on this, embodiments of this application provide a method and apparatus for adjusting a weld grinding head, an electronic device, and a storage medium, which aim to improve the smoothness of weld grinding by continuously adjusting the offset data of the grinding head during the grinding operation.

[0068] The weld grinding head adjustment method, apparatus, electronic device, and storage medium provided in this application are specifically described through the following embodiments. First, the weld grinding head adjustment method in this application embodiment is described.

[0069] The weld grinding head adjustment method provided in this application relates to the field of machining technology. This method can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the weld grinding head adjustment method, but is not limited to the above forms.

[0070] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0071] Figure 1 This is an optional flowchart of the weld grinding head adjustment method provided in the embodiments of this application. Figure 1 The method may include, but is not limited to, steps S101 to S109.

[0072] Step S101: Acquire image data of the base material at both ends of the weld by the image acquisition device;

[0073] Step S102: Extract point cloud data from image data;

[0074] Step S103: Construct a fitting plane for the weld base material based on the point cloud data;

[0075] Step S104: Estimate the offset based on the calibration plane of the image acquisition device and the fitting plane of the weld base material to obtain preliminary offset data;

[0076] Step S105: Send the preliminary offset data to the robot so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the preliminary offset data.

[0077] Step S106: Acquire the force feedback data generated by the force sensor during the grinding process of the grinding head;

[0078] Step S107: Evaluate the motion data of the grinding head during the grinding operation based on the force feedback data and preliminary offset data to obtain the evaluation result; wherein, the evaluation result characterizes whether the motion data of the grinding head during the grinding operation conforms to the benchmark.

[0079] Step S108: If the evaluation result indicates that the motion data of the grinding head does not conform to the benchmark, the initial offset data is corrected according to the force feedback data to obtain the updated offset data.

[0080] Step S109: Send the updated offset data to the robot so that the robot can control the grinding head to approach the base material at both ends of the weld for grinding operation based on the updated offset data.

[0081] In step S102 of some embodiments, the point cloud data is a collection of a large number of discrete points, each with coordinates in three-dimensional space. These points can represent the shape of an object surface or scene. In the fields of computer vision, computer graphics, and 3D reconstruction, point cloud data is commonly used to describe objects or environments in the real world. By extracting point cloud data from image data, a virtual environment of the base material at both ends of the weld can be constructed within a computer, thereby facilitating subsequent calculations.

[0082] For example, after extracting point clouds from image data, outlier filtering and smoothing filtering are applied to the point clouds to obtain point cloud data.

[0083] In step S103 of some embodiments, the weld base material fitting plane is obtained by acquiring point cloud data of the weld area and then using a fitting algorithm to fit these points, thereby obtaining a planar model that best approximates the shape features of the weld base material. Therefore, the purpose of constructing the fitting plane is to better understand the geometry of the weld base material so as to perform accurate offset estimation and grinding operations in subsequent processing.

[0084] For example, the preprocessed point cloud is separated in the X, Y, and Z directions to obtain three matrices: X, Y, and Z. Local binarization of the Z matrix yields black and gray-white regions. The black region represents the base material region, and the gray-white region represents the weld region. After obtaining the weld region, the base material region is extracted by extending a predetermined distance to the left and right from its center. The weld base material plane is then obtained by fitting the point cloud of the base material region using an algorithm. It should be noted that the fitting algorithm can be the least squares method, polynomial fitting, or difference fitting method, etc. This embodiment does not impose specific limitations on the fitting algorithm.

[0085] In step S106 of some embodiments, a force sensor is a device that measures force and converts the force exerted on an object into an electrical signal or other form of output. Such sensors are commonly used in industry, robotics, medical devices, automotive engineering, and other fields to measure and monitor forces or pressures in a system. Force sensors can acquire positional and pressure information generated by the grinding head during the grinding process, helping the system monitor and adjust operations in real time to achieve better processing quality and consistency.

[0086] In step S109 of some embodiments, the updated offset data is obtained by correcting the initial offset data based on the angle difference between the calibration plane of the image acquisition device and the fitting plane of the weld base material. After correction, the adjusted offset data is the updated offset data. This updated data will be sent to the robot, enabling the robot to control the grinding head according to the latest information and perform a more accurate grinding operation by getting closer to the base material at both ends of the weld.

[0087] Steps S101 to S109, as illustrated in this embodiment, involve acquiring image data of the base material at both ends of the weld using an image acquisition device. Point cloud data is then extracted from these image data. Subsequently, a fitting plane for the weld base material is constructed based on the point cloud data. To perform a more accurate grinding operation, offset estimation is performed based on the calibration plane of the image acquisition device and the fitting plane of the weld base material, resulting in preliminary offset data. This preliminary offset data is sent to the robot, enabling it to control the grinding head to approach the base material at both ends of the weld for grinding. Force feedback data generated by a force sensor during the grinding process is acquired. Next, the motion data of the grinding head during the grinding operation is evaluated by combining the force feedback data and the preliminary offset data to obtain an evaluation result. This evaluation result reflects whether the motion data of the grinding head conforms to a reference. If the evaluation result indicates that the motion data of the grinding head does not conform to the reference, the preliminary offset data is corrected based on the force feedback data to obtain updated offset data. Finally, the updated offset data is sent to the robot, enabling the robot to control the grinding head to approach the base material at both ends of the weld for a more precise grinding operation. This systematic process ensures that the weld base material can be smoothly ground during the weld grinding process. At the same time, due to the use of automated industrial grinding and self-calibration, labor costs in the grinding process are saved, and economic efficiency is improved. Grinding completed by machine automation has higher smoothness and accuracy.

[0088] Please see Figure 2 In some embodiments, step S104 may include, but is not limited to, steps S201 to S205:

[0089] Step S201: Extract the weld center position information and the top position information of the base material from the weld base material fitting plane;

[0090] Step S202: Obtain the offset between the weld center position information and the laser center position information to obtain the longitudinal position offset;

[0091] Step S203: Obtain the offset between the top position information of the parent material and the zero point information of the Z-axis to obtain the vertical position offset;

[0092] Step S204: Obtain the rotation angle difference between the fitting plane and the calibration plane of the weld base material to obtain the transverse angle difference;

[0093] Step S205: Obtain the rotation angle difference between the fitting planes of two adjacent weld base materials to obtain the longitudinal angle difference.

[0094] In step S201 of some embodiments, the weld center position refers to the geometric center point of the weld, i.e., the connection point between two adjacent objects during the welding process. The base material top position information refers to the geometric position of the base material surface during the welding process. By obtaining the weld center position and the base material top position, it is beneficial to obtain the position offset based on the position information.

[0095] In step S202 of some embodiments, the laser center position refers to the geometric center point or focal point of the laser beam, which is typically used in laser measurement or laser positioning processes. By calculating the distance between the weld center position information and the laser center position information as an offset, the longitudinal axis offset of the weld center position information relative to the laser center can be obtained, so that the robot can control the grinding head to move to the weld center according to the longitudinal position offset.

[0096] In step S203 of some embodiments, the Z-axis zero point refers to a reference point or a specific position in a coordinate system, particularly related to the vertical direction. The Z-axis is typically used to represent the vertical direction, and the Z-axis zero point is the origin or reference point in that direction. By calculating the offset between the top position information of the base material and the Z-axis zero point information, the distance from the top of the base material to the Z-axis zero point is obtained, so that the robot can control the grinding head to move to the weld center in the vertical position according to the vertical position offset.

[0097] In step S204 of some embodiments, the rotational intersection value between the weld base material plane and the calibration plane is calculated as the lateral angle difference so that the robot can control the grinding head to rotate in the lateral position and fit the center of the weld for subsequent smooth grinding.

[0098] In step S205 of some embodiments, the rotational intersection between the two weld base material fitting planes is calculated so that the robot rotates the grinding head in the longitudinal position to fit the weld center.

[0099] Steps S201 to S205 of this embodiment extract the center position information of the weld and the top position information of the base material from the weld base material fitting plane. Then, the offset between the weld center position information and the laser center position information is obtained, thus yielding the longitudinal position offset. Further, the offset between the top position information of the base material and the Z-axis zero point information is obtained, yielding the vertical position offset. The rotation angle difference between the weld base material fitting plane and the calibration plane is obtained, yielding the lateral angle difference. Finally, the rotation angle difference between two adjacent weld base material fitting planes is obtained, yielding the longitudinal angle difference. This series of steps constitutes a comprehensive and systematic process, accurately describing the position and angle information of the weld through the differences in offset and rotation angles between different information. This provides data support for subsequently manipulating the grinding head to the weld center, enabling the grinding head to precisely fit the weld center, ensuring smooth grinding of the weld during subsequent grinding processes.

[0100] Please see Figure 3 In some embodiments, step S107 may include, but is not limited to, steps S301 to S305:

[0101] Step S301: Obtain the difference between the lateral angle difference and the angle feedback value to get the lateral angle difference;

[0102] Step S302: Compare the lateral angle difference with a preset angle threshold to obtain the lateral angle evaluation result;

[0103] Step S303: Obtain the difference between the vertical position offset and the height feedback value to get the vertical height difference;

[0104] Step S304: Compare the vertical height difference with a preset height threshold to obtain the vertical height evaluation result;

[0105] Step S305: Determine the evaluation result based on the horizontal angle evaluation result and the vertical height evaluation result.

[0106] In step S301 of some embodiments, the lateral angle difference represents the motion data of the grinding head performing the grinding operation, and represents the difference between the lateral angle and the threshold of the grinding head.

[0107] In step S302 of some embodiments, the lateral angle evaluation result includes whether the lateral angle of the grinding head conforms to the reference or not. If the evaluation result is that the lateral angle of the grinding head conforms to the reference, it indicates that the grinding head no longer needs to rotate in the lateral angle direction. If the evaluation result is that the lateral angle of the grinding head does not conform to the reference, it indicates that the grinding head needs to rotate in the lateral angle direction. The preset angle threshold is a manually preset angle, usually set by welding engineers or quality inspectors according to the needs of specific projects. In some embodiments, the preset angle threshold reference is ±0.5 degrees. When the deviation is greater than 0.5 degrees, it will cause uneven grinding of the base material at both ends of the weld.

[0108] In step S303 of some embodiments, the vertical height difference represents the motion data of the grinding head performing the grinding operation, and represents the difference between the grinding head at the vertical angle and the center of the weld and the preset height threshold.

[0109] In step S304 of some embodiments, the vertical height evaluation result indicates whether the vertical height of the grinding head meets the reference or does not meet the reference. If the evaluation result indicates that the vertical height of the grinding head meets the reference, it means that the grinding head no longer needs to move in the vertical direction. If the evaluation result indicates that the vertical height of the grinding head does not meet the reference, it means that the grinding head needs to move in the vertical direction. The preset height threshold is a manually preset angle, usually set by welding engineers or quality inspectors according to the needs of specific projects. In this embodiment, the preset height threshold reference is ±0.5 mm. When the deviation is greater than 0.5 mm, it will cause damage to the weld base material or insufficient grinding. It should be noted that the preset height threshold reference can be set to other values ​​in other embodiments, and this embodiment does not impose specific limitations.

[0110] Steps S301 to S305 of this embodiment involve obtaining the difference between the lateral angle difference and the angle feedback value to obtain the lateral angle difference. Then, the lateral angle difference is compared with a preset angle threshold to obtain the lateral angle evaluation result. Simultaneously, the difference between the vertical position offset and the height feedback value is obtained to obtain the vertical height difference. Subsequently, in step S304, the vertical height difference is compared with a preset height threshold to obtain the vertical height evaluation result. Finally, considering both the lateral angle evaluation result and the vertical height evaluation result, it is determined whether the motion data of the grinding head performing the grinding operation conforms to the benchmark. This series of steps, through multi-level evaluation of angle and height, ensures that the grinding head can move precisely to the position required by the offset parameters during the welding process, thereby enabling the grinding head to grind a smooth grinding surface during the grinding process, thus improving the controllability and consistency of the grinding quality.

[0111] Please see Figure 4 In some embodiments, step S302 may include, but is not limited to, steps S401 to S403:

[0112] Step S401: Compare the lateral angle difference with a preset angle threshold;

[0113] Step S402: If the difference in lateral angle is less than or equal to the preset angle threshold, the lateral angle evaluation result is determined to be that the angle of the grinding head conforms to the benchmark.

[0114] Step S403: If the difference in lateral angle is greater than the preset angle threshold, the lateral angle evaluation result is determined to indicate that the angle of the grinding head does not meet the benchmark.

[0115] In step S402 of some embodiments, for example, the preset angle threshold is ±0.5 degrees. When the deviation angle between the grinding head and the weld is within ±0.5 degrees, a smoother weld can be ground, thereby improving the smoothness of the weld. At the same time, since the threshold is set, each weld can ensure a certain smoothness, improving uniformity.

[0116] It should be noted that in other embodiments, the preset angle threshold reference can be set to other values, and this embodiment does not impose specific restrictions.

[0117] In step S403 of some embodiments, when the lateral angle difference is greater than the preset angle difference, it indicates that the grinding head is off-center from the weld and does not fit the weld center completely according to the preset parameters, resulting in insufficient grinding of the weld during the grinding process and failure to obtain a smooth weld surface; or it indicates that the grinding head is too close to the weld center, resulting in excessive grinding of the weld during the grinding process, resulting in a lack of weld integrity, making the weld incomplete or thinner than the expected standard.

[0118] Steps S401 to S403, as illustrated in this embodiment, involve comparing the lateral angle difference with a preset angle threshold. If the lateral angle difference is less than or equal to the preset angle threshold, the lateral angle evaluation result indicates that the grinding head angle conforms to the benchmark. This means the lateral angle is within an acceptable range, meeting the grinding standard, and the grinding head is tightly attached to the grinding surface according to parameter requirements, resulting in a smooth grinding surface. Conversely, if the lateral angle difference is greater than the preset angle threshold, the lateral angle evaluation result indicates that the grinding head angle does not conform to the benchmark. This means the lateral angle exceeds the acceptable range and needs adjustment or correction to ensure the grinding head is tightly attached to the grinding center, resulting in a smooth grinding surface. Therefore, the evaluation of the grinding head angle constitutes a detailed evaluation process for the lateral angle, ensuring that the lateral angle is within the predetermined standard range, thereby improving the controllability and consistency of welding quality.

[0119] Please see Figure 5 In some embodiments, step S108 may include, but is not limited to, steps S501 to S503:

[0120] Step S501: If the lateral angle evaluation result indicates that the angle of the grinding head does not conform to the benchmark, the lateral angle difference is corrected according to the lateral angle difference to obtain the corrected lateral angle difference.

[0121] Step S502: If the vertical height evaluation result indicates that the height of the grinding head does not conform to the benchmark, the vertical position offset is corrected according to the vertical height difference to obtain the corrected vertical position offset.

[0122] Step S503: Combine the corrected horizontal angle difference and the corrected vertical position offset to obtain the updated offset data.

[0123] In step S501 of some embodiments, when the lateral angle evaluation result indicates that the angle of the grinding head does not conform to the reference, it means that the angle of the grinding head is either too close or not close enough to the weld center. It should be noted that when the grinding head is too close to the weld center, the weld center will be ground incompletely; when the grinding head is not close enough, the weld center cannot be sufficiently ground, resulting in an uneven ground surface. Therefore, the lateral angle difference is corrected according to the lateral angle difference value, so that the grinding head can correctly conform to the weld center, thereby enabling the grinding head to produce a smooth and complete surface.

[0124] For example, the angle feedback value from the force sensor of the grinding head is 2.4 degrees, the lateral angle difference is 3 degrees, and the preset angle threshold is ±0.5 degrees. Since 3-2.4>0.5, the difference is corrected, and the grinding head offset data becomes 3.6 degrees.

[0125] In step S502 of some embodiments, when the vertical height evaluation result indicates that the angle of the grinding head does not conform to the reference, it means that the angle of the grinding head is either too close or not close enough to the weld center. When the grinding head is too close to the weld center, the weld center will be ground to the point of incompleteness. When the grinding head is not close enough to the weld center, the weld center will not be sufficiently ground, resulting in an uneven surface. Therefore, the vertical height is corrected according to the vertical height difference so that the grinding head can correctly fit the weld center, thereby enabling the grinding head to grind a smooth and complete surface.

[0126] Steps S501 to S503, as illustrated in this embodiment, involve correcting the lateral angle difference based on the difference in the lateral angle evaluation result, indicating that the grinding head angle does not conform to the reference. Simultaneously, if the vertical height evaluation result in a previous step indicates that the grinding head height does not conform to the reference, the vertical position offset is corrected based on the vertical height difference, resulting in a corrected vertical position offset. Finally, the corrected lateral angle difference and the corrected vertical position offset are combined to obtain updated offset data. This ensures that any discrepancies between the lateral angle and vertical height discovered during the grinding process are corrected, thereby improving the smoothness and integrity of the welding process.

[0127] Please see Figure 6 In some embodiments, prior to step S101, the weld grinding head adjustment method may also include, but is not limited to, steps S601 to S603:

[0128] Step S601: Perform calibration operations on the image acquisition device and the grinding head according to the preset calibration data;

[0129] Step S602: Perform calibration verification on the calibrated image acquisition device and grinding head to obtain the calibration verification results;

[0130] Step S603: If the calibration verification result indicates that the image acquisition device and the grinding head have failed to be calibrated, then the calibration operation is performed again on the image acquisition device and the grinding head based on the calibration data.

[0131] In step S601 of some embodiments, the marking operation refers to the process of ensuring that the position and orientation of the flange tool on the end effector (hand tool) in the robot system are consistent with the expected values. This process is to ensure that the robot can accurately position and manipulate the tool when performing tasks, especially in applications requiring high precision and repeatability, such as welding, machining, and assembly.

[0132] For example, in some embodiments, the robot origin coordinates (x, y, z, o, a, t) correspond to the original data (0, 100, 1000, 0, 0, 0). If the tool calibration data corresponding to the robot TOOL 2 (grinding head) size is set to (0, 0, 800, 0, 0, 0), then when the robot calls the TOOL 2 coordinate system, the robot's corresponding origin data should be (0, 100, 200, 0, 0, 0).

[0133] In step S603 of some embodiments, calibration failure means that the required parameters or accurate position information are not correctly obtained during the calibration process, which causes the system to be unable to accurately perform subsequent tasks or operations. This is caused by a variety of reasons, including mechanical problems, sensor failures, environmental interference, software errors, etc.

[0134] It should be noted that if calibration verification still fails after the image acquisition unit and grinding head have performed calibration operations, it is necessary to collect and display the calibration failure information so that maintenance personnel can repair the image acquisition unit and grinding head based on the calibration failure information. This will enable timely detection and repair of problems with the image acquisition unit and grinding head, reducing the impact of faults on grinding operations.

[0135] Steps S601 to S603, as illustrated in this embodiment, involve calibrating the image acquisition device and grinding head according to preset calibration data to ensure that they can accurately acquire weld seams and perform grinding operations. The calibrated image acquisition device and grinding head are then calibrated and verified to obtain the calibration verification results, confirming the accuracy of the calibration. If the calibration verification result indicates that the image acquisition device and grinding head calibration has failed (i.e., the verification has not passed), the calibration operation is performed again on the image acquisition device and grinding head based on the calibration data. This re-execution of the calibration operation corrects and improves the accuracy of the calibration, ensuring that the calibration of the image acquisition device and grinding head is precise during the grinding process, thus improving the accuracy and stability of the entire system.

[0136] Please see Figure 7 In some embodiments, step S602 may include, but is not limited to, steps S701 to S704:

[0137] Step S701: Move the image acquisition device along a preset axis according to a preset step distance, and acquire the position data after the movement to obtain the first position information to be verified; wherein, the preset axis is at least one of the X-axis, Y-axis and Z-axis;

[0138] Step S702: Move the image acquisition device along a preset axis according to a preset step distance, and collect the position data after the movement to obtain the second position information to be verified;

[0139] Step S703: The image acquisition device is calibrated and verified according to the preset verification location data and the first location information to be verified, and the image acquisition device calibration result is obtained.

[0140] Step S704: The grinding head is calibrated and verified according to the preset verification position data and the second position information to be verified, and the grinding head calibration result is obtained.

[0141] In step S701 of some embodiments, step distance refers to the distance traveled by an object or device during each movement in a motion control or positioning system.

[0142] In step S703 of some embodiments, the image acquisition device calibration result includes successful image acquisition device calibration and failed image acquisition device calibration. The calibration status of the image acquisition device can be obtained based on the image acquisition device calibration result, thereby ensuring the installation status of the image acquisition device.

[0143] In step S704 of some embodiments, the grinding head calibration result includes grinding head calibration success and grinding head calibration failure. The calibration status of the grinding head can be obtained based on the grinding head calibration result, thereby ensuring the installation status of the grinding head.

[0144] In steps S701 to S704 of this embodiment, the image acquisition device is moved along a preset axis (at least one of the X-axis, Y-axis, or Z-axis) by a preset step distance, and the position data after the movement is recorded to obtain the first position information to be verified. Then, the image acquisition device is moved along the same preset axis again using the preset step distance, and corresponding position data is collected to obtain the second position information to be verified. Subsequently, the image acquisition device is calibrated and verified using the preset verification position data and the first position information to be verified, thereby obtaining the calibration result of the image acquisition device. Simultaneously, the grinding head is calibrated and verified using the preset verification position data and the second position information to be verified, thereby obtaining the calibration result of the grinding head. By calibrating the image acquisition device and the grinding head, the correct installation of the image acquisition device and the grinding head is ensured, ensuring the accuracy of the subsequently obtained calibration data, thereby improving the smoothness and integrity of the weld seam after grinding.

[0145] For example, in some embodiments, after receiving the calibration data, the robot runs a calibration program to obtain the received data, substitutes the data into the robot program, and performs tool data assignment to complete the automatic calibration of TOOL 1 (camera) and TOOL 2 (grinding head). After the automatic calibration is completed, the robot will execute a subsequent calibration verification program, such as calling the BASE (base) coordinate system, switching the tool to TOOL 1 (camera), and moving back and forth 100mm in each of the X / Y / Z directions; then switching the tool to TOOL 2 (grinding head) and moving back and forth 100mm in each of the X / Y / Z directions.

[0146] This embodiment of the application acquires image data of the base material at both ends of the weld using an image acquisition device. Point cloud data is then extracted from these image data. Subsequently, a fitting plane for the weld base material is constructed based on the point cloud data. To perform a more accurate grinding operation, offset prediction is performed based on the calibration plane of the image acquisition device and the fitting plane of the weld base material, obtaining preliminary offset data. This preliminary offset data is sent to the robot, enabling it to control the grinding head to approach the base material at both ends of the weld for grinding. Force feedback data generated by a force sensor during the grinding process is acquired. Next, the motion data of the grinding head during the grinding operation is evaluated by combining the force feedback data and the preliminary offset data to obtain an evaluation result. This evaluation result reflects whether the motion data of the grinding head during the grinding operation conforms to a benchmark. If the evaluation result indicates that the motion data of the grinding head does not conform to the benchmark, the preliminary offset data is corrected based on the force feedback data to obtain updated offset data. Finally, the updated offset data is sent to the robot, enabling the robot to control the grinding head to approach the base material at both ends of the weld for a more precise grinding operation. This systematic process ensures that the base material of the weld can be smoothly ground during the weld grinding process. At the same time, the use of automated industrial grinding and self-calibration saves labor costs in the grinding process.

[0147] Please see Figure 8 This application also provides a weld grinding head adjustment device, which can realize the above-mentioned weld grinding head adjustment method. The device includes:

[0148] The image acquisition module is used to acquire image data of the base material at both ends of the weld acquired by the image acquisition device;

[0149] The point cloud extraction module is used to extract point cloud data from image data;

[0150] The fitting plane module is used to construct a fitting plane for the weld base material based on point cloud data;

[0151] The offset estimation module is used to estimate the offset based on the calibration plane of the image acquisition device and the fitting plane of the weld base material to obtain preliminary offset data.

[0152] The module for sending preliminary offset data is used to send preliminary offset data to the robot, so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the preliminary offset data;

[0153] The feedback acquisition module is used to acquire force feedback data generated by the force sensor during the grinding process of the grinding head;

[0154] The evaluation module is used to evaluate the motion data of the grinding head during the grinding operation based on force feedback data and preliminary offset data, and obtain the evaluation result; wherein, the evaluation result indicates whether the motion data of the grinding head during the grinding operation conforms to the benchmark;

[0155] The correction module is used to correct the initial offset data based on the force feedback data if the evaluation result indicates that the motion data of the grinding head does not conform to the benchmark, so as to obtain updated offset data.

[0156] The module for sending updated offset data is used to send updated offset data to the robot, so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the updated offset data.

[0157] The specific implementation method of the weld grinding head adjustment device is basically the same as the specific implementation method of the weld grinding head adjustment described above, and will not be repeated here.

[0158] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described weld grinding head adjustment method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0159] Please see Figure 9 , Figure 9 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0160] The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0161] The memory 902 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 902 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 to execute the weld grinding head adjustment method of the embodiments of this application.

[0162] The input / output interface 903 is used to implement information input and output;

[0163] The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0164] Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904);

[0165] The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0166] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described weld grinding head adjustment method.

[0167] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor 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.

[0168] The weld grinding head adjustment method, device, electronic device, and storage medium provided in this application acquire image data of the base material at both ends of the weld using an image acquisition device. Point cloud data is then extracted from these image data. Subsequently, a fitting plane of the weld base material is constructed based on the point cloud data. To perform more accurate grinding, offset prediction is performed based on the calibration plane of the image acquisition device and the fitting plane of the weld base material to obtain preliminary offset data. This preliminary offset data is sent to a robot, enabling it to control the grinding head to approach the base material at both ends of the weld for grinding. Force feedback data generated by a force sensor during the grinding process is acquired. Next, the motion data of the grinding head during the grinding operation is evaluated by combining the force feedback data and the preliminary offset data to obtain an evaluation result. This evaluation result reflects whether the motion data of the grinding head conforms to a benchmark. If the evaluation result indicates that the motion data of the grinding head does not conform to the benchmark, the preliminary offset data is corrected based on the force feedback data to obtain updated offset data. Finally, the updated offset data is sent to the robot, enabling it to control the grinding head to approach the base material at both ends of the weld for more precise grinding. This systematic process ensures that the weld base material is smoothly ground during the weld grinding process. Furthermore, due to the use of automated industrial grinding and self-calibration, labor costs are saved during the grinding process, improving economic efficiency. The automated grinding achieved by the machine results in higher smoothness and precision.

[0169] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0170] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0171] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0172] 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.

[0173] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0174] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0175] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0176] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0177] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0178] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0179] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for adjusting a weld grinding head, characterized in that, The grinding head is mounted on a robot, and the robot is equipped with an image acquisition device. A force sensor is mounted on the grinding head. The method includes: The image acquisition device acquires image data of the base material at both ends of the weld. Point cloud data is extracted from the image data, and outlier filtering and smoothing filtering are applied to the point cloud data to obtain preprocessed point cloud data. Constructing a weld base material fitting plane based on the point cloud data includes: separating the preprocessed point cloud data in the X, Y, and Z directions to obtain three matrices: X, Y, and Z; performing local binarization on the Z matrix to obtain black and gray-white regions; wherein the black region is the base material region and the gray-white region is the weld region; after obtaining the weld region, extending a preset distance to the left and right from the center of the region as the origin to extract the base material region; and using an algorithm to fit the point cloud data of the base material region to obtain the weld base material fitting plane. The offset is estimated based on the calibration plane of the image acquisition device and the fitting plane of the weld base material to obtain preliminary offset data; wherein, the preliminary offset data includes: lateral angular difference and vertical position offset; The preliminary offset data is sent to the robot so that the robot can control the grinding head to approach the base material at both ends of the weld and perform grinding operations based on the preliminary offset data. The force sensor acquires force feedback data generated by the grinding head during the grinding process; wherein the force feedback data includes: angle feedback value and height feedback value, the angle feedback value representing the angle after the grinding head rotates, and the height feedback value representing the current height value of the grinding head; The motion data of the grinding head during the grinding operation is evaluated based on the force feedback data and the preliminary offset data to obtain an evaluation result. This includes: obtaining the difference between the lateral angle difference and the angle feedback value to obtain a lateral angle difference; comparing the lateral angle difference with a preset angle threshold to obtain a lateral angle evaluation result; obtaining the difference between the vertical position offset and the height feedback value to obtain a vertical height difference; comparing the vertical height difference with a preset height threshold to obtain a vertical height evaluation result; and determining the evaluation result based on the lateral angle evaluation result and the vertical height evaluation result. The evaluation result indicates whether the motion data of the grinding head during the grinding operation conforms to a benchmark. If the evaluation result indicates that the motion data of the grinding head does not conform to the benchmark, the preliminary offset data is corrected according to the force feedback data to obtain updated offset data, including: if the lateral angle evaluation result indicates that the angle of the grinding head does not conform to the benchmark, the lateral angle difference is corrected according to the lateral angle difference to obtain a corrected lateral angle difference; if the vertical height evaluation result indicates that the height of the grinding head does not conform to the benchmark, the vertical position offset is corrected according to the vertical height difference to obtain a corrected vertical position offset; the corrected lateral angle difference and the corrected vertical position offset are combined to obtain updated offset data; The updated offset data is sent to the robot so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the updated offset data.

2. The method according to claim 1, characterized in that, The method involves estimating the offset based on the calibration plane of the image acquisition device and the fitting plane of the weld base material to obtain preliminary offset data; wherein the calibration plane includes: laser center position information and Z-axis zero point information; the method includes: The weld center position information and the top position information of the base material are extracted from the weld base material fitting plane; The offset between the weld center position information and the laser center position information is obtained to obtain the longitudinal position offset. Obtain the offset between the top position information of the parent material and the zero point information of the Z-axis to obtain the vertical position offset; The rotation angle difference between the fitted plane of the weld base material and the calibration plane is obtained to obtain the lateral angle difference; The rotation angle difference between two adjacent fitting planes of the weld base material is obtained to obtain the longitudinal angle difference.

3. The method according to claim 1, characterized in that, The lateral angle evaluation result is obtained by comparing the lateral angle difference with a preset angle threshold, including: Compare the lateral angle difference with the preset angle threshold; If the lateral angle difference is less than or equal to the preset angle threshold, the lateral angle evaluation result is determined to indicate that the angle of the grinding head conforms to the benchmark. If the difference in the lateral angle is greater than the preset angle threshold, the lateral angle evaluation result is determined to indicate that the angle of the grinding head does not meet the benchmark.

4. The method according to claim 1, characterized in that, Before acquiring the image data of the base material at both ends of the weld acquired by the image acquisition device, the method further includes: The image acquisition device and the grinding head are calibrated according to the preset calibration data. The calibrated image acquisition device and the grinding head are calibrated and verified to obtain the calibration verification results. If the calibration verification result indicates that the image acquisition device and the grinding head have failed to be calibrated, then the calibration operation is performed again on the image acquisition device and the grinding head based on the calibration data.

5. The method according to claim 4, characterized in that, The calibration verification results include: image acquisition device calibration results and grinding head calibration results; the calibration verification of the calibrated image acquisition device and the grinding head to obtain calibration verification results includes: The image acquisition device is moved along a preset axis according to a preset step distance, and position data after the movement is acquired to obtain the first position information to be verified; wherein, the preset axis is at least one of the X-axis, Y-axis and Z-axis; The image acquisition device is moved along a preset axis according to a preset step distance, and the position data after the movement is collected to obtain the second position information to be verified. The image acquisition device is calibrated and verified based on the preset verification location data and the first location information to be verified, and the image acquisition device calibration result is obtained. The grinding head is calibrated and verified based on the preset verification position data and the second position information to be verified, and the grinding head calibration result is obtained.

6. A weld grinding head adjustment device, characterized in that, The device includes: The image acquisition module is used to acquire image data of the base material at both ends of the weld acquired by the image acquisition device; The point cloud extraction module is used to extract point cloud data from the image data and perform outlier filtering and smoothing filtering on the point cloud data to obtain preprocessed point cloud data. The fitting plane module is used to construct a weld base material fitting plane based on the point cloud data. This includes: separating the preprocessed point cloud data in the X, Y, and Z directions to obtain three matrices (X, Y, and Z); performing local binarization on the Z matrix to obtain black and gray-white regions; where the black region represents the base material region and the gray-white region represents the weld region; after obtaining the weld region, extending a preset distance to the left and right from the center of this region as the origin to extract the base material region; and using an algorithm to fit the point cloud data of the base material region to obtain the weld base material fitting plane. The offset estimation module is used to estimate the offset based on the calibration plane of the image acquisition device and the fitting plane of the weld base material to obtain preliminary offset data; wherein, the preliminary offset data includes: lateral angle difference and vertical position offset; A preliminary offset data sending module is used to send the preliminary offset data to the robot, so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the preliminary offset data; The feedback acquisition module is used to acquire force feedback data generated by the force sensor during the grinding process of the grinding head; wherein, the force feedback data includes: angle feedback value and height feedback value, wherein the angle feedback value represents the angle after the grinding head is rotated, and the height feedback value represents the current height value of the grinding head; An evaluation module is used to evaluate the motion data of the grinding head during the grinding operation based on the force feedback data and the preliminary offset data, and obtain an evaluation result. This includes: obtaining the difference between the lateral angle difference and the angle feedback value to obtain a lateral angle difference; comparing the lateral angle difference with a preset angle threshold to obtain a lateral angle evaluation result; obtaining the difference between the vertical position offset and the height feedback value to obtain a vertical height difference; comparing the vertical height difference with a preset height threshold to obtain a vertical height evaluation result; and determining the evaluation result based on the lateral angle evaluation result and the vertical height evaluation result. The evaluation result indicates whether the motion data of the grinding head during the grinding operation conforms to a benchmark. The correction module is used to correct the initial offset data based on the force feedback data if the evaluation result indicates that the motion data of the grinding head does not conform to the benchmark, thereby obtaining updated offset data. This includes: if the lateral angle evaluation result indicates that the angle of the grinding head does not conform to the benchmark, correcting the lateral angle difference based on the lateral angle difference to obtain a corrected lateral angle difference; if the vertical height evaluation result indicates that the height of the grinding head does not conform to the benchmark, correcting the vertical position offset based on the vertical height difference to obtain a corrected vertical position offset; and combining the corrected lateral angle difference and the corrected vertical position offset to obtain updated offset data. The module for sending updated offset data is used to send the updated offset data to the robot, so that the robot can control the grinding head to approach the base material at both ends of the weld to perform grinding operations based on the updated offset data.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the weld grinding head adjustment method according to any one of claims 1 to 5.

8. 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 grinding head adjustment method according to any one of claims 1 to 5.

Images