Welding robot thermal compensation path generation method, device and equipment and storage medium

Abstract

The invention relates to the technical field of intelligent welding, and provides a welding robot thermal compensation path generation method, device and equipment and a storage medium, and the method comprises the steps that a to-be-welded image is obtained, and the to-be-welded image is used for representing a three-dimensional image of a welding target; identifying according to the to-be-welded image, and determining a basic welding path corresponding to the to-be-welded image; welding information corresponding to the welding target is obtained, and the thermal compensation size corresponding to the basic welding path is determined based on the welding information; the welding information at least comprises material information; based on the basic welding path and the thermal compensation size, a thermal compensation path corresponding to the basic welding path is determined; a control instruction is generated according to the thermal compensation path for welding; the thermal compensation size needed by the welding path is calculated in advance through the welding information of the welding target, the thermal compensation size is compensated into the basic welding path, the thermal compensation path is obtained to weld the welding target, the condition of weld joint deviation can be avoided, and therefore the mechanical property of welding is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent welding technology, and in particular to a method, device, equipment and storage medium for generating a thermal compensation path for a welding robot. Background Art

[0002] Welding robots are generally composed of multiple joints, operating arms or other forms of motion mechanisms, with welding guns and other welding auxiliary devices clamped at the end of the mechanism. They complete the weld trajectory movement required for workpiece welding within the welding operation space. It is an automated welding device that can complete more complex workpieces. During the welding process, due to inconsistent sizes, materials or thicknesses on both sides, it often leads to uneven heat generation and heat dissipation between the two plates, which ultimately leads to the phenomenon of molten core displacement, thereby reducing the mechanical properties of the welding.

[0003] CN102049638B discloses a robot device for performing circumferential seam welding on large spherical crown surface workpieces and pipe fittings. The robot body includes a head and a frame. The head is composed of a cross slide mechanism, a six-degree-of-freedom motion system, a slip ring system and a welding gun; the frame is composed of a fixed base, a column, a crossbeam and a slider. The robot is provided with a large range of motion by the frame, and the robot body is moved to the welding position. The microscopic motion accuracy is compensated by the cross slide mechanism of the head to achieve six-degree-of-freedom circumferential seam welding. The welding process is monitored by visual sensing technology. One camera cooperates with a laser generator to serve as a laser structured light visual sensor; another camera cooperates with a welding gun to serve as a welding molten pool visual sensor to perform real-time visual detection of the welding process. The present invention is particularly suitable for the motion requirements of precise positioning of large spherical crown surface workpieces and pipe fittings, can complete specific trajectory welding in a small space, and can control welding thermal deformation.

[0004] KR101594603B1 relates to robot welding, which enables the tip dressing equipment used in welding to be dressed and reused, and the state can be precisely checked whether the welding tip inspection method of the present invention is used. The method of the present invention inspects the welding tip, the welding quantity meets the set output detection, and each time the group meets the set number of welding welding tip dressing steps, the welding tip is trimmed or the thermal compensation is determined by a non-conductive test device visual inspection inspection to meet the conditions. The visual inspection conditions are sent whenever the group meets the welding tip used in the embodiment, including the classification plate setting, the visual inspection conditions, the length of each welding tip, the state conditions of the tip of the welding tip, the black blood state of the tip of the welding tip, the tip side of the welding tip, and the tip of the tip after the welding operation is tipped by at least one slope condition.

[0005] In the prior art, the welding robot compensates the heat of the weld by using the image obtained in real time by the visual device during the movement and the deviation compensation algorithm to compensate the path. However, the visual device takes time to perform recognition, calculation and analysis, and there will always be a time error in the error compensation process, resulting in the welding compensation always compensating the error of the previous time node, which ultimately leads to the phenomenon of the nugget still being offset, thereby reducing the mechanical properties of the welding. Summary of the invention

[0006] After long-term practice, it is found that the welding robot compensates the heat of the weld by using the image obtained in real time by the visual device during movement, and the deviation compensation algorithm to compensate the path. However, it takes time for the visual device to perform recognition, calculation and analysis. There will always be a time error in the error compensation process, which causes the welding compensation to always compensate for the error of the previous time node, and ultimately causes the molten core to be offset, thereby reducing the mechanical properties of the weld joint; and the visual device requires real-time monitoring, calculation and feedback, which places high requirements on the visual device, and is prone to waste of energy resources and affect the service life of the visual device. In view of this, the present invention provides an intelligent welding technology method, device, equipment and storage medium to at least solve the above technical problems existing in the prior art.

[0007] According to a first aspect of the present invention, a method for generating a thermal compensation path for a welding robot is provided, the method comprising: acquiring an image to be welded, the image to be welded being used to characterize a three-dimensional image of a welding target; performing recognition based on the image to be welded, and determining a basic welding path corresponding to the image to be welded; acquiring welding information corresponding to the welding target, and determining a thermal compensation size corresponding to the basic welding path based on the welding information; the welding information at least comprises material information; determining a thermal compensation path corresponding to the basic welding path based on the basic welding path and the thermal compensation size; and generating a control instruction based on the thermal compensation path, the control instruction being used to control the welding robot to weld the welding target using the thermal compensation path.

[0008] In one embodiment, a thermal compensation size corresponding to the basic welding path is determined based on the welding information, including: the welding information includes first side material information of a welding target on a first side of a basic welding trajectory and second side material information of a welding target on a second side of a basic welding trajectory; a thermal energy model corresponding to the welding target is determined based on the first side material information and the second side material information; and a thermal compensation size corresponding to the basic welding path is determined based on the thermal energy model.

[0009] In one embodiment, a thermal energy model corresponding to a welding target is determined based on first-side material information and second-side material information, including: the welding information also includes welding gun parameters; heat generation information corresponding to the welding gun can be determined according to the welding gun parameters; based on the heat generation information, the first-side material information and the second-side material information, the gradient temperature information corresponding to the welding target can be determined according to the basic law of heat conduction; and a thermal energy model corresponding to the welding target is determined according to the gradient temperature information.

[0010] In one embodiment, the thermal compensation size corresponding to the basic welding path is determined based on the thermal energy model, including: the thermal energy model is a thermal energy finite element model; the thermal deformation value corresponding to the welding target is determined according to the thermal energy finite element model; the thermal compensation size corresponding to the basic welding path is determined based on the thermal deformation value.

[0011] In one embodiment, identification is performed based on the image to be welded to determine a basic welding path corresponding to the image to be welded, and the method includes: visually identifying the welding target through a visual recognition device to obtain a welding edge curve corresponding to the welding target, wherein the edge curve corresponds to two sides of the welding target; selecting a number of edge points from the edge curve, and determining the midpoint of a connecting line between two corresponding edge points as a welding point; fitting the several welding points into a welding point curve, and determining the welding point curve as the basic welding path.

[0012] In one embodiment, determining a thermal compensation dimension corresponding to the basic welding path based on the thermal deformation value includes: determining a first displacement corresponding to the edge point based on the thermal deformation value; determining a second displacement corresponding to the welding point based on the first displacement; compensating the welding point based on the second displacement as the thermal compensation dimension, and fitting it into the thermal compensation path.

[0013] In one embodiment, after a control instruction is generated according to a thermal compensation path, and the control instruction is used to control a welding robot to weld a welding target along the thermal compensation path, the method further includes: acquiring a post-welding image, wherein the post-welding image includes weld information; performing three-dimensional reconstruction of the welding target based on the post-welding image to obtain a three-dimensional image; based on the three-dimensional image, straightening the weld in the three-dimensional image into a straight line to obtain a straight weld; and judging the weld based on the straight weld to obtain qualified information corresponding to the weld information.

[0014] According to a second aspect of the present invention, a device for generating a thermal compensation path for a welding robot is provided, the device comprising: an acquisition module for acquiring an image to be welded, the image to be welded being used to characterize a three-dimensional image of a welding target; an identification module for identifying according to the image to be welded, and determining a basic welding path corresponding to the image to be welded; the acquisition module is further used to acquire welding information corresponding to the welding target, and determine a thermal compensation size corresponding to the basic welding path based on the welding information; the welding information at least includes material information; a determination module is used to determine a thermal compensation path corresponding to the basic welding path based on the basic welding path and the thermal compensation size; and a generation instruction is used to generate a control instruction according to the thermal compensation path, the control instruction being used to control the welding robot to weld the welding target with the thermal compensation path.

[0015] In one embodiment, the determination module is also used for the welding information including the first side material information of the welding target on the first side of the basic welding trajectory and the second side material information of the welding target on the second side of the basic welding trajectory; determining the thermal energy model corresponding to the welding target based on the first side material information and the second side material information; and determining the thermal compensation size corresponding to the basic welding path based on the thermal energy model.

[0016] In one embodiment, the determination module is also used for the welding information to include welding gun parameters; based on the welding gun parameters, the heat generation information corresponding to the welding gun can be determined; based on the heat generation information, the first side material information and the second side material information, the gradient temperature information corresponding to the welding target can be determined according to the basic law of heat conduction; and the thermal energy model corresponding to the welding target is determined according to the gradient temperature information.

[0017] In one embodiment, the determination module is also used to determine that the thermal energy model is a thermal energy finite element model; determine the thermal deformation value corresponding to the welding target according to the thermal energy finite element model; and determine the thermal compensation size corresponding to the basic welding path based on the thermal deformation value.

[0018] In one embodiment, the recognition module is also used to perform visual recognition on the welding target through a visual recognition device to obtain a welding edge curve corresponding to the welding target, wherein the edge curve corresponds to two sides of the welding target; select a number of edge points from the edge curve, and determine the welding point based on the midpoint of the connecting line between the two corresponding edge points; fit the several welding points into a welding point curve, and determine the welding point curve as the basic welding path.

[0019] In one embodiment, the identification module is also used to determine a first displacement corresponding to the edge point according to the thermal deformation value; determine a second displacement corresponding to the welding point based on the first displacement; compensate the welding point based on the second displacement as the thermal compensation size, and fit it into the thermal compensation path.

[0020] In one embodiment, the generation module is also used to obtain a post-welding image, which includes weld information; based on the post-welding image, the welding target is three-dimensionally reconstructed to obtain a three-dimensional image; based on the three-dimensional image, the weld in the three-dimensional image is straightened into a straight line to obtain a straight weld; based on the straight weld, the weld is judged to obtain qualified information corresponding to the weld information.

[0021] According to a third aspect of the present invention, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the present invention.

[0022] According to a fourth aspect of the present invention, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute the method of the present invention.

[0023] The method, device, equipment and storage medium for generating thermal compensation path of welding robot of the present invention include: obtaining an image to be welded, the image to be welded is used to characterize the three-dimensional image of welding target; identifying according to the image to be welded, determining the basic welding path corresponding to the image to be welded; obtaining welding information corresponding to the welding target, determining the thermal compensation size corresponding to the basic welding path based on the welding information; the welding information at least includes material information; determining the thermal compensation path corresponding to the basic welding path based on the basic welding path and the thermal compensation size; generating control instructions according to the thermal compensation path, the control instructions are used to control the welding robot to weld the welding target with the thermal compensation path; pre-calculating the thermal compensation size required for the welding path through the welding information of the welding target, compensating the thermal compensation size value in the basic welding path, obtaining the thermal compensation path to weld the welding target, which can avoid the situation of weld offset, thereby improving the mechanical properties of welding. Moreover, the welding path can be accurately generated through a one-time measurement with the pre-added thermal compensation, thereby improving the welding efficiency.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0026] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0027] Figure 1 A schematic diagram of the implementation process of the method for generating a thermal compensation path for a welding robot according to an embodiment of the present invention is shown;

[0028] Figure 2 The structure diagram of the thermal compensation path generating device for a welding robot according to an embodiment of the present invention is shown. Figure 2 ;

[0029] Figure 3 A schematic diagram of the structure of an electronic device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0030] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0031] Figure 1 FIG. 1 is a schematic diagram showing the implementation flow of the method for generating a thermal compensation path for a welding robot according to an embodiment of the present invention; please refer to FIG. Figure 1 ;

[0032] After long-term practice, it is found that the welding robot compensates the heat of the weld by using the image obtained in real time by the visual device during movement, and the deviation compensation algorithm to compensate the path. However, it takes time for the visual device to perform recognition, calculation and analysis. There will always be a time error in the error compensation process, which causes the welding compensation to always compensate for the error of the previous time node, and ultimately causes the molten core to be offset, thereby reducing the mechanical properties of the weld joint; and the visual device requires real-time monitoring, calculation and feedback, which places high requirements on the visual device, and is prone to waste of energy resources and affect the service life of the visual device. In view of this, the present invention provides an intelligent welding technology method, device, equipment and storage medium to at least solve the above technical problems existing in the prior art.

[0033] According to a first aspect of the present invention, a method for generating a thermal compensation path for a welding robot is provided, the method comprising: step 101, acquiring an image to be welded, the image to be welded being used to characterize a three-dimensional image of a welding target; step 102, identifying the image to be welded and determining a basic welding path corresponding to the image to be welded; step 103, acquiring welding information corresponding to the welding target, and determining a thermal compensation size corresponding to the basic welding path based on the welding information; the welding information at least includes material information; step 104, determining a thermal compensation path corresponding to the basic welding path based on the basic welding path and the thermal compensation size; step 105, generating a control instruction according to the thermal compensation path, the control instruction being used to control the welding robot to weld the welding target using the thermal compensation path.

[0034] The method, device, equipment and storage medium for generating thermal compensation path of welding robot of the present invention include: obtaining an image to be welded, the image to be welded is used to characterize the three-dimensional image of welding target; identifying according to the image to be welded, determining the basic welding path corresponding to the image to be welded; obtaining welding information corresponding to the welding target, determining the thermal compensation size corresponding to the basic welding path based on the welding information; the welding information at least includes material information; determining the thermal compensation path corresponding to the basic welding path based on the basic welding path and the thermal compensation size; generating control instructions according to the thermal compensation path, the control instructions are used to control the welding robot to weld the welding target with the thermal compensation path; pre-calculating the thermal compensation size required for the welding path through the welding information of the welding target, compensating the thermal compensation size value in the basic welding path, obtaining the thermal compensation path to weld the welding target, which can avoid the situation of weld offset, thereby improving the mechanical properties of welding. Moreover, the welding path can be accurately generated through a one-time measurement with the pre-added thermal compensation, thereby improving the welding efficiency.

[0035] Step 101, obtaining an image to be welded, where the image to be welded is used to represent a three-dimensional image of a welding target;

[0036] The welding image is acquired by a visual recognition device to obtain an image to be welded corresponding to the welding target;

[0037] In step 102 of the specific embodiment of the present invention, identification is performed based on the image to be welded, and a basic welding path corresponding to the image to be welded is determined;

[0038] By performing image recognition on the image to be welded, two welding targets in the image to be welded are determined. The welding path between the two welding targets can be determined through the two welding targets. The welding target is visually recognized by a visual recognition device to obtain a welding edge curve corresponding to the welding target. The welding edge curve is the curve corresponding to the side of the two welding targets that need to be welded; the edge curve corresponds to the two sides of the welding target; a number of edge points are selected from the edge curve, and the two edge curves are divided into a number of edge points according to symmetry. The midpoint of the connecting line of the two corresponding edge points is determined as the welding point to obtain a number of welding points, and the several welding points are fitted into a welding point curve, and the welding point curve is determined as the basic welding path. The basic welding path refers to the path corresponding to welding the welding target without considering thermal deviation. The welding target refers to the two plate targets to be welded.

[0039] In step 103 of a specific embodiment of the present invention, welding information corresponding to the welding target is obtained, and a thermal compensation size corresponding to the basic welding path is determined based on the welding information; the welding information includes at least material information;

[0040] Welding information refers to the information corresponding to the welding target, including the material corresponding to the welding target, the thermal conductivity corresponding to the material, the welding current, resistance, power and welding speed. The welding information can be determined by the staff. Specifically, the welding information includes the first side material information of the welding target on the first side of the basic welding trajectory and the second side material information of the welding target on the second side of the basic welding trajectory; the thermal energy model corresponding to the welding target is determined based on the first side material information and the second side material information; specifically including: the welding information also includes welding gun parameters, namely welding current, resistance, power and welding speed; the heat generation information corresponding to the welding gun can be determined according to the welding gun parameters; according to the heat generation information, the first side material information and the second side material information, the gradient temperature information corresponding to the welding target can be determined according to the basic law of heat conduction; the thermal energy model corresponding to the welding target is determined according to the gradient temperature information.

[0041] Specifically, the total heat energy produced by the welding gun can be calculated by Joule's law; Q = I 2 RT. Where I is current, R is resistance, and T is time.

[0042] After determining the total heat energy, the corresponding thermal conductivity is determined by the first side material information and the second side material information. The temperature gradient corresponding to the welding targets on both sides can be determined by Fourier's law through the total heat energy and the thermal conductivity.

[0043]

[0044] Q is the heat conduction flow, λ is the thermal conductivity, which indicates the heat conduction ability of the material, and A is the cross-sectional area corresponding to the welding target. is the temperature gradient, where q′ is the density of heat flow, which represents the amount of heat passing through the cross-sectional area per unit time.

[0045] The thermal energy model is a thermal energy finite element model; the thermal deformation value corresponding to the welding target is determined according to the thermal energy finite element model; the thermal compensation size corresponding to the basic welding path is determined based on the thermal deformation value, as follows:

[0046] The MSC.Marc finite element numerical simulation analysis software is used to simulate the welding thermal deformation of the welded workpiece. The virtual working environment is as follows: the initial temperature is set to room temperature 20℃; the Gaussian heat source model is used, and only the convection heat transfer between the weld and the welding target during welding is considered, and the complex impact physical changes, phase change latent heat and other chemical changes inside the molten pool are not considered. In the finite element analysis, there are several grids and boundary constraints as a whole. Among them, the overall constraint adopts a rigid constraint with fixed XYZ directions at both ends, and other local positions can be deformed freely; in order to avoid too many grids leading to low calculation efficiency, the method of coarse and fine grid transition is adopted, which improves the calculation speed without affecting the calculation results. It should be noted that there may be inconsistencies in the materials on both sides during welding, so the finite element analysis is more set according to the material parameters. Among them, the power is set to 5000W and the welding speed is 10mm / s. Finite element numerical simulation analysis can calculate the equivalent real-time deformation of the welding target in the XYZ direction during welding, that is, the thermal deformation value, based on the total heat energy and temperature echelon. According to the thermal deformation value, the corresponding thermal compensation size can be determined.

[0047] In step 104 of a specific embodiment of the present invention, a thermal compensation path corresponding to the basic welding path is determined based on the basic welding path and the thermal compensation size;

[0048] According to the thermal deformation value, the deformation displacement of the two welding edge curves corresponding to the welding target can be determined. By calculating the edge points divided by the welding edge curve, the first displacement corresponding to the edge point can be determined; specifically, the second displacement corresponding to the welding point is determined based on the first displacement; the average value of the displacement of the two edge points is the thermal compensation size of the welding point; the welding point is compensated based on the second displacement as the thermal compensation size, a new welding point is obtained, and a thermal compensation path is fitted according to the new welding point. The thermal compensation size refers to the size of the basic welding path adjusted based on the thermal deviation so that the welding path can adapt to the welding target after the thermal deviation.

[0049] In step 105 of a specific embodiment of the present invention, a control instruction is generated according to the thermal compensation path, and the control instruction is used to control the welding robot to weld the welding target with the thermal compensation path. A control instruction for controlling the welding robot is generated according to the thermal compensation path, so as to control the welding robot to weld the welding target with the thermal compensation path.

[0050] In one embodiment, after a control instruction is generated according to a thermal compensation path, and the control instruction is used to control a welding robot to weld a welding target using a thermal compensation path, the method further includes: acquiring a post-welding image, the post-welding image including weld information; performing three-dimensional reconstruction of the welding target based on the post-welding image to obtain a three-dimensional image; based on the three-dimensional image, straightening the weld in the three-dimensional image into a straight line to obtain a straight weld; and judging the weld based on the straight weld to obtain qualified information corresponding to the weld information.

[0051] In a specific embodiment of the present invention, a post-welding image is obtained, and the post-welding image includes weld information; based on a visual device, a welding target after welding is scanned by a visual recognition device, and the welding target is three-dimensionally reconstructed to obtain a three-dimensional image; based on the three-dimensional image, when the weld is non-straight, the weld in the three-dimensional image is straightened into a straight line to obtain a straight weld; based on the straight weld, the weld is judged to obtain qualified information corresponding to the weld information. Through the straightened straight weld, it is possible to more clearly judge whether the weld is qualified, and it is possible to more clearly observe whether the weld surface is flat and smooth, and there are no obvious defects such as pores, slag inclusions, undercuts, and weld bumps.

[0052] Based on the three-dimensional image, the weld in the three-dimensional image is straightened into a straight line to obtain a straight weld; including determining two closest curves parallel to both sides of the weld, that is, curves overlapping with the weld at most one point, and a weld area can be framed by the two closest curves; using the above-mentioned welding point determination method, the two curves are divided into a plurality of segmentation points, and the welding weld area is divided into a plurality of triangular areas in sequence by two adjacent points and one opposite point;

[0053] Select a three-dimensional rectangle, the length of which is longer than the length of the weld curve, the width is consistent with the thickness of the welded part, and the height is consistent with the maximum distance between the two nearest curves. Divide the rectangle into several straight points along the length direction according to the distance of the dividing points, and divide the straight points into equal straightened triangle areas according to the above triangle division rules; map the image in the above triangle area to the straightened triangle area, and stretch the image to a certain extent to fill the straightened triangle, so as to obtain the straight weld corresponding to the weld, so as to facilitate the judgment of the weld's qualification.

[0054] Figure 2 The structure diagram of the thermal compensation path generating device for a welding robot according to an embodiment of the present invention is shown. Figure 2 ; Please refer to Figure 2 ;

[0055] According to a second aspect of the present invention, a device for generating a thermal compensation path for a welding robot is provided, the device comprising: an acquisition module 201, for acquiring an image to be welded, the image to be welded being used to characterize a three-dimensional image of a welding target; an identification module 202, for identifying according to the image to be welded, and determining a basic welding path corresponding to the image to be welded; the acquisition module 201, is also used to acquire welding information corresponding to the welding target, and determine a thermal compensation size corresponding to the basic welding path based on the welding information; the welding information at least includes material information; a determination module 203, for determining a thermal compensation path corresponding to the basic welding path based on the basic welding path and the thermal compensation size; and a generation instruction 204, for generating a control instruction according to the thermal compensation path, the control instruction being used to control the welding robot to weld the welding target with the thermal compensation path.

[0056] In one embodiment, the determination module 203 is also used for welding information including first side material information of the welding target on the first side of the basic welding trajectory and second side material information of the welding target on the second side of the basic welding trajectory; determining a thermal energy model corresponding to the welding target based on the first side material information and the second side material information; and determining a thermal compensation size corresponding to the basic welding path based on the thermal energy model.

[0057] In one embodiment, the determination module 203 is also used for the welding information also including welding gun parameters; based on the welding gun parameters, the heat generation information corresponding to the welding gun can be determined; based on the heat generation information, the first side material information and the second side material information, the gradient temperature information corresponding to the welding target can be determined according to the basic law of heat conduction; based on the gradient temperature information, the thermal energy model corresponding to the welding target is determined.

[0058] In one embodiment, the determination module 203 is also used to determine that the thermal energy model is a thermal energy finite element model; determine the thermal deformation value corresponding to the welding target according to the thermal energy finite element model; and determine the thermal compensation size corresponding to the basic welding path based on the thermal deformation value.

[0059] In one embodiment, the recognition module 202 is also used to perform visual recognition on the welding target through a visual recognition device to obtain a welding edge curve corresponding to the welding target, where the edge curve corresponds to two sides of the welding target; select a number of edge points from the edge curve, and determine the welding point based on the midpoint of the connecting line between the two corresponding edge points; fit the several welding points into a welding point curve, and determine the welding point curve as the basic welding path.

[0060] In one embodiment, the identification module 202 is further used to determine a first displacement corresponding to the edge point according to the thermal deformation value; determine a second displacement corresponding to the welding point based on the first displacement; compensate the welding point based on the second displacement as a thermal compensation size, and fit it into a thermal compensation path.

[0061] In one embodiment, the generation module 204 is also used to obtain a post-welding image, which includes weld information; based on the post-welding image, the welding target is three-dimensionally reconstructed to obtain a three-dimensional image; based on the three-dimensional image, the weld in the three-dimensional image is straightened into a straight line to obtain a straight weld; based on the straight weld, the weld is judged to obtain qualified information corresponding to the weld information.

[0062] According to a third aspect of the present invention, there is provided an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method of the present invention.

[0063] According to a fourth aspect of the present invention, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method of the present invention.

[0064] The welding robot thermal compensation path generation method, device, equipment and storage medium of the present invention are applied to a tightening machine, which at least includes a tightening unit and a detection unit, obtains self-test information, and the detection information includes a tightening instruction and a detection instruction; controls the tightening unit to perform a tightening operation according to the tightening instruction to obtain tightening information; controls the detection unit to detect the tightening operation according to the detection instruction to obtain detection information; performs fault analysis according to the tightening information and the detection information to obtain a detection result corresponding to the tightening machine; performs real-time detection of the tightening operation of the tightening unit by the detection unit, and judges the tightening information during the tightening operation by the detection information obtained by the detection, so as to determine whether there is a fault in the tightening process.

[0065] According to an embodiment of the present invention, the present invention also provides an electronic device and a readable storage medium.

[0066] Figure 3 A schematic block diagram of an example electronic device 300 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0067] like Figure 3As shown, the device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the device 300 can also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 303 is also connected to the bus 304.

[0068] A number of components in the device 300 are connected to the I / O interface 303, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the device 300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0069] The computing unit 301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 301 performs the various methods and processes described above, such as a welding robot thermal compensation path generation method. For example, in some embodiments, the welding robot thermal compensation path generation method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the welding robot thermal compensation path generation method described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to execute the welding robot thermal compensation path generation method in any other appropriate manner (for example, by means of firmware).

[0070] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0071] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0072] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0073] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0074] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0075] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0076] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in the present disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document is not limited here.

[0077] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0078] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for generating a thermal compensation path for a welding robot, characterized in that: The method comprises: Acquire an image to be welded, where the image to be welded is used to represent a three-dimensional image of a welding target; Identify the image to be welded and determine a basic welding path corresponding to the image to be welded; Acquire welding information corresponding to the welding target, and determine a thermal compensation size corresponding to the basic welding path based on the welding information; the welding information at least includes material information; Based on the basic welding path and the thermal compensation size, determining a thermal compensation path corresponding to the basic welding path; A control instruction is generated according to the thermal compensation path, and the control instruction is used to control the welding robot to weld the welding target according to the thermal compensation path.

2. The method for generating a thermal compensation path for a welding robot according to claim 1, characterized in that: Determining a thermal compensation size corresponding to the basic welding path based on the welding information includes: The welding information includes first side material information of a welding target on a first side of a basic welding trajectory and second side material information of a welding target on a second side of the basic welding trajectory; determining a thermal energy model corresponding to a welding target based on the first side material information and the second side material information; A thermal compensation dimension corresponding to the basic welding path is determined based on the thermal energy model.

3. The method for generating a thermal compensation path for a welding robot according to claim 2, characterized in that: Determining a thermal energy model corresponding to a welding target based on the first side material information and the second side material information includes: The welding information also includes welding gun parameters; heat generation information corresponding to the welding gun can be determined according to the welding gun parameters; According to the heat generation information, the first side material information and the second side material information, the gradient temperature information corresponding to the welding target can be determined according to the basic law of heat conduction; A thermal energy model corresponding to the welding target is determined according to the gradient temperature information.

4. The method for generating a thermal compensation path for a welding robot according to claim 2 or 3, characterized in that: Determining a thermal compensation size corresponding to the basic welding path based on the thermal energy model includes: the thermal energy model is a thermal energy finite element model; Determining a thermal deformation value corresponding to the welding target according to the thermal energy finite element model; A thermal compensation dimension corresponding to the basic welding path is determined based on the thermal deformation value.

5. The method for generating a thermal compensation path for a welding robot according to claim 4, characterized in that: Identifying the image to be welded and determining a basic welding path corresponding to the image to be welded, the method comprises: Performing visual recognition on the welding target by means of a visual recognition device to obtain a welding edge curve corresponding to the welding target, wherein the edge curve corresponds to two sides of the welding target; Selecting a number of edge points from the edge curve, and determining the midpoint of the connecting line between two corresponding edge points as a welding point; A plurality of welding points are fitted into a welding point curve, and the welding point curve is determined as a basic welding path.

6. The method for generating a thermal compensation path for a welding robot according to claim 5, characterized in that: Determining a thermal compensation size corresponding to the basic welding path based on the thermal deformation value includes: Determine a first displacement corresponding to the edge point according to the thermal deformation value; determining a second displacement amount corresponding to the welding point based on the first displacement amount; The welding point is compensated based on the second displacement as the thermal compensation size and fitted into the thermal compensation path.

7. The method for generating a thermal compensation path for a welding robot according to claim 1, characterized in that: After generating a control instruction according to the thermal compensation path, wherein the control instruction is used to control the welding robot to weld the welding target according to the thermal compensation path, the method further includes: Acquire a post-welding image, wherein the post-welding image includes weld information; Performing three-dimensional reconstruction on the welding target based on the post-welding image to obtain a three-dimensional image; Based on the three-dimensional image, straightening the weld in the three-dimensional image into a straight line to obtain a straight weld; The weld is judged based on the straight weld to obtain qualified information corresponding to the weld information.

8. A device for generating a thermal compensation path for a welding robot, characterized in that: The device comprises: An acquisition module, used for acquiring an image to be welded, wherein the image to be welded is used for representing a three-dimensional image of a welding target; A recognition module, used for performing recognition according to the image to be welded, and determining a basic welding path corresponding to the image to be welded; The acquisition module is further used to acquire welding information corresponding to the welding target, and determine the thermal compensation size corresponding to the basic welding path based on the welding information; the welding information at least includes material information; A determination module, configured to determine a thermal compensation path corresponding to the basic welding path based on the basic welding path and the thermal compensation size; Generate instructions for generating control instructions according to the thermal compensation path, wherein the control instructions are used to control the welding robot to weld the welding target along the thermal compensation path.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-7.

Images