Weld information detection method, device, computer equipment and readable storage medium

Abstract

The present application relates to a method, device, computer equipment and readable storage medium for detecting weld information. The method comprises: obtaining a three-dimensional product model; selecting a target bounding box from all bounding boxes of the three-dimensional product model, and for a target directed edge of the target bounding box, screening a target plane from multiple planes where the target directed edge is located; obtaining a first ray detection result of the target directed edge, and determining the weld type of the target directed edge based on the target plane and the first ray detection result, wherein the first ray detection result is obtained by emitting rays in the opposite direction of a target angle vector from any point in the target directed edge as a starting point, and the target angle vector includes an angle vector between a pair of intersecting edges that are perpendicular to and intersecting the target directed edge; based on the weld type of the target directed edge, detecting weld information of the three-dimensional product model. The present method can accurately detect weld information.

Description

Technical Field

[0001] The present application relates to the field of welding technology, and in particular to a weld information detection method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] Welding is a common and important way to connect products. Weld information detection is an important part of the welding process. The quality of the weld directly affects the strength, durability and safety of the entire product structure. Therefore, it is particularly important to detect the weld information during the welding process.

[0003] In traditional technology, weld information detection mostly relies on manual operation, that is, different operators browse the two-dimensional welding design drawings, analyze and process the weld information in the two-dimensional welding design drawings based on historical welding experience, so as to obtain a variety of weld information, and then weld the product based on the weld information.

[0004] However, the current weld information detection methods or traditional methods are not accurate enough. Summary of the invention

[0005] Based on this, it is necessary to provide an accurate weld information detection method, device, computer equipment, computer readable storage medium and computer program product to address the above technical problems.

[0006] In a first aspect, the present application provides a weld information detection method, comprising:

[0007] Acquire a three-dimensional product model, the three-dimensional product model including a plurality of bounding boxes surrounding a substructure of the product, the bounding box including a target directed edge;

[0008] A target bounding box is selected from all bounding boxes of the three-dimensional product model, and a target plane is screened from multiple planes where the target directed edge is located for a target directed edge of the target bounding box, wherein the target plane is a plane that contacts the bounding boxes other than the target bounding box among all the bounding boxes;

[0009] Obtaining a first ray detection result of a target directed edge, and determining a weld type of the target directed edge based on a target plane and the first ray detection result, wherein the first ray detection result is obtained by emitting rays in the opposite direction of a target angle vector from any point in the target directed edge as a starting point, and the target angle vector includes an angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge;

[0010] Based on the weld type of the target directed edge, the weld information of the 3D product model is detected.

[0011] In one embodiment, the method further comprises:

[0012] If the target plane is not screened out or multiple planes where the target directed edge is located are all target planes, it is determined that the target directed edge is a non-weld seam.

[0013] In one embodiment, determining the weld type of the target directed edge based on the target plane and the first ray detection result includes:

[0014] In the case where the first ray detection result indicates that a bounding box other than the target bounding box is detected, determining that the weld type of the target directed edge is a fillet weld for the target plane;

[0015] When the first ray detection result indicates that no bounding box other than the target bounding box is detected, it is determined that the weld type of the target directed edge is a splicing weld for the target plane.

[0016] In one embodiment, selecting a target plane from a plurality of planes where the target directed edge is located includes:

[0017] Acquire multiple second ray detection results, wherein the second ray detection results are obtained by emitting a ray of a preset length in a vertical direction away from the target bounding box, starting from any plane where the target directed edge is located;

[0018] Filtering out a target detection result from the plurality of second ray detection results, the target detection result indicating that a bounding box other than the target bounding box is detected;

[0019] The plane corresponding to the target detection result is determined as the target plane.

[0020] In one embodiment, obtaining a plurality of second ray detection results includes:

[0021] For any plane where the target directed edge is located, a point in the plane that is in the vertical direction of the midpoint of the target directed edge and is at a preset distance from the midpoint is determined as the target point;

[0022] Taking the target point as the starting point, a ray of a preset length is emitted in a vertical direction away from the target bounding box to obtain a second ray detection result.

[0023] In one embodiment, the method further comprises:

[0024] Obtain the spatial position of the target directed edge in the three-dimensional product model;

[0025] Based on the spatial position of the target directed edge and the weld type, the weld information of the 3D product model is generated.

[0026] In a second aspect, the present application also provides a weld information detection device, comprising:

[0027] An acquisition module, used for acquiring a three-dimensional product model, wherein the three-dimensional product model includes a plurality of bounding boxes surrounding a substructure of the product, and the bounding boxes include a target directed edge;

[0028] A plane determination module is used to select a target bounding box from all bounding boxes of the three-dimensional product model, and select a target plane from multiple planes where the target directed edge of the target bounding box is located, wherein the target plane is a plane that contacts the bounding boxes other than the target bounding box among all bounding boxes;

[0029] A type determination module, used to obtain a first ray detection result of a target directed edge, and determine the weld type of the target directed edge based on the target plane and the first ray detection result, wherein the first ray detection result is obtained by emitting rays in the opposite direction of a target angle vector from any point in the target directed edge as a starting point, and the target angle vector includes an angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge;

[0030] The detection module is used to detect the weld information of the three-dimensional product model based on the weld type of the target directed edge.

[0031] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0032] Acquire a three-dimensional product model, the three-dimensional product model including a plurality of bounding boxes surrounding a substructure of the product, the bounding box including a target directed edge;

[0033] A target bounding box is selected from all bounding boxes of the three-dimensional product model, and a target plane is screened from multiple planes where the target directed edge is located for a target directed edge of the target bounding box, wherein the target plane is a plane that contacts the bounding boxes other than the target bounding box among all the bounding boxes;

[0034] Obtaining a first ray detection result of a target directed edge, and determining a weld type of the target directed edge based on a target plane and the first ray detection result, wherein the first ray detection result is obtained by emitting rays in the opposite direction of a target angle vector from any point in the target directed edge as a starting point, and the target angle vector includes an angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge;

[0035] Based on the weld type of the target directed edge, the weld information of the 3D product model is detected.

[0036] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0037] Acquire a three-dimensional product model, the three-dimensional product model including a plurality of bounding boxes surrounding a substructure of the product, the bounding box including a target directed edge;

[0038] A target bounding box is selected from all bounding boxes of the three-dimensional product model, and a target plane is screened from multiple planes where the target directed edge is located for a target directed edge of the target bounding box, wherein the target plane is a plane that contacts the bounding boxes other than the target bounding box among all the bounding boxes;

[0039] Obtaining a first ray detection result of a target directed edge, and determining a weld type of the target directed edge based on a target plane and the first ray detection result, wherein the first ray detection result is obtained by emitting rays in the opposite direction of a target angle vector from any point in the target directed edge as a starting point, and the target angle vector includes an angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge;

[0040] Based on the weld type of the target directed edge, the weld information of the 3D product model is detected.

[0041] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0042] Acquire a three-dimensional product model, the three-dimensional product model including a plurality of bounding boxes surrounding a substructure of the product, the bounding box including a target directed edge;

[0043] A target bounding box is selected from all bounding boxes of the three-dimensional product model, and a target plane is screened from multiple planes where the target directed edge is located for a target directed edge of the target bounding box, wherein the target plane is a plane that contacts the bounding boxes other than the target bounding box among all the bounding boxes;

[0044] Obtaining a first ray detection result of a target directed edge, and determining a weld type of the target directed edge based on a target plane and the first ray detection result, wherein the first ray detection result is obtained by emitting rays in the opposite direction of a target angle vector from any point in the target directed edge as a starting point, and the target angle vector includes an angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge;

[0045] Based on the weld type of the target directed edge, the weld information of the 3D product model is detected.

[0046] The above-mentioned weld information detection method, device, computer equipment, computer-readable storage medium and computer program product are different from manually obtaining weld information from two-dimensional design drawings. The present application provides a weld information detection method for accurately detecting weld information through a three-dimensional product model. Specifically, for each target directed edge of a target bounding box in the three-dimensional product model, on the one hand, from the multiple planes where the target directed edge is located, the target plane that contacts the bounding box other than the target bounding box is screened, and on the other hand, the first ray detection result of emitting rays in the opposite direction of the target angle vector with any point in the target directed edge as the starting point is obtained, and then based on the target plane and the first ray detection result, the weld type of the target directed edge is comprehensively determined, and finally based on the weld type of the target directed edge, the weld information of the three-dimensional product model is detected. In the whole process, each target directed edge in the three-dimensional product model is automatically analyzed, and no edge is omitted, and the accuracy of determining the weld type of the target directed edge is further improved by double detection of the target plane in the target bounding box that contacts the bounding box other than the target bounding box and the first ray detection result of the target directed edge. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments of the present application or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0048] FIG1 is a diagram showing an application environment of a weld information detection method according to an embodiment;

[0049] Figure 2 Schematic diagram of a process of a weld information detection method in one embodiment;

[0050] Figure 3 is a schematic diagram of a bounding box surrounding a square tube in one embodiment;

[0051] Figure 4 A schematic diagram of a flow chart of a weld information detection method in another embodiment;

[0052] Figure 5 It is a schematic diagram of emitting a ray in the opposite direction of the target angle vector from any point in the target directed edge as a starting point in an embodiment;

[0053] Figure 6 A schematic diagram of emitting a ray of a preset length in a vertical direction away from a target bounding box from a target point in an embodiment;

[0054] Figure 7is a target directed edge in one embodiment The weld type is a schematic diagram of the butt weld for the P1P2P3P4 plane;

[0055] Figure 8 is a target directed edge in one embodiment The weld type is a schematic diagram of a fillet weld for the P1P2P3P4 plane;

[0056] Fig. 9 is a target directed edge in one embodiment The weld type is a schematic diagram of a fillet weld for the P1P2P6P5 plane;

[0057] Fig.10 is a target directed edge in one embodiment The weld type is a schematic diagram of the butt weld for the P1P2P6P5 plane;

[0058] Fig.11 is a structural block diagram of a weld information detection device in one embodiment;

[0059] Fig.12 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are used to explain the present application and are not used to limit the present application.

[0061] The weld information detection method provided in the embodiment of the present application can be applied in the application environment shown in FIG1. ​​The terminal 102 communicates with the server 104 through a network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers.

[0062] The operator selects the three-dimensional product model identifier on the weld information detection interface of the terminal 102, and uploads the weld information detection request to the server 104. The weld information detection request carries the three-dimensional product model identifier. The server 104 obtains the three-dimensional product model corresponding to the three-dimensional product model identifier from the database based on the three-dimensional product model identifier. The three-dimensional product model includes a plurality of bounding boxes surrounding the substructure of the product, and the bounding box includes the target directed edge. For example, the three-dimensional product model can be a three-dimensional mold frame model, and the substructure of the product can be a plurality of square tubes in the mold frame model. In other words, the three-dimensional mold frame model includes a plurality of bounding boxes surrounding the plurality of square tubes in the mold frame, and the bounding box includes the target directed edge.

[0063] The server 104 selects a target bounding box from all bounding boxes of the three-dimensional product model, and selects a target plane from multiple planes where the target directed edge is located for the target directed edge of the target bounding box, wherein the target plane is a plane that contacts the bounding boxes other than the target bounding box in all bounding boxes; obtains the first ray detection result of the target directed edge, and determines the weld type of the target directed edge based on the target plane and the first ray detection result, wherein the first ray detection result is obtained by emitting rays in the opposite direction of the target angle vector from any point in the target directed edge as the starting point, and the target angle vector includes the angle vector between a pair of intersecting edges that are perpendicular to and intersecting the target directed edge; based on the weld type of the target directed edge, detects the weld information of the three-dimensional product model. Further, the server 104 marks the weld information of the three-dimensional product model in the three-dimensional product model, sends the updated three-dimensional product model to the terminal 102, and the terminal 102 displays it to the user.

[0064] The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. Head-mounted devices may be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. The server 104 may be an independent physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides cloud computing services.

[0065] In an exemplary embodiment, Figure 2 As shown, a method for detecting weld information is provided, and the method is applied to the server 104 in FIG. 1 as an example for explanation. Wherein:

[0066] S200, obtaining a three-dimensional product model.

[0067] The three-dimensional product model includes a plurality of bounding boxes surrounding the substructure of the product, and the bounding boxes include the target directed edge. The bounding box refers to a geometric body with a slightly larger volume and simpler characteristics that approximately replaces a complex geometric object. The direction of the target directed edge can be customized.

[0068] Specifically, an initial three-dimensional product model is obtained. The initial three-dimensional model is a three-dimensional model similar to an actual product, such as a CAD (Computer Aided Design) model.

[0069] Each substructure in the initial three-dimensional product model is processed by a bounding box algorithm, and each substructure in the initial three-dimensional product model is surrounded by a bounding box to obtain a three-dimensional product model. For example, when the three-dimensional product model is a three-dimensional mold frame model, the substructure of the product can be a plurality of square tubes in the mold frame model, such as Figure 3 The figure shows a schematic diagram of a bounding box surrounding a square tube. The bounding box is a rectangle with eight vertices P1-P8 and 12 target directed edges. In other words, the three-dimensional mold frame model includes multiple bounding boxes surrounding multiple square tubes in the mold frame, and the bounding boxes are composed of at least one target directed edge.

[0070] Furthermore, the bounding box algorithm is a method for solving the optimal bounding space of a discrete point set. Common bounding box algorithms include but are not limited to the AABB (Axis-aligned bounding box) algorithm, the bounding sphere algorithm, the OBB (Oriented bounding box) algorithm, and the FDH (Fixed directions hulls or k-DOP) algorithm.

[0071] Taking the AABB algorithm as an example, for the Unity engine's API (Application Programming Interface), the MeshFilter.bounds script is used to obtain the bounding box information of the substructure surrounding the product. Among them, MeshFilter is the mesh component of the three-dimensional model, and the Unity engine uses the AABB algorithm to calculate the bounding box data of the mesh.

[0072] In one embodiment, the three-dimensional product model can be preprocessed, and the preprocessing includes model simplification, noise removal and model segmentation, etc., to improve the accuracy and efficiency of subsequent weld information detection. For example, model simplification includes merging repeated nodes in several substructures, model segmentation can divide different substructures, and noise removal can remove abnormal data points in the three-dimensional product model.

[0073] S400, selecting a target bounding box from all bounding boxes of the three-dimensional product model, and screening a target plane from multiple planes where the target directed edge of the target bounding box is located.

[0074] The target plane is a plane that contacts all bounding boxes except the target bounding box.

[0075] Specifically, all bounding boxes of the three-dimensional product model are traversed, and each bounding box is analyzed one by one. Since the weld information is the weld information of the target directed edge, the bounding box currently being analyzed is used as the target bounding box, and each target directed edge in the target bounding box is analyzed one by one.

[0076] For each target directed edge, the target directed edge can be a directed edge of multiple planes in the target bounding box at the same time, and these planes may be target planes that are in contact with bounding boxes other than the target bounding box, or may be other planes that are not in contact with other bounding boxes. By screening the target plane from the multiple planes where the target directed edge is located, the welding plane corresponding to the target directed edge is determined, and then by determining the welding plane corresponding to the target directed edge, the weld type of the target directed edge is more accurately determined.

[0077] For example, still Figure 3 As shown, the target bounding box is P1P2P3P4P5P6P7P8 and the target directed edge is In the case of The two planes are P1P2P3P4 and P1P2P6P5. From P1P2P3P4 and P1P2P6P5, determine which plane is the target plane that contacts the bounding box other than the target bounding box. If P1P2P3P4 is the target plane, it means that the planes that the target bounding box contacts with other bounding boxes include P1P2P3P4. At this time, the target has a directed edge. It is a weld that contacts other bounding boxes through the P1P2P3P4 plane. Therefore, the weld type of the target directed edge at this time can be accurately determined later.

[0078] S600, obtaining a first ray detection result of a target directed edge, and determining a weld type of the target directed edge based on a target plane and the first ray detection result.

[0079] The first ray detection result is obtained by emitting rays in the opposite direction of the target angle vector from any point in the target directed edge as the starting point, and the target angle vector includes the angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge. The weld is a seam formed by melting the welding rod and the metal at the joint using the high temperature of the welding heat source.

[0080] Specifically, since the weld type is determined based on the difference in the relative positions of the two weldments, when determining the weld type of the target directed edge, it is necessary not only to determine whether the plane where the target directed edge is located is in contact with other bounding boxes, but also to determine whether there are other bounding boxes outside the target bounding box in the oblique direction of the target directed edge. The method for determining whether there are other bounding boxes outside the target bounding box in the oblique direction of the target directed edge includes: determining the angle vector between a pair of intersecting edges that are perpendicular to the target directed edge and intersect, emitting rays in the opposite direction of the target angle vector with any point in the target directed edge as the starting point, and determining whether the rays detect the existence of other bounding boxes. In practical applications, any point in the target directed edge is often the midpoint of the target directed edge.

[0081] like Figure 3 As shown, let the target directed edge be , a pair of intersecting edges that are perpendicular to the target directed edge and intersect each other include the directed edge With directed edges , the angle vector between the intersecting edges is ∠ . To ∠ A ray is emitted in the opposite direction of the ray to determine whether the ray detects the existence of other bounding boxes, thereby obtaining a first ray detection result.

[0082] Furthermore, since there will be gaps more or less during welding, the emitted rays are rays with a preset length, that is, the first ray detection result is the result of whether the ray with the preset length detects other bounding boxes.

[0083] After obtaining the first ray detection result of the target directed edge, the weld type of the target directed edge is determined based on the target plane and the first ray detection result. That is, the weld type of the target directed edge is related to the plane where the target directed edge is located and in contact with other bounding boxes, and whether other bounding boxes can be detected in the inclined direction of the target directed edge outside the target bounding box.

[0084] S800, detecting weld information of a three-dimensional product model based on a weld type of a target directed edge.

[0085] Specifically, each target directed edge is analyzed in turn according to the above steps to determine whether each target directed edge is a weld, and the result of whether each target directed edge is a weld is marked in the three-dimensional product model and visualized. The visualization operation is realized through a visualization tool, which helps operators to intuitively understand and analyze the inspection results and improve the analysis efficiency.

[0086] Furthermore, when it is determined that the target directed edge is a weld, the weld type of the target directed edge is determined, the weld type of each target directed edge is also marked in the three-dimensional product model, and the three-dimensional product model marked with the weld type is visualized.

[0087] Finally, the weld information of the detected three-dimensional product model is sent to the welding robot, and the welding robot welds the product based on the weld information of the three-dimensional product model.

[0088] In one embodiment, the present application also provides a graphical user interface, in which operators can conveniently detect, verify and correct weld information. For example, in the graphical user interface, users can filter welds according to weld type, or filter some welds or spatially sort all welds according to their spatial positions.

[0089] In the above-mentioned weld information detection method, different from manually obtaining weld information from two-dimensional design drawings, the present application provides a weld information detection method for accurately detecting weld information through a three-dimensional product model. Specifically, for each target directed edge of a target bounding box in the three-dimensional product model, on the one hand, from the multiple planes where the target directed edge is located, the target plane that contacts the bounding box other than the target bounding box is screened, and on the other hand, the first ray detection result of emitting rays in the opposite direction of the target angle vector with any point in the target directed edge as the starting point is obtained, and then based on the target plane and the first ray detection result, the weld type of the target directed edge is comprehensively determined, and finally based on the weld type of the target directed edge, the weld information of the three-dimensional product model is detected. In the whole process, each target directed edge in the three-dimensional product model is automatically analyzed, and no edge is omitted, and the accuracy of determining the weld type of the target directed edge is further improved by double detection of the target plane in the target bounding box that contacts the bounding box other than the target bounding box and the first ray detection result of the target directed edge.

[0090] In an exemplary embodiment, the method further comprises:

[0091] If the target plane is not screened out or multiple planes where the target directed edge is located are all target planes, it is determined that the target directed edge is a non-weld seam.

[0092] Specifically, from the multiple planes where the target directed edge is located, the target plane that is in contact with the bounding box other than the target bounding box is screened.

[0093] When the number of target planes meets the preset welding condition, for example, when the multiple planes where the target directed edge is located are not all in contact with the bounding box other than the target bounding box, the target directed edge is determined as a weld.

[0094] When the number of target planes does not meet the preset welding conditions, for example, when multiple planes where the target directed edge is located are in contact with bounding boxes other than the target bounding box or are not in contact with bounding boxes other than the target bounding box, the target directed edge is determined as a non-weld seam.

[0095] like Figure 3 As shown, the target bounding box is P1P2P3P4P5P6P7P8 and the target directed edge is In the case of The two planes are P1P2P3P4 and P1P2P6P5. Determine the target directed edge Whether it is a weld, there are the following situations:

[0096] The first type: if the P1P2P3P4 plane is the target plane and the P1P2P6P5 plane is not the target plane, then the target bounding box is connected to other bounding boxes through the P1P2P3P4 plane, and the target has directed edges. For the weld on the P1P2P3P4 plane.

[0097] The second type, if the P1P2P3P4 plane is not the target plane and the P1P2P6P5 plane is the target plane, then the target bounding box is connected to other bounding boxes through the P1P2P6P5 plane, and the target has directed edges. For the weld on the P1P2P6P5 plane.

[0098] The third type: if the P1P2P3P4 plane and the P1P2P6P5 plane are both target planes, then the target bounding box is connected to other bounding boxes through the P1P2P3P4 plane and the P1P2P6P5 plane. Since the two planes are connected to other bounding boxes, it is impossible to have directed edges on the target. Welding, target directed edge Non-weld seam.

[0099] Fourth, if the P1P2P3P4 plane and the P1P2P6P5 plane are not the target plane, then the target bounding box is not connected to other bounding boxes, and the target has directed edges. Non-weld seam.

[0100] In this embodiment, by judging whether the plane where the target directed edge is located satisfies the preset welding conditions, that is, determining the number of target planes where the target directed edge is located, it is accurately confirmed whether the target directed edge is a weld or a non-weld, thereby improving the accuracy of weld information detection.

[0101] In an exemplary embodiment, Figure 4 As shown, S600, including:

[0102] S620: Obtain a first ray detection result of the target directed edge.

[0103] S640: When the first ray detection result indicates that a bounding box other than the target bounding box is detected, determine that the weld type of the target directed edge is a fillet weld for the target plane.

[0104] S660: When the first ray detection result indicates that no bounding box other than the target bounding box is detected, determine that the weld type of the target directed edge is a splicing weld for the target plane.

[0105] Among them, fillet weld refers to the weld welded along the intersection line of two orthogonal or nearly orthogonal parts, and butt weld refers to the weld that connects the interfaces of two or more workpieces together by welding to form an integral structure.

[0106] Specifically, the target angle vector includes the angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge, and a ray of a preset length is emitted in the opposite direction of the target angle vector with any point in the target directed edge as the starting point.

[0107] When the ray of the preset length detects a bounding box other than the target bounding box, the weld type of the target directed edge is determined to be a fillet weld for the target plane; when the ray of the preset length does not detect a bounding box other than the target bounding box, the weld type of the target directed edge is determined to be a splice weld for the target plane. Furthermore, different target planes have different corresponding weld types even if they are all fillet welds or splice welds.

[0108] For example, if Figure 5 As shown in the figure, when the P1P2P3P4 plane is the target plane, the target directed edge Starting from the midpoint of and The ray R3 of the preset length is emitted in the opposite direction of the angle vector between the target and the target. If the ray R3 detects a bounding box other than the target bounding box, the target directed edge For the fillet weld of the P1P2P3P4 plane; if the ray of the preset length does not detect a bounding box other than the target bounding box, the target directed edge For the butt weld of P1P2P3P4 planes.

[0109] When P1P2P6P5 is the target plane, the target directed edge Starting from the midpoint of and The ray R3 of the preset length is emitted in the opposite direction of the angle vector between the target and the target. If the ray R3 detects a bounding box other than the target bounding box, the target directed edge For the fillet weld of the P1P2P6P5 plane; if the ray of the preset length does not detect a bounding box other than the target bounding box, the target directed edge For the butt weld of P1P2P6P5 plane.

[0110] In this embodiment, by judging whether the first ray detection result indicates that a bounding box other than the target bounding box is detected, it is possible to accurately determine whether there are other bounding boxes other than the target bounding box in the inclination direction of the target directed edge, that is, by determining the relative position of other bounding boxes and the bounding box in which the target directed edge is located, the weld type of the target directed edge can be accurately determined.

[0111] In an exemplary embodiment, selecting a target plane from a plurality of planes where the target directed edge is located includes:

[0112] Acquire multiple second ray detection results; filter out target detection results from the multiple second ray detection results, where the target detection results represent the detection of bounding boxes other than the target bounding box; and determine that the plane corresponding to the target detection results is the target plane.

[0113] The second ray detection result is obtained by emitting a ray of a preset length in a vertical direction away from the target bounding box, starting from any plane where the target directed edge is located.

[0114] Specifically, in order to determine whether the multiple planes where the target directed edge is located are in contact with other bounding boxes, it is also possible to detect whether there are other bounding boxes outside the plane through ray detection. That is, starting from any plane where the target directed edge is located, ray of a preset length is emitted in a vertical direction away from the target bounding box, and it is determined whether the ray of the preset length detects other bounding boxes except the target bounding box, and a second ray detection result is obtained.

[0115] Detection results representing detection of bounding boxes other than the target bounding box are screened out from the multiple second ray detection results, and the detection results representing detection of bounding boxes other than the target bounding box are determined as target detection results, and the plane corresponding to the target detection results is determined as the target plane.

[0116] Further, taking each plane where the target directed edge is located as a starting point means that, starting from any point on each plane where the target directed edge is located, a ray of a preset length is emitted in a vertical direction away from the target bounding box.

[0117] In this embodiment, by taking any plane where the target directed edge is located as the starting point and emitting rays of a preset length in the vertical direction away from the target bounding box, it is possible to accurately detect whether there are other bounding boxes in each plane in the vertical direction away from the target bounding box. If so, it means that the other bounding boxes are in contact with the target bounding box through the plane, and the plane is the target plane. By emitting rays on the three-dimensional model, the bounding box can be detected intuitively and accurately, which has significant advantages over the traditional two-dimensional drawing method.

[0118] In an exemplary embodiment, obtaining a plurality of second ray detection results includes:

[0119] For any plane where the target directed edge is located, a point in the plane that is in the vertical direction of the midpoint of the target directed edge and is a preset distance away from the midpoint is determined as the target point; with the target point as the starting point, a ray of a preset length is emitted in the vertical direction away from the target bounding box to obtain a second ray detection result.

[0120] Specifically, for any plane where the target directed edge is located, a point in the plane that is in the vertical direction of the midpoint of the target directed edge and is a preset distance away from the midpoint is determined as the target point, and a ray of a preset length is emitted in the vertical direction away from the target bounding box from the target point as the starting point, and it is determined whether the ray detects other bounding boxes to obtain a second ray detection result. The second ray detection result can indicate that other bounding boxes are detected, or it can indicate that other bounding boxes are not detected.

[0121] like Figure 6 As shown, assume that the P1P2P3P4 plane and the P1P2P6P5 plane are both target directed edges. The plane in which the target is located, determine the directed edge The midpoint P1_2.

[0122] For the plane P1P2P3P4, move the midpoint P1_2 to The vector is translated by a preset distance to obtain the target point P9. Starting from P9, move The preset distance can be 0.0015 mm / s. The preset distance can be 0.0015 mm / s. Half the length of the vector.

[0123] For the plane P1P2P6P5, move the midpoint P1_2 to The vector is translated by a preset distance to obtain the target point P10. Starting from P10, move The preset distance can be 0.0015mm / s. Half the length of the vector.

[0124] In this embodiment, by determining a point in the plane that is in the vertical direction of the midpoint of the target directed edge and is a preset distance away from the midpoint as the target point, it is possible to accurately determine the rays emitted to detect the target plane, and then accurately determine the target plane that is in contact with other bounding boxes.

[0125] In an exemplary embodiment, the method further comprises:

[0126] The spatial position of the target directed edge in the three-dimensional product model is obtained; based on the spatial position of the target directed edge and the weld type, the weld information of the three-dimensional product model is generated.

[0127] Specifically, the three-dimensional product model already carries the spatial position of each target directed edge. Based on the spatial position and weld type of each target directed edge, the weld information of the three-dimensional product model is generated. That is, the weld information of the three-dimensional product model includes the spatial position and weld type of each target directed edge.

[0128] In one embodiment, the weld information of the three-dimensional product model also includes the weld shape of each target directed edge. Generally, the weld shape is related to the shape of the substructure in the product. For example, if the product is a mold frame and the substructure is a square tube, the bounding box surrounding the square tube is a rectangular bounding box. In this case, the shape of the weld is an edge.

[0129] In another embodiment, the weld information of the three-dimensional product model also includes the weld size of each target directed edge. The weld size is the size of the target directed edge. The three-dimensional product model carries the size of the target directed edge. The weld size of each target directed edge can be directly determined by the size of the target directed edge carried in the three-dimensional product model.

[0130] In another embodiment, the weld information of the three-dimensional product model also includes the weld welding process of each target directed edge. The splicing weld requires the welding gun to be welded perpendicular to the weld surface, and the fillet weld requires the welding gun to be welded in the posture of the angle bisector. Among them, the splicing weld includes: splicing welds in the X direction, splicing welds in the Y direction, and splicing welds in the Z direction. Specifically, the splicing welds in which direction can be distinguished according to the vectors of the starting point and the end point. For splicing welds in different directions, the welding methods are also different. For example, for the splicing welds in the Y direction, it is necessary to use the downhill welding method from high to low.

[0131] In this embodiment, the weld information of the three-dimensional product model can be fully detected through the spatial position, weld type, weld shape, weld size, and weld welding process of each target directed edge in the three-dimensional product model.

[0132] In an exemplary embodiment, the present application also introduces an automatic verification algorithm to check the accuracy and completeness of the detected weld information to improve the reliability of weld information detection. Furthermore, the present application provides a manual correction interface to allow operators to correct and supplement the automatically detected weld information when necessary to improve the comprehensiveness and accuracy of the information.

[0133] In an exemplary embodiment, the present application provides an information output interface, which is an interface for communicating with a welding management system, and automatically outputs verified weld information to the welding management system for guiding the implementation of the welding process.

[0134] In an exemplary embodiment, the present application can achieve real-time update and synchronization of weld information, improve the currency and accuracy of information in the welding management system, and have a strong recognition ability for complex structures, so that weld information can be accurately detected in engineering projects of different types and sizes. In the real-time update and synchronization of weld information, a unified standardized data format is adopted to enhance the compatibility and interoperability of weld information between different systems and platforms. Furthermore, the present application also facilitates the expansion and upgrade of the system through a modular design method, and can flexibly add new functional modules and algorithms according to actual needs.

[0135] In an exemplary embodiment, the weld information detection algorithm can be adjusted and optimized according to the welding characteristics of different materials to improve its applicability and accuracy in a multi-material environment.

[0136] In an exemplary embodiment, the present application provides a weld information detection method based on a three-dimensional product model, which has the following beneficial effects:

[0137] A. High degree of automation: Through computer vision and image processing technology, automatic recognition and detection of weld information is realized, which greatly reduces the dependence on manual operation and improves work efficiency.

[0138] B. High accuracy: Using advanced algorithms and technologies, the weld features in the 3D design model are accurately identified and extracted, avoiding errors caused by manual judgment and improving the accuracy and reliability of weld information detection.

[0139] C. Complete information: Comprehensively extract the weld information in the 3D design model, including the spatial position, shape, size and process of the weld, to ensure the integrity of the weld information and help to comprehensively guide the implementation of the welding process.

[0140] D. Standardization: Through unified identification and extraction standards, the consistency and comparability of weld information can be ensured to facilitate subsequent management, analysis and quality control.

[0141] E. Make full use of the advantages of 3D models: Make full use of the advantages of 3D product models in displaying structural details, which can detect weld information more intuitively and accurately, and has significant advantages over traditional 2D drawing methods.

[0142] F. Strong adaptability: It has good adaptability and can handle various complex and changeable welding environments. It is suitable for engineering projects of different types and scales and has broad application prospects.

[0143] G. Improve the efficiency and quality of welding process: Through automatic, accurate and comprehensive weld information detection, the efficiency and quality of welding process can be significantly improved, manual operation errors can be reduced, and the performance and safety of the structure can be guaranteed.

[0144] H. Cost saving: It reduces manual operations, improves the efficiency and accuracy of weld information detection, reduces labor costs and time costs in engineering projects, and has significant economic benefits.

[0145] Based on the above analysis, this application provides an efficient, accurate, comprehensive and standardized weld information detection method, which overcomes many shortcomings of the prior art and has significant technological progress and broad application prospects.

[0146] In an exemplary embodiment, taking a mold frame welding scenario as an example, a method for detecting weld information of a mold frame includes:

[0147] S1 obtains an initial three-dimensional mold frame model, which is composed of multiple square tubes. The multiple square tubes in the initial three-dimensional mold frame model are processed using a bounding box algorithm, and the initial three-dimensional mold frame model is updated to obtain a three-dimensional mold frame model, where each square tube in the three-dimensional mold frame model is surrounded by a bounding box.

[0148] S2 is for any of the bounding boxes, that is, for the target bounding box:

[0149] It is determined in turn whether each target directed edge of the target bounding box is a weld, and if the target directed edge is a weld, the weld type of the target directed edge. For example, if the target has a directed edge For welds, the target has directed edges There are four types of welds:

[0150] The first one, such as Figure 7 As shown, the target bounding box is connected by the target directed edge The P1P2P3P4 plane is in contact with other bounding boxes, and ∠ No bounding box is detected in the opposite direction of the target. The weld type is a butt weld for the P1P2P3P4 planes.

[0151] The second type, such as Figure 8 As shown, the target bounding box is connected by the target directed edge The P1P2P3P4 plane is in contact with other bounding boxes, and ∠ The bounding box is detected in the opposite direction of the target. The weld type is fillet weld for the P1P2P3P4 planes.

[0152] The third type, such as Fig. 9 As shown, the target bounding box is connected by the target directed edge The P1P2P6P5 plane is in contact with other bounding boxes, and ∠ The bounding box is detected in the opposite direction of the target. The weld type is fillet weld for P1P2P6P5 planes.

[0153] The fourth type, such as Fig.10 As shown, the target bounding box is connected by the target directed edge The P1P2P6P5 plane is in contact with other bounding boxes, and ∠ No bounding box is detected in the opposite direction of the target. The weld type is a butt weld for the P1P2P6P5 planes.

[0154] Among them, the methods for determining through which plane the target directed edge contacts other bounding boxes include the following cases:

[0155] Take the P1P2P3P4 plane as the contact surface: take the target directed edge The midpoint P1_2, starting from P1_2, The direction of the vector is translated a certain distance to P9, starting from P9. The ray R1 of preset length is emitted in the direction of the vector. If the ray R1 detects other bounding boxes, it means that the target bounding box passes through the target directed edge. The P1P2P3P4 plane is in contact with other bounding boxes.

[0156] Take the P1P2P6P5 plane as the contact surface: take the target directed edge The midpoint P1_2, starting from P1_2, The direction of the vector is translated a certain distance to P10, and P10 is used as the starting point to The ray R2 of preset length is emitted in the direction of the vector. If the ray R2 detects other bounding boxes, it means that the target bounding box passes through the target directed edge. The P1P2P6P5 plane is in contact with other bounding boxes.

[0157] In addition, when the P1P2P3P4 plane and the P1P2P6P5 plane are both contact surfaces or neither of them is a contact surface, the target directed edge As it is not a weld, no subsequent inspection is required.

[0158] When the P1P2P3P4 plane is the contact surface, take the target directed edge The midpoint P1_2, starting from P1_2 Vector and The angle of the vector is reversed to emit a ray R3 of a preset length. If R3 detects other bounding boxes, it means that the target has a directed edge. For the fillet weld of the P1P2P3P4 plane, if R3 detects other bounding boxes, it means that the target has directed edges. For the butt weld of P1P2P3P4 planes.

[0159] When the P1P2P6P5 plane is the contact surface, take the target directed edge The midpoint P1_2, starting from P1_2 Vector and The angle of the vector is reversed to emit a ray R3 of a preset length. If R3 detects other bounding boxes, it means that the target has a directed edge. For the fillet weld of the P1P2P6P5 plane, if R3 detects other bounding boxes, it means that the target has directed edges. For the butt weld of P1P2P6P5 plane.

[0160] According to the above steps, each target directed edge of the target bounding box is judged, and all target directed edges that are welds and their corresponding weld types are marked on the three-dimensional mold frame model and visualized.

[0161] Furthermore, since the three-dimensional mold base model itself carries information such as the spatial position and shape of each target directed edge, it can be determined that the target directed edge is the spatial position, shape, size, and other information of the weld.

[0162] Based on the target directed edge being the spatial position, shape, size and weld type of the weld, a welding instruction is generated and sent to the welding robot, which welds the mold frame based on the various weld information in the welding instruction.

[0163] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0164] Based on the same inventive concept, the embodiment of the present application also provides a weld information detection device for implementing the weld information detection method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more weld information detection device embodiments provided below can refer to the limitations of the weld information detection method above, and will not be repeated here.

[0165] In an exemplary embodiment, Fig.11 As shown, a weld information detection device 900 is provided, comprising: an acquisition module 200, a plane determination module 400, a type determination module 600 and a detection module 800, wherein:

[0166] An acquisition module 200 is used to acquire a three-dimensional product model, wherein the three-dimensional product model includes a plurality of bounding boxes surrounding a substructure of the product, and the bounding boxes include a target directed edge;

[0167] The plane determination module 400 is used to select a target bounding box from all bounding boxes of the three-dimensional product model, and select a target plane from multiple planes where the target directed edge of the target bounding box is located, wherein the target plane is a plane that contacts the bounding boxes other than the target bounding box among all bounding boxes;

[0168] A type determination module 600 is used to obtain a first ray detection result of a target directed edge, and determine the weld type of the target directed edge based on the target plane and the first ray detection result, wherein the first ray detection result is obtained by emitting rays in the opposite direction of a target angle vector from any point in the target directed edge as a starting point, and the target angle vector includes an angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge;

[0169] The detection module 800 is used to detect the weld information of the three-dimensional product model based on the weld type of the target directed edge.

[0170] In one embodiment, the weld information detection device 900 includes a non-weld determination module, which is used to determine that the target directed edge is a non-weld if the target plane is not screened out or the multiple planes where the target directed edge is located are all the target planes.

[0171] In one of the embodiments, the type determination module 600 is also used to determine that the weld type of the target directed edge is a fillet weld for the target plane when the first ray detection result indicates that a bounding box other than the target bounding box is detected; and to determine that the weld type of the target directed edge is a splicing weld for the target plane when the first ray detection result indicates that no bounding box other than the target bounding box is detected.

[0172] In one embodiment, the plane determination module 400 is also used to obtain multiple second ray detection results, wherein the second ray detection results are obtained by starting from any plane where the target directed edge is located and emitting rays of a preset length in a vertical direction away from the target bounding box for detection; from the multiple second ray detection results, the target detection results are screened out, and the target detection results represent the detection of bounding boxes other than the target bounding box; and the plane corresponding to the target detection result is determined to be the target plane.

[0173] In one of the embodiments, the plane determination module 400 is also used to determine, for any plane where the target directed edge is located, a point in the plane that is in a vertical direction of the midpoint of the target directed edge and is a preset distance away from the midpoint as a target point; with the target point as the starting point, a ray of a preset length is emitted in a vertical direction away from the target bounding box to obtain a second ray detection result.

[0174] In one embodiment, the weld information detection device 900 includes a position acquisition module, which is used to obtain the spatial position of a target directed edge in a three-dimensional product model; based on the spatial position of the target directed edge and the weld type, the weld information of the three-dimensional product model is generated.

[0175] Each module in the above-mentioned weld information detection device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0176] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig.12As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as three-dimensional product models. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a weld information detection method is implemented.

[0177] Those skilled in the art will understand that Fig.12 The structure shown in the figure is a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0178] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0179] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0180] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0181] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0182] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0183] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A weld information detection method, characterized in that: The method comprises: Acquire a three-dimensional product model, wherein the three-dimensional product model includes a plurality of bounding boxes surrounding a substructure of the product, wherein the bounding boxes include a target directed edge; Selecting a target bounding box from all bounding boxes of the three-dimensional product model, and selecting a target plane from multiple planes where the target directed edge of the target bounding box is located, wherein the target plane is a plane that contacts the bounding boxes other than the target bounding box among all the bounding boxes; In a case where the plurality of planes where the target directed edge is located are not all in contact with the bounding box other than the target bounding box, determining the target directed edge as a weld; Obtaining a first ray detection result of the target directed edge, and determining the weld type of the target directed edge based on the target plane and the first ray detection result, wherein obtaining the first ray detection result of the target directed edge includes: determining a target angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge, emitting rays in the opposite direction of the target angle vector with any point in the target directed edge as a starting point, and judging whether the ray detects the existence of other bounding boxes, wherein the ray is a ray of a preset length; determining the weld type of the target directed edge based on the target plane and the first ray detection result includes: when the first ray detection result indicates that a bounding box other than the target bounding box is detected, determining the weld type of the target directed edge to be a fillet weld for the target plane; when the first ray detection result indicates that a bounding box other than the target bounding box is not detected, determining the weld type of the target directed edge to be a splicing weld for the target plane; Based on the weld type of the target directed edge, weld information of the three-dimensional product model is detected.

2. The method according to claim 1, characterized in that The method further comprises: If the target plane is not screened out or the multiple planes where the target directed edge is located are all target planes, it is determined that the target directed edge is a non-weld seam.

3. The method according to claim 1, characterized in that The method further comprises: The weld information of the three-dimensional product model obtained by detection is sent to the welding robot.

4. The method according to claim 1, characterized in that: The step of selecting a target plane from the multiple planes where the target directed edge is located includes: Whether there are other bounding boxes outside the plane by ray detection, so as to determine whether the multiple planes where the target directed edge is located are in contact with other bounding boxes; wherein, whether there are other bounding boxes outside the plane by ray detection, so as to determine whether the multiple planes where the target directed edge is located are in contact with other bounding boxes, comprises: starting from any plane where the target directed edge is located, emitting a ray of a preset length in a vertical direction away from the target bounding box, determining whether the ray of the preset length detects other bounding boxes except the target bounding box, and obtaining a second ray detection result; Filtering out a target detection result from the plurality of second ray detection results, wherein the target detection result indicates that a bounding box other than the target bounding box is detected; Determine the plane corresponding to the target detection result as the target plane.

5. The method according to claim 4, characterized in that The method of taking any plane where the directed edge of the target is located as a starting point, emitting a ray of a preset length in a direction vertically away from the target bounding box, and determining whether the ray of the preset length detects other bounding boxes except the target bounding box, and obtaining a second ray detection result includes: For any plane where the target directed edge is located, a point in the plane that is in a vertical direction of the midpoint of the target directed edge and is at a preset distance from the midpoint is determined as a target point; Taking the target point as a starting point, a ray of a preset length is emitted in a vertical direction away from the target bounding box to obtain a second ray detection result.

6. The method according to claim 1, characterized in that The method further comprises: Obtaining the spatial position of the target directed edge in the three-dimensional product model; Based on the spatial position of the target directed edge and the weld type, weld information of the three-dimensional product model is generated.

7. A weld information detection device, characterized in that: The device comprises: An acquisition module, used for acquiring a three-dimensional product model, wherein the three-dimensional product model includes a plurality of bounding boxes surrounding a substructure of the product, wherein the bounding boxes include a target directed edge; a plane determination module, configured to select a target bounding box from all bounding boxes of the three-dimensional product model, and screen a target plane from a plurality of planes where a target directed edge of the target bounding box is located, wherein the target plane is a plane in contact with bounding boxes other than the target bounding box among all bounding boxes; A type determination module, for obtaining a first ray detection result of the target directed edge, and determining the weld type of the target directed edge based on the target plane and the first ray detection result, wherein the obtaining of the first ray detection result of the target directed edge includes: determining a target angle vector between a pair of intersecting edges that are perpendicular to and intersect the target directed edge, emitting rays in the opposite direction of the target angle vector from any point in the target directed edge as a starting point, and judging whether the rays detect the existence of other bounding boxes, wherein the rays are rays of a preset length; the determining of the weld type of the target directed edge based on the target plane and the first ray detection result includes: determining the weld type of the target directed edge as a fillet weld for the target plane when the first ray detection result indicates that a bounding box other than the target bounding box is detected; and determining the weld type of the target directed edge as a splicing weld for the target plane when the first ray detection result indicates that a bounding box other than the target bounding box is not detected; A detection module, configured to detect weld information of the three-dimensional product model based on the weld type of the target directed edge; The device further comprises: determining the target directed edge as a weld when the plurality of planes where the target directed edge is located do not all contact with bounding boxes other than the target bounding box.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images