A robot motion control method and related system

Abstract

The present application provides a robot motion control method and a related system, the method comprising: determining the first attribute information of the target automobile part through a camera, obtaining the second attribute information of the welding device, and obtaining the first environmental parameter through an environmental sensor; determining the first area to be welded of the target automobile part according to the target process parameter and the target area; determining the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter and the first area to be welded; determining the first welding trajectory according to the second area to be welded; determining the first welding working parameter corresponding to the first welding trajectory; determining the first control parameter of the manipulator corresponding to the first welding working parameter; controlling the manipulator to work according to the first control parameter, and controlling the welding device to perform welding operations along the first welding trajectory with the first welding working parameter. The use of the embodiments of the present application can improve welding efficiency.

Description

Technical Field

[0001] The present application relates to the field of motor vehicle technology, and in particular to a robot motion control method and related system. Background Art

[0002] Various processing technologies are used in the process of automobile processing from blank processing to vehicle assembly. Among them, automobile parts range from large parts such as floors to small parts such as screws. Usually, thousands of different parts are finally assembled into a complete vehicle. In the process of automobile assembly, welding is also a very important link. The welding efficiency also determines the automation efficiency to a certain extent. Therefore, how to improve the welding efficiency needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a robot motion control method and related system, which can improve welding efficiency.

[0004] In a first aspect, an embodiment of the present application provides a robot motion control method, which is applied to a welding robot, wherein the welding robot comprises: a robot body, a welding device, a camera, and an environmental sensor, wherein the robot body is connected to the welding device via a mechanical arm, and the method further comprises:

[0005] The target automobile parts are photographed by the camera to obtain a target image;

[0006] Performing a first target recognition on the target image to obtain a target area where the target automobile component is located;

[0007] Obtaining target process parameters corresponding to the target automotive component;

[0008] Determine the first attribute information of the target automobile part, obtain the second attribute information of the welding device, and obtain the first environmental parameter through the environmental sensor;

[0009] Determine a first area to be welded of the target automotive component according to the target process parameter and the target area;

[0010] Determine a second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded;

[0011] determining a first welding trajectory according to the second area to be welded;

[0012] Determining a first welding operating parameter corresponding to the first welding trajectory;

[0013] Determining a first control parameter of the robot arm corresponding to the first welding working parameter;

[0014] The robot arm is controlled to work according to the first control parameter, and the welding device is controlled to perform welding operation along the first welding trajectory with the first welding working parameter.

[0015] In a second aspect, an embodiment of the present application provides a robot motion control system, which is applied to a welding robot, wherein the welding robot comprises: a robot body, a welding device, a camera, and an environmental sensor, wherein the robot body is connected to the welding device via a mechanical arm, and the system comprises: a shooting unit, an identification unit, an acquisition unit, a determination unit, and a control unit, wherein:

[0016] The shooting unit is used to shoot the target automobile parts through the camera to obtain the target image;

[0017] The recognition unit is used to perform a first target recognition on the target image to obtain a target area where the target automobile component is located;

[0018] The acquisition unit is used to acquire the target process parameters corresponding to the target automobile component;

[0019] The determination unit is used to determine the first attribute information of the target automobile part, obtain the second attribute information of the welding device, and obtain the first environmental parameter through the environmental sensor; determine the first area to be welded of the target automobile part according to the target process parameter and the target area; determine the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter and the first area to be welded; determine the first welding trajectory according to the second area to be welded; determine the first welding working parameter corresponding to the first welding trajectory; determine the first control parameter of the robot arm corresponding to the first welding working parameter;

[0020] The control unit is used to control the robot arm to work according to the first control parameter, and control the welding device to perform welding operation along the first welding trajectory with the first welding working parameter.

[0021] In a third aspect, an embodiment of the present application provides a welding robot, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0024] The implementation of the embodiments of the present application has the following beneficial effects:

[0025] It can be seen that the robot motion control method and related system described in the embodiments of the present application are applied to a welding robot, wherein the welding robot comprises: a robot body, a welding device, a camera, and an environmental sensor, wherein the robot body is connected to the welding device through a robotic arm, and the target automobile part is photographed through the camera to obtain a target image; a first target recognition is performed on the target image to obtain a target area where the target automobile part is located; a target process parameter corresponding to the target automobile part is obtained; a first attribute information of the target automobile part is determined, and second attribute information of the welding device is obtained, and a first environmental parameter is obtained through the environmental sensor; a first area to be welded of the target automobile part is determined according to the target process parameter and the target area; a second area to be welded is determined according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded; a first welding trajectory is determined according to the second area to be welded; and a first welding trajectory is determined according to the second area to be welded. A first welding working parameter corresponding to the first welding trajectory; determining a first control parameter of the robot arm corresponding to the first welding working parameter; controlling the robot arm to work according to the first control parameter, and controlling the welding device to perform welding operations along the first welding trajectory with the first welding working parameter. First, the position (target area) of the target automobile part and the target process parameter directly determine the position or area to be welded, that is, the first area to be welded of the target automobile part can be determined based on the target process parameter and the target area. Second, the second area to be welded can be accurately planned in combination with the inherent characteristics of the automobile part, the inherent characteristics and capabilities of the welding device, and environmental influences. Third, the corresponding welding working parameters can be adapted based on the welding trajectory. In addition, the robot arm and the welding device can be regarded as an integrated operation, thereby ensuring that the welding operation is performed in an orderly manner along the welding trajectory, ensuring welding efficiency and welding accuracy. In this way, the welding efficiency can be improved and the efficiency of automobile automated assembly can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a flowchart of a robot motion control method provided in an embodiment of the present application;

[0028] Figure 2 It is a structural schematic diagram of a welding robot provided in an embodiment of the present application;

[0029] Figure 3 It is a block diagram of the functional units of a robot motion control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in a possible example also includes steps or units that are not listed, or in a possible example also includes other steps or units inherent to these processes, methods, products or devices.

[0031] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] In the embodiments of the present application, the welding robot may be understood as an industrial robot or an automobile processing robot having a welding function.

[0034] See also Figure 1 , Figure 1 1 is a flow chart of a robot motion control method provided in an embodiment of the present application, which is applied to a welding robot. The welding robot includes: a robot body, a welding device, a camera, and a sensor. The robot body is connected to the welding device through a mechanical arm. The robot motion control method includes:

[0035] 101. Photograph a target automobile part through the camera to obtain a target image.

[0036] In an embodiment of the present application, the welding robot may include: a robot body, a welding device, a camera, and a sensor. The robot body may be connected to the welding device via a robotic arm and used to adjust the activity of the welding device.

[0037] The target automobile parts may be any automobile parts required for processing new energy vehicles, and the automobile parts may include at least one of the following: floor, glass, screws, chassis, etc., which are not limited here.

[0038] In a specific implementation, the target automobile part may be photographed by a camera to obtain a target image, and the target image may be an image obtained by photographing the target automobile part.

[0039] 102. Perform a first target recognition on the target image to obtain a target area where the target automobile component is located.

[0040] In a specific implementation, the first target recognition may refer to the recognition of a target automobile part, that is, the first target recognition may be performed on the target image to obtain a target area where the target automobile part is located.

[0041] 103. Obtain target process parameters corresponding to the target automobile component.

[0042] The target process parameters may include at least one of the following: processing position, processing purpose, processing function, processing method, processing procedure, etc., which are not limited here.

[0043] In a specific implementation, different automobile parts may correspond to different process parameters. For example, each automobile part may correspond to a number, and different numbers may correspond to different process parameters. The mapping relationship between preset numbers and process parameters may also be stored in advance, so that the target number of the target automobile part can be obtained, and then the target process parameter corresponding to the target number can be determined based on the mapping relationship.

[0044] 104. Determine first attribute information of the target automobile component, obtain second attribute information of the welding device, and obtain a first environmental parameter through the environmental sensor.

[0045] The first attribute information of the target automobile part may include at least one of the following: the name of the automobile part, the function of the automobile part, the material of the automobile part, the model of the automobile part, etc., which are not limited here.

[0046] In a specific implementation, different automobile parts may correspond to different attribute information. After the target automobile part is identified, the first attribute information of the target automobile part may be determined.

[0047] The second attribute information of the welding device may include at least one of the following: a model of the welding device, a name of the welding device, a performance parameter of the welding device, etc., which is not limited here.

[0048] Among them, the first environmental parameter may include at least one of the following: ambient temperature, ambient humidity, air quality, air composition, PM2.5, magnetic field interference intensity parameter, wind speed, etc., which are not limited here.

[0049] In a specific implementation, the first environmental parameter may be acquired through an environmental sensor.

[0050] 105. Determine a first area to be welded of the target automobile component according to the target process parameter and the target area.

[0051] In the embodiment of the present application, the position (target area) of the target automobile part and the target process parameters directly determine the position or area to be welded, that is, the first area to be welded of the target automobile part can be determined based on the target process parameters and the target area.

[0052] In some possible examples, the above step 105, determining the first area to be welded of the target automobile part according to the target process parameter and the target area, may include the following steps:

[0053] Determining a position to be welded according to the target process parameters;

[0054] Marking the target area according to the positions to be welded to obtain a plurality of welding points;

[0055] Connecting the plurality of welding points to obtain a reference welding area;

[0056] determining a reference welding width corresponding to the second attribute information;

[0057] The first area to be welded is determined according to the reference welding width and the reference welding area.

[0058] In an embodiment of the present application, a mapping relationship between a preset process parameter and a welding position can be pre-stored, and then, the position to be welded corresponding to the target process parameter can be determined based on the mapping relationship, and then, it is possible to mark the position to be welded in the target area according to the position to be welded to obtain a plurality of welding points, and the plurality of welding points are connected to obtain a reference welding area. A mapping relationship between the preset attribute information of a welding device and a welding width can also be pre-stored, and then, a reference welding width corresponding to the second attribute information can be determined based on the mapping relationship, and then, the first area to be welded can be determined based on the reference welding width and the reference welding area, that is, the welding width corresponding to the reference welding area can be configured as the reference welding width, and then, the corresponding area to be welded can be simulated based on the actual spatial position configuration, and the area to be welded is deeply related to the characteristics and capabilities of the welding device, thereby helping to ensure the subsequent accurate determination of the welding trajectory and the adaptation of the corresponding welding working parameters based on the welding trajectory.

[0059] 106. Determine a second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded.

[0060] Among them, the first attribute information reflects the inherent characteristics of the automobile parts, the second attribute information reflects the inherent characteristics and capabilities of the welding device, and the first environmental parameter reflects the environmental impact to a certain extent. Due to different environments, for welding, the welding width, welding trajectory, number of welds, size of welds, etc. will have a certain impact. Therefore, the second area to be welded can be accurately planned in combination with the inherent characteristics of the automobile parts, the inherent characteristics and capabilities of the welding device, and the environmental impact.

[0061] In some possible examples, the above step 106, determining the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter and the first area to be welded, may include the following steps:

[0062] Extracting the contour of the first area to be welded to obtain a first contour;

[0063] determining a first contour width of the first contour;

[0064] Determining a first adjustment parameter corresponding to the first attribute information;

[0065] Determining a second adjustment parameter corresponding to the second attribute information;

[0066] Adjust the first contour width according to the first adjustment parameter and the second adjustment parameter to obtain a second contour width;

[0067] Determining a first feedback adjustment parameter corresponding to the first environmental parameter;

[0068] Performing feedback adjustment on the second contour width according to the first feedback adjustment parameter to obtain a third contour width;

[0069] Update the first contour according to the third contour width to obtain a second contour;

[0070] The second area to be welded is determined according to the second contour and the first area to be welded.

[0071] In a specific implementation, the contour of the first area to be welded may be extracted to obtain a first contour, and a first contour width of the first contour may be determined. The first contour width may be equivalent to the reference welding width.

[0072] Next, a first mapping relationship between the preset attribute information of the automobile parts and the adjustment parameters can be pre-stored, and a first adjustment parameter corresponding to the first attribute information can be determined based on the first mapping relationship. A second mapping relationship between the preset attribute information of the welding device and the adjustment parameters can also be pre-stored, and a second adjustment parameter corresponding to the second attribute information can be determined based on the second mapping relationship. The value range of the first adjustment parameter and the second adjustment parameter can both be -0.1~0.1. Since the first attribute information reflects the inherent characteristics of the automobile parts, that is, the inherent characteristics constrain the welding characteristics to a certain extent, and then, the profile width is dynamically adjusted according to the inherent characteristics of the automobile parts, in addition, the second attribute information reflects the inherent characteristics and capabilities of the welding device, that is, the profile width is dynamically adjusted in combination with the inherent characteristics of the welding device, and then, the first profile width can be adjusted according to the first adjustment parameter and the second adjustment parameter to obtain the second profile width, the second profile width=(1+first adjustment parameter)*(1+second adjustment parameter)*first profile width.

[0073] Furthermore, a mapping relationship between preset environmental parameters and feedback adjustment parameters can be pre-stored, and then, a first feedback adjustment parameter corresponding to the first environmental parameter can be determined based on the mapping relationship, and the value range of the first feedback adjustment parameter is -0.02~0.02, and then the second profile width is feedback-adjusted according to the first feedback adjustment parameter to obtain a third profile width, that is, the third profile width = (1+first feedback adjustment parameter) * second profile width. Since the environmental parameters reflect the environmental impact to a certain extent, different environments will also have a certain impact on the welding effect. Then, the profile width corresponding to the actual environment can be adapted, and then the first profile can be updated according to the third profile width to obtain the second profile, that is, the profile width of the first profile is adapted to the third profile width. Finally, the second area to be welded can be determined according to the second profile and the first area to be welded. In this way, the second area to be welded can be accurately planned in combination with the inherent characteristics of the automotive parts, the inherent characteristics and capabilities of the welding device, and the environmental impact, thereby ensuring that the welding operation is carried out in an orderly manner along the welding trajectory, and ensuring welding efficiency and welding accuracy.

[0074] 107. Determine a first welding trajectory according to the second area to be welded.

[0075] In the embodiment of the present application, when the second area to be welded has been determined, a corresponding path planning algorithm can be used to plan the welding path to generate a corresponding welding trajectory to obtain a first welding trajectory.

[0076] 108. Determine a first welding working parameter corresponding to the first welding trajectory.

[0077] Among them, the welding device includes: welding power supply, wire feeder and welding gun.

[0078] Among them, the first welding working parameter may include at least one of the following: a first welding rate of a welding gun, a first wire feeding rate of a wire feeder, a first power supply parameter of a welding power supply, a welding action parameter, etc., which are not limited here. The first power supply parameter of a welding power supply may include at least one of the following: a working mode of a welding power supply, a working current of a welding power supply, a working voltage of a welding power supply, a working power of a welding power supply, etc., which are not limited here. The welding action parameter may include at least one of the following: a welding action trajectory, a welding angle, a welding action amplitude, a welding process, etc., which are not limited here.

[0079] In a specific implementation, since the first welding trajectory may include a plurality of welding points, i.e., welding positions, each welding machine position corresponds to a different welding rate, and thus, a mapping relationship between a preset welding trajectory and a welding working parameter can be pre-stored, and then, the first welding working parameter corresponding to the first welding trajectory can be determined based on the mapping relationship, i.e., the corresponding welding working parameter can be adapted based on the welding trajectory, thereby ensuring that the welding operation is performed in an orderly manner along the welding trajectory, and ensuring welding efficiency and welding accuracy.

[0080] 109. Determine a first control parameter of the robotic arm corresponding to the first welding working parameter.

[0081] The first control parameter may include at least one of the following: control action, control direction, control force, control position, etc., which are not limited here.

[0082] In the embodiment of the present application, since the robot body is connected to the welding device through the robotic arm, the movement of the robotic arm is completely consistent with the welding device, that is, after determining the first welding working parameter, the corresponding first control parameter of the robotic arm can also be adapted. For example, the mapping relationship between the preset welding working parameter and the control parameter can be pre-stored, and then, the first control parameter of the robotic arm of the first welding working parameter can be determined based on the mapping relationship. In this way, the robotic arm and the welding device can be regarded as an integrated operation, thereby accurately ensuring that the welding operation is performed in an orderly manner along the welding trajectory, ensuring welding efficiency and welding accuracy.

[0083] In some possible examples, the first welding operating parameters include: a first welding rate, a first wire feeding rate, a first power supply parameter and a welding action parameter; the welding device includes: a welding power supply, a wire feeder, and a welding gun, and determining the first welding operating parameters corresponding to the first welding trajectory includes:

[0084] Determining the first welding rate corresponding to the welding gun according to the first welding trajectory; the first welding trajectory includes a plurality of welding positions, each welding machine position corresponding to a different welding rate;

[0085] Determining the first wire feeding rate corresponding to the wire feeder according to the first welding rate;

[0086] determining the first power supply parameter of the welding power supply corresponding to the first welding rate;

[0087] The welding action parameters are determined according to the first welding rate.

[0088] The welding device includes: a welding power source, a wire feeder, and a welding gun. The first welding working parameters include: a first welding rate, a first wire feeding rate, a first power source parameter, and a welding action parameter.

[0089] In an embodiment of the present application, a mapping relationship between welding trajectories and welding rates can be pre-stored, and then, a first welding rate of a welding gun corresponding to a first welding trajectory can be determined based on the mapping relationship. The first welding trajectory includes multiple welding positions, and each welding machine position corresponds to a different welding rate.

[0090] Furthermore, the mapping relationship between the preset welding rate and the wire feeding rate can be pre-stored, and then the first wire feeding rate of the wire feeder corresponding to the first welding rate can be determined based on the mapping relationship. Different welding rates can correspond to different power supply parameters, and then the mapping relationship between the preset welding rate and the power supply parameters can be pre-stored, and the first power supply parameters of the welding power supply corresponding to the first welding rate can be determined based on the mapping relationship. Since the welding rate corresponds to the welding position, different welding positions use different welding actions. Therefore, the preset welding rate and welding action parameters can be pre-stored, and the welding action parameters corresponding to the first welding rate can be determined based on the mapping relationship. Therefore, not only can the corresponding welding rate be determined based on the welding trajectory, but also the wire feeding rate of the wire feeder, as well as the power supply parameters and welding action parameters can be determined based on the welding rate corresponding to each welding machine position. In this way, the welding operation can be accurately guaranteed to be carried out in an orderly manner along the welding trajectory, and the welding efficiency and welding accuracy can be guaranteed.

[0091] In some possible examples, the above step of determining the first welding rate corresponding to the welding gun according to the first welding trajectory may include the following steps:

[0092] Dividing the first welding trajectory into multiple segments to obtain multiple welding trajectories;

[0093] Determining a positional relationship between each welding trajectory of the plurality of welding trajectories and the target automobile component;

[0094] The first welding rate is determined according to the positional relationship.

[0095] In a specific implementation, the first welding trajectory can be divided into multiple segments to obtain multiple welding trajectories, wherein the number of segments can be related to the trajectory length of the first welding trajectory, or the number of segments can be related to the shape of the first welding trajectory, or the number of segments can be related to the trajectory length of the first welding trajectory and the first environmental parameter, or the number of segments can be related to the trajectory length of the first welding trajectory and the first attribute information, or the number of segments can be related to the trajectory length of the first welding trajectory and the second attribute information.

[0096] In a specific implementation, the positional relationship between each welding trajectory in multiple welding trajectories and the target automobile parts can be determined, and each welding trajectory can correspond to a first position coordinate and a segment number. Then, a positional relationship between each welding trajectory and the target automobile parts can be established, and the positional relationship characterizes the relative positional relationship between each welding trajectory and the target automobile parts. Then, the first welding rate is determined according to the positional relationship, that is, different positions of the target automobile parts can correspond to different welding rates. Then, the corresponding welding rate of each position can be accurately determined based on the welding trajectory, which helps to accurately ensure that the welding operations are carried out in an orderly manner along the welding trajectory, and ensure welding efficiency and welding accuracy.

[0097] 110. Control the robot arm to work according to the first control parameter, and control the welding device to perform welding operation along the first welding trajectory with the first welding working parameter.

[0098] In an embodiment of the present application, the robotic arm can be controlled to work according to the first control parameter, and the welding device can be controlled to perform welding operations along the first welding trajectory with the first welding working parameter. In this way, the welding operation can be carried out in an orderly manner along the welding trajectory, ensuring welding efficiency and welding accuracy.

[0099] In some possible examples, the following steps may also be included:

[0100] photographing the target automobile component by the camera to obtain a first image;

[0101] Performing second target recognition on the first image to obtain the welding area image;

[0102] Extracting the actual contour of the welding area image;

[0103] Divide the actual contour into a plurality of first sub-contours according to a first preset method; each first sub-contour corresponds to a position index;

[0104] Extracting a reference contour of the second area to be welded;

[0105] Divide the reference area into a plurality of second sub-contours according to the first preset manner; each second sub-contour corresponds to a position index;

[0106] Based on the same position index matching principle, the plurality of first sub-contours are matched with the plurality of second sub-contours to obtain a plurality of matching values;

[0107] Selecting a matching value that is smaller than a preset matching value from the multiple matching values ​​to obtain at least one target matching value;

[0108] Acquire a first sub-contour corresponding to each target matching value in the at least one target matching value to obtain at least one target first sub-contour;

[0109] determining a difference image between each target first sub-contour and a corresponding second sub-contour in the at least one target first sub-contour to obtain at least one difference image;

[0110] determining a second welding trajectory based on each difference image in the at least one difference image;

[0111] Determining a second welding operating parameter corresponding to the second welding trajectory;

[0112] Determining a second control parameter of the robot arm corresponding to the second welding working parameter;

[0113] The robot arm is controlled to work according to the second control parameter, and the welding device is controlled to perform a repair welding operation along the second welding trajectory with the second welding working parameter.

[0114] In a specific implementation, the target automobile part can be photographed by a camera to obtain a first image, and then a second target recognition is performed on the first image to obtain a welding area image, wherein the second target recognition is used to identify the welding area.

[0115] The first preset mode may be preset or a system default. The first preset mode may include that the sub-contour lengths corresponding to different positions are the same or different. The preset matching value may be preset or a system default.

[0116] Then, the actual contour of the welding area image can be extracted, and then the actual contour can be divided into multiple first sub-contours according to the first preset method; each first sub-contour corresponds to a position index. The reference contour of the second area to be welded can also be extracted, and then the reference area can be divided into multiple second sub-contours according to the first preset method; each second sub-contour corresponds to a position index. Then, based on the same position index matching principle, the multiple first sub-contours can be matched with the multiple second sub-contours to obtain multiple matching values, and then a matching value smaller than the preset matching value is selected from the multiple matching values ​​to obtain at least one target matching value. When the matching value is smaller than the preset matching value, it indicates that a leak or welding error occurs. Then, the first sub-contour corresponding to each target matching value in the at least one target matching value can be obtained to obtain at least one target first sub-contour, and a difference image between each target first sub-contour and the corresponding second sub-contour in the at least one target first sub-contour can be determined to obtain at least one difference image, and then, according to each of the at least one difference image, The second welding trajectory is determined by the difference image, which can be specifically planned based on the path planning algorithm. The specific process of determining the second welding working parameter corresponding to the second welding trajectory can refer to the relevant description in the above step 108. The second control parameter of the robot arm corresponding to the second welding working parameter can refer to the relevant description in the above step 109. The robot arm is controlled to work according to the second control parameter, and the welding device is controlled to perform repair welding along the second welding trajectory with the second welding working parameter. Then, based on the difference between the sub-contour where leaking welding, welding errors, etc. occur and the corresponding reference contour, the welding trajectory can be dynamically planned, and the first control parameter of the robot arm of the first welding working parameter can be determined, so that the robot arm and the welding device can be regarded as an integrated operation, thereby accurately ensuring that the welding operation is carried out in an orderly manner along the welding trajectory, ensuring welding efficiency and welding accuracy, and not only can the inspection be carried out after the welding operation is completed, but repair welding can also be carried out when leaking welding or welding errors are detected, further ensuring welding efficiency and welding accuracy.

[0117] It can be seen that the robot motion control method described in the embodiment of the present application is applied to a welding robot, and the welding robot includes: a robot body, a welding device, a camera, and an environmental sensor. The robot body is connected to the welding device through a mechanical arm, and the target automobile part is photographed through the camera to obtain a target image; a first target recognition is performed on the target image to obtain a target area where the target automobile part is located; a target process parameter corresponding to the target automobile part is obtained; a first attribute information of the target automobile part is determined, and a second attribute information of the welding device is obtained, and a first environmental parameter is obtained through the environmental sensor; a first area to be welded of the target automobile part is determined according to the target process parameter and the target area; a second area to be welded is determined according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded; a first welding trajectory is determined according to the second area to be welded; and a first welding trajectory corresponding to the target automobile part is determined. A first welding working parameter corresponding to a first welding trajectory; determining a first control parameter of the robot arm corresponding to the first welding working parameter; controlling the robot arm to work according to the first control parameter, and controlling the welding device to perform welding operations along the first welding trajectory with the first welding working parameter. First, the position (target area) of the target automobile part and the target process parameter directly determine the position or area to be welded, that is, the first area to be welded of the target automobile part can be determined based on the target process parameter and the target area. Second, the second area to be welded can be accurately planned in combination with the characteristics of the automobile part itself, the characteristics and capabilities of the welding device itself, and the environmental impact. Third, the corresponding welding working parameters can be adapted based on the welding trajectory. In addition, the robot arm and the welding device can be regarded as an integrated operation, thereby ensuring that the welding operation is performed in an orderly manner along the welding trajectory, ensuring welding efficiency and welding accuracy. In this way, the welding efficiency can be improved and the efficiency of automobile automated assembly can be guaranteed.

[0118] In accordance with the above embodiment, please refer to Figure 2 , Figure 2 1 is a schematic diagram of the structure of a welding robot provided in an embodiment of the present application, the welding robot includes a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor. In the embodiment of the present application, the welding robot includes: a robot body, a welding device, a camera, and an environmental sensor, the robot body is connected to the welding device through a mechanical arm, and the program includes instructions for executing the following steps:

[0119] The target automobile parts are photographed by the camera to obtain a target image;

[0120] Performing a first target recognition on the target image to obtain a target area where the target automobile component is located;

[0121] Obtaining target process parameters corresponding to the target automotive component;

[0122] Determine the first attribute information of the target automobile part, obtain the second attribute information of the welding device, and obtain the first environmental parameter through the environmental sensor;

[0123] Determine a first area to be welded of the target automotive component according to the target process parameter and the target area;

[0124] Determine a second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded;

[0125] determining a first welding trajectory according to the second area to be welded;

[0126] Determining a first welding operating parameter corresponding to the first welding trajectory;

[0127] Determining a first control parameter of the robot arm corresponding to the first welding working parameter;

[0128] The robot arm is controlled to work according to the first control parameter, and the welding device is controlled to perform welding operation along the first welding trajectory with the first welding working parameter.

[0129] In some possible examples, in determining the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded, the program includes instructions for performing the following steps:

[0130] Extracting the contour of the first area to be welded to obtain a first contour;

[0131] determining a first contour width of the first contour;

[0132] Determining a first adjustment parameter corresponding to the first attribute information;

[0133] Determining a second adjustment parameter corresponding to the second attribute information;

[0134] Adjust the first contour width according to the first adjustment parameter and the second adjustment parameter to obtain a second contour width;

[0135] Determining a first feedback adjustment parameter corresponding to the first environmental parameter;

[0136] Performing feedback adjustment on the second contour width according to the first feedback adjustment parameter to obtain a third contour width;

[0137] Update the first contour according to the third contour width to obtain a second contour;

[0138] The second area to be welded is determined according to the second contour and the first area to be welded.

[0139] In some possible examples, the first welding operating parameters include: a first welding rate, a first wire feeding rate, a first power source parameter, and a welding action parameter; the welding device includes: a welding power source, a wire feeder, and a welding gun. In determining the first welding operating parameters corresponding to the first welding trajectory, the program includes instructions for performing the following steps:

[0140] Determining the first welding rate corresponding to the welding gun according to the first welding trajectory; the first welding trajectory includes a plurality of welding positions, each welding machine position corresponding to a different welding rate;

[0141] Determining the first wire feeding rate corresponding to the wire feeder according to the first welding rate;

[0142] determining the first power supply parameter of the welding power supply corresponding to the first welding rate;

[0143] The welding action parameters are determined according to the first welding rate.

[0144] In some possible examples, in determining the first welding rate corresponding to the welding gun according to the first welding trajectory, the program includes instructions for performing the following steps:

[0145] Dividing the first welding trajectory into multiple segments to obtain multiple welding trajectories;

[0146] Determining a positional relationship between each welding trajectory of the plurality of welding trajectories and the target automobile component;

[0147] The first welding rate is determined according to the positional relationship.

[0148] In some possible examples, in determining the first area to be welded of the target automotive component according to the target process parameter and the target area, the program includes instructions for performing the following steps:

[0149] Determining a position to be welded according to the target process parameters;

[0150] Marking the target area according to the positions to be welded to obtain a plurality of welding points;

[0151] Connecting the plurality of welding points to obtain a reference welding area;

[0152] determining a reference welding width corresponding to the second attribute information;

[0153] The first area to be welded is determined according to the reference welding width and the reference welding area.

[0154] It can be seen that the welding robot described in the embodiment of the present application includes: a robot body, a welding device, a camera, and an environmental sensor. The robot body is connected to the welding device through a mechanical arm, and the target automobile part is photographed through the camera to obtain a target image; a first target recognition is performed on the target image to obtain a target area where the target automobile part is located; a target process parameter corresponding to the target automobile part is obtained; a first attribute information of the target automobile part is determined, and a second attribute information of the welding device is obtained, and a first environmental parameter is obtained through the environmental sensor; a first area to be welded of the target automobile part is determined according to the target process parameter and the target area; a second area to be welded is determined according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded; a first welding trajectory is determined according to the second area to be welded; and a first welding trajectory corresponding to the first welding trajectory is determined The method comprises the steps of: determining a first welding working parameter corresponding to the first welding working parameter of the robot arm; determining a first control parameter of the robot arm corresponding to the first welding working parameter; controlling the robot arm to work according to the first control parameter, and controlling the welding device to perform welding operation along the first welding trajectory with the first welding working parameter. Firstly, the position (target area) of the target automobile part and the target process parameter directly determine the position or area to be welded, that is, the first area to be welded of the target automobile part can be determined based on the target process parameter and the target area. Secondly, the second area to be welded can be accurately planned in combination with the characteristics of the automobile part itself, the characteristics and capabilities of the welding device itself, and the environmental impact. Thirdly, the corresponding welding working parameter can be adapted based on the welding trajectory. In addition, the robot arm and the welding device can be regarded as an integrated operation, thereby ensuring that the welding operation is carried out in an orderly manner along the welding trajectory, and ensuring the welding efficiency and welding accuracy. In this way, the welding efficiency can be improved and the efficiency of automobile automated assembly can be guaranteed.

[0155] Figure 3: is a functional unit composition block diagram of a robot motion control system 300 involved in an embodiment of the present application. The robot motion control system 300 is applied to a welding robot. The welding robot includes: a robot body, a welding device, a camera, and an environmental sensor. The robot body is connected to the welding device through a mechanical arm. The robot motion control system 300 includes: a shooting unit 301, a recognition unit 302, an acquisition unit 303, a determination unit 304, and a control unit 305, wherein:

[0156] The shooting unit 301 is used to shoot the target automobile parts through the camera to obtain the target image;

[0157] The recognition unit 302 is used to perform a first target recognition on the target image to obtain a target area where the target automobile part is located;

[0158] The acquisition unit 303 is used to acquire the target process parameters corresponding to the target automobile component;

[0159] The determination unit 304 is used to determine the first attribute information of the target automobile part, obtain the second attribute information of the welding device, and obtain the first environmental parameter through the environmental sensor; determine the first area to be welded of the target automobile part according to the target process parameter and the target area; determine the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter and the first area to be welded; determine the first welding trajectory according to the second area to be welded; determine the first welding working parameter corresponding to the first welding trajectory; determine the first control parameter of the robot arm corresponding to the first welding working parameter;

[0160] The control unit 305 is used to control the robot arm to work according to the first control parameter, and control the welding device to perform welding operation along the first welding trajectory with the first welding working parameter.

[0161] In some possible examples, in determining the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded, the determining unit 304 is specifically used to:

[0162] Extracting the contour of the first area to be welded to obtain a first contour;

[0163] determining a first contour width of the first contour;

[0164] Determining a first adjustment parameter corresponding to the first attribute information;

[0165] Determining a second adjustment parameter corresponding to the second attribute information;

[0166] Adjust the first contour width according to the first adjustment parameter and the second adjustment parameter to obtain a second contour width;

[0167] Determining a first feedback adjustment parameter corresponding to the first environmental parameter;

[0168] Performing feedback adjustment on the second contour width according to the first feedback adjustment parameter to obtain a third contour width;

[0169] Update the first contour according to the third contour width to obtain a second contour;

[0170] The second area to be welded is determined according to the second contour and the first area to be welded.

[0171] In some possible examples, the first welding operating parameters include: a first welding rate, a first wire feeding rate, a first power supply parameter and a welding action parameter; the welding device includes: a welding power supply, a wire feeder, and a welding gun. In determining the first welding operating parameters corresponding to the first welding trajectory, the determining unit 304 is specifically used to:

[0172] Determining the first welding rate corresponding to the welding gun according to the first welding trajectory; the first welding trajectory includes a plurality of welding positions, each welding machine position corresponding to a different welding rate;

[0173] Determining the first wire feeding rate corresponding to the wire feeder according to the first welding rate;

[0174] determining the first power supply parameter of the welding power supply corresponding to the first welding rate;

[0175] The welding action parameters are determined according to the first welding rate.

[0176] In some possible examples, in determining the first welding rate corresponding to the welding gun according to the first welding trajectory, the determining unit 304 is specifically configured to:

[0177] Dividing the first welding trajectory into multiple segments to obtain multiple welding trajectories;

[0178] Determining a positional relationship between each welding trajectory of the plurality of welding trajectories and the target automobile component;

[0179] The first welding rate is determined according to the positional relationship.

[0180] In some possible examples, in determining the first area to be welded of the target automobile part according to the target process parameter and the target area, the determining unit 304 is specifically used to:

[0181] Determining a position to be welded according to the target process parameters;

[0182] Marking the target area according to the positions to be welded to obtain a plurality of welding points;

[0183] Connecting the plurality of welding points to obtain a reference welding area;

[0184] determining a reference welding width corresponding to the second attribute information;

[0185] The first area to be welded is determined according to the reference welding width and the reference welding area.

[0186] It can be seen that the robot motion control system described in the embodiment of the present application is applied to a welding robot, and the welding robot includes: a robot body, a welding device, a camera, and an environmental sensor. The robot body is connected to the welding device through a robotic arm, and the target automobile part is photographed through the camera to obtain a target image; a first target recognition is performed on the target image to obtain a target area where the target automobile part is located; a target process parameter corresponding to the target automobile part is obtained; a first attribute information of the target automobile part is determined, and a second attribute information of the welding device is obtained, and a first environmental parameter is obtained through the environmental sensor; a first area to be welded of the target automobile part is determined according to the target process parameter and the target area; a second area to be welded is determined according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded; a first welding trajectory is determined according to the second area to be welded; and a first welding trajectory is determined according to the second area to be welded. A first welding working parameter corresponding to a first welding trajectory; determining a first control parameter of the robot arm corresponding to the first welding working parameter; controlling the robot arm to work according to the first control parameter, and controlling the welding device to perform welding operations along the first welding trajectory with the first welding working parameter. First, the position (target area) of the target automobile part and the target process parameter directly determine the position or area to be welded, that is, the first area to be welded of the target automobile part can be determined based on the target process parameter and the target area. Second, the second area to be welded can be accurately planned in combination with the characteristics of the automobile part itself, the characteristics and capabilities of the welding device itself, and the environmental impact. Third, the corresponding welding working parameters can be adapted based on the welding trajectory. In addition, the robot arm and the welding device can be regarded as an integrated operation, thereby ensuring that the welding operation is performed in an orderly manner along the welding trajectory, ensuring welding efficiency and welding accuracy. In this way, the welding efficiency can be improved and the efficiency of automobile automated assembly can be guaranteed.

[0187] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes a welding robot.

[0188] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes a welding robot.

[0189] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0191] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0192] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0193] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0194] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, 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. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0195] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0196] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A robot motion control method, characterized in that: Applied to a welding robot, the welding robot comprises: a robot body, a welding device, a camera, and an environmental sensor, the robot body is connected to the welding device via a mechanical arm, and the method comprises: The target automobile parts are photographed by the camera to obtain a target image; Performing a first target recognition on the target image to obtain a target area where the target automobile component is located; Obtaining target process parameters corresponding to the target automotive component; Determine the first attribute information of the target automobile part, obtain the second attribute information of the welding device, and obtain the first environmental parameter through the environmental sensor; Determine a first area to be welded of the target automotive component according to the target process parameter and the target area; Determine a second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter, and the first area to be welded; determining a first welding trajectory according to the second area to be welded; Determining a first welding operating parameter corresponding to the first welding trajectory; Determining a first control parameter of the robot arm corresponding to the first welding working parameter; Controlling the robot arm to work according to the first control parameter, and controlling the welding device to perform welding operation along the first welding trajectory with the first welding working parameter; Wherein, determining the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter and the first area to be welded includes: Extracting the contour of the first area to be welded to obtain a first contour; determining a first contour width of the first contour; Determining a first adjustment parameter corresponding to the first attribute information; Determining a second adjustment parameter corresponding to the second attribute information; Adjust the first contour width according to the first adjustment parameter and the second adjustment parameter to obtain a second contour width; Determining a first feedback adjustment parameter corresponding to the first environmental parameter; Performing feedback adjustment on the second contour width according to the first feedback adjustment parameter to obtain a third contour width; Update the first contour according to the third contour width to obtain a second contour; The second area to be welded is determined according to the second contour and the first area to be welded.

2. The method according to claim 1, characterized in that: The first welding working parameters include: a first welding rate, a first wire feeding rate, a first power supply parameter and a welding action parameter; the welding device includes: a welding power supply, a wire feeder, and a welding gun, and the first welding working parameters corresponding to the first welding trajectory are determined, including: Determining the first welding rate corresponding to the welding gun according to the first welding trajectory; the first welding trajectory includes a plurality of welding positions, each welding machine position corresponding to a different welding rate; Determining the first wire feeding rate corresponding to the wire feeder according to the first welding rate; determining the first power supply parameter of the welding power supply corresponding to the first welding rate; The welding action parameters are determined according to the first welding rate.

3. The method according to claim 2, characterized in that The determining a first welding rate corresponding to the welding gun according to the first welding trajectory includes: Dividing the first welding trajectory into multiple segments to obtain multiple welding trajectories; Determining a positional relationship between each welding trajectory of the plurality of welding trajectories and the target automobile component; The first welding rate is determined according to the positional relationship.

4. The method according to claim 1, characterized in that The step of determining the first area to be welded of the target automobile component according to the target process parameter and the target area comprises: Determining a position to be welded according to the target process parameters; Marking the target area according to the positions to be welded to obtain a plurality of welding points; Connecting the plurality of welding points to obtain a reference welding area; determining a reference welding width corresponding to the second attribute information; The first area to be welded is determined according to the reference welding width and the reference welding area.

5. A robot motion control system, characterized in that: Applied to a welding robot, the welding robot comprises: a robot body, a welding device, a camera, and an environmental sensor, the robot body is connected to the welding device via a mechanical arm, the system comprises: a shooting unit, a recognition unit, an acquisition unit, a determination unit, and a control unit, wherein: The shooting unit is used to shoot the target automobile parts through the camera to obtain the target image; The recognition unit is used to perform a first target recognition on the target image to obtain a target area where the target automobile component is located; The acquisition unit is used to acquire the target process parameters corresponding to the target automobile component; The determination unit is used to determine the first attribute information of the target automobile part, obtain the second attribute information of the welding device, and obtain the first environmental parameter through the environmental sensor; determine the first area to be welded of the target automobile part according to the target process parameter and the target area; determine the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter and the first area to be welded; determine the first welding trajectory according to the second area to be welded; determine the first welding working parameter corresponding to the first welding trajectory; determine the first control parameter of the robot arm corresponding to the first welding working parameter; The control unit is used to control the robot arm to work according to the first control parameter, and control the welding device to perform welding operation along the first welding trajectory with the first welding working parameter; Wherein, in determining the second area to be welded according to the first attribute information, the second attribute information, the first environmental parameter and the first area to be welded, the determining unit is specifically used for: Extracting the contour of the first area to be welded to obtain a first contour; determining a first contour width of the first contour; Determining a first adjustment parameter corresponding to the first attribute information; Determining a second adjustment parameter corresponding to the second attribute information; Adjust the first contour width according to the first adjustment parameter and the second adjustment parameter to obtain a second contour width; Determining a first feedback adjustment parameter corresponding to the first environmental parameter; Performing feedback adjustment on the second contour width according to the first feedback adjustment parameter to obtain a third contour width; Update the first contour according to the third contour width to obtain a second contour; The second area to be welded is determined according to the second contour and the first area to be welded.

6. The system according to claim 5, characterized in that The first welding working parameters include: a first welding rate, a first wire feeding rate, a first power supply parameter and a welding action parameter; the welding device includes: a welding power supply, a wire feeder, and a welding gun. In determining the first welding working parameters corresponding to the first welding trajectory, the determining unit is specifically used to: Determining the first welding rate corresponding to the welding gun according to the first welding trajectory; the first welding trajectory includes a plurality of welding positions, each welding machine position corresponding to a different welding rate; Determining the first wire feeding rate corresponding to the wire feeder according to the first welding rate; determining the first power supply parameter of the welding power supply corresponding to the first welding rate; The welding action parameters are determined according to the first welding rate.

7. The system according to claim 6, characterized in that In determining the first welding rate corresponding to the welding gun according to the first welding trajectory, the determining unit is specifically used for: Dividing the first welding trajectory into multiple segments to obtain multiple welding trajectories; Determining a positional relationship between each welding trajectory of the plurality of welding trajectories and the target automobile component; The first welding rate is determined according to the positional relationship.

8. The system according to claim 5, characterized in that In determining the first area to be welded of the target automobile part according to the target process parameter and the target area, the determining unit is specifically used for: Determining a position to be welded according to the target process parameters; Marking the target area according to the positions to be welded to obtain a plurality of welding points; Connecting the plurality of welding points to obtain a reference welding area; determining a reference welding width corresponding to the second attribute information; The first area to be welded is determined according to the reference welding width and the reference welding area.

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