A curve weld seam processing method based on a pre-scan pattern

Abstract

The application discloses a curve weld processing method based on a pre-scanning mode, comprising the following steps: scanning and converting to obtain weld point cloud data in a workpiece coordinate system; performing filtering processing on the obtained point cloud data to obtain filtered data; according to the angle value of the point data in the workpiece coordinate system, the filtered data is segmented according to the angle, and there is overlap between every two segments, curve fitting is performed on each segment of the segmented data; connecting and merging the curve fitted data; filtering the merged fitted data to obtain a backtracking point; and performing welding setting on the point cloud data after filtering out the backtracking point. In the pre-scanning mode, the obtained point cloud data is preprocessed, segmented, curve fitted, merged and filtered to the backtracking point, so that one-time welding of an irregular spiral weld in the pre-scanning mode can be realized, welding cost is reduced, and the method can be suitable for regular or irregular curve welds, welds with large local curvatures, special welds such as wrap angles or weld segments, and the like, and the weld data is accurate.

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