A robot welding path optimization method and system

Abstract

The present invention discloses a robot welding path optimization method and system, comprising: obtaining a three-dimensional model of a workpiece to be welded, identifying weld information, generating a first welding path, analyzing the first welding path, performing plane projection on two connected welding path contours to obtain a first contour and a second contour; biasing the first contour inward to obtain a third contour; biasing the second contour inward to obtain a fourth contour; biasing the third contour and the fourth contour continuously outward until the two generate two intersection points; calculating a first position point and a second position point on the first contour as a first split position point group; calculating a third position point and a fourth position point on the second contour as a second split position point group; splitting the first contour based on the first split position point group to obtain a fifth contour; splitting the second contour based on the second split position point group to obtain a sixth contour; filling the gap at the split position points of the fifth contour and the sixth contour to obtain a second welding path.

Description

Technical Field

[0001] The present invention relates to the technical field of furniture robot welding, and in particular to a robot welding path optimization method and system. Background Art

[0002] In the field of furniture welding, some furniture has complex shapes, and the corresponding welding path planning is also relatively complex. In the prior art, three-dimensional scanning technology is used to obtain point cloud data of the furniture to be welded, and a three-dimensional model of the workpiece is generated through a surface reconstruction algorithm. Based on the three-dimensional model, a welding path line is generated. However, due to the complexity of the furniture structure and the accuracy limitations of the scanned surface reconstruction, adjacent welding path contours may be connected. The connected paths may make it impossible for the robot welding system to correctly identify independent welding areas, thereby affecting the correct planning of the welding path, which may result in missed welding, repeated welding or invalid welding. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present invention provides a robot welding path optimization method and system.

[0004] The technical solution adopted by the present invention is:

[0005] The first aspect of the present application provides a robot welding path optimization method, comprising the following contents:

[0006] Obtain a three-dimensional model of the workpiece to be welded;

[0007] Analyzing the three-dimensional model to identify weld information;

[0008] Based on the weld information, generating a first welding path, wherein the first welding path includes a plurality of welding path profiles;

[0009] Analyze the first welding path to determine whether there are two adjacent welding path contours connected, and if there are two adjacent welding path contours connected, perform plane projection on the two connected welding path contours to obtain a first projection contour; wherein the first projection contour includes the first contour and the second contour;

[0010] The first contour is biased inward to obtain a third contour; the second contour is biased inward to obtain a fourth contour;

[0011] The third contour and the fourth contour are continuously offset outward until the two have a first intersection point and a second intersection point;

[0012] Calculate a point on the first contour that is closest to the first intersection as the first position point, and calculate a point on the first contour that is closest to the second intersection as the second position point; calculate a point on the second contour that is closest to the first intersection as the third position point, and calculate a point on the second contour that is closest to the second intersection as the fourth position point; use the first position point and the third position point as a first split position point group, and use the second position point and the fourth position point as a second split position point group;

[0013] Splitting the first contour based on the first splitting position point group to obtain a fifth contour; splitting the second contour based on the second splitting position point group to obtain a sixth contour;

[0014] The gap at the splitting point of the fifth contour and the sixth contour is filled to obtain a second welding path.

[0015] Preferably, if there are two adjacent welding path contours connected, performing plane projection on the two connected welding path contours to obtain a first projection contour includes:

[0016] If there are two adjacent welding path contours connected, a plane is fitted using the least square method, and the two connected welding path contours are projected onto the plane to obtain a first projection contour;

[0017] Select the two points on the first projection contour that are farthest from each other, take one of them as the origin, and the line connecting the two points as the X-axis. Calculate the vector product of the normal vector of the projection plane and the X-axis as the Y-axis to establish a new coordinate system.

[0018] Preferably, the step of biasing the first contour inward to obtain the third contour and biasing the second contour inward to obtain the fourth contour comprises:

[0019] Calculating a maximum distance between the first projection profile and the X-axis as a maximum offset distance, and setting an inward offset distance based on the maximum offset distance, wherein the inward offset distance is less than the maximum offset distance;

[0020] The first contour is offset inwardly based on the inward offset distance to obtain a third contour; and the second contour is offset inwardly based on the inward offset distance to obtain a fourth contour.

[0021] Preferably, continuously biasing the third contour and the fourth contour outward until the two generate a first intersection point and a second intersection point comprises:

[0022] Setting an outward offset distance based on the maximum offset distance, wherein the outward offset distance is less than the maximum offset distance;

[0023] The third contour and the fourth contour are continuously offset outward based on the outward offset distance until a first intersection point and a second intersection point are generated therebetween.

[0024] Preferably, calculating a point on the first contour closest to the first intersection as the first position point, calculating a point on the first contour closest to the second intersection as the second position point; calculating a point on the second contour closest to the first intersection as the third position point, and calculating a point on the second contour closest to the second intersection as the fourth position point includes:

[0025] Initialize a first list and a second list, the first list is used to store the distances from each point on the first contour to the first intersection point and the second intersection point, and the second list is used to store the distances from each point on the second contour to the first intersection point and the second intersection point;

[0026] Calculate the distance value between each point on the first contour and the first intersection point and the second intersection point, add the points to the first list and save the corresponding point information;

[0027] Calculate the distance value between each point on the second contour and the first intersection point and the second intersection point, add to the second list and save the corresponding point information;

[0028] Find the minimum distance value from the first intersection point and the corresponding point from the first list, which is the first position point; find the minimum distance value from the second intersection point and the corresponding point from the first list, which is the second position point;

[0029] Find the minimum distance value from the first intersection point and the corresponding point from the second list, which is the third position point;

[0030] Find the minimum distance value from the second intersection point and the corresponding point from the second list, which is the fourth position point.

[0031] Preferably, splitting the first contour based on the first splitting position point group to obtain a fifth contour; splitting the second contour based on the second splitting position point group to obtain a sixth contour comprises:

[0032] Based on the first splitting position point group, determining a first splitting path on the first contour; based on the second splitting position point group, determining a second splitting path on the first contour;

[0033] The first contour is split along the first splitting path to obtain a fifth contour; and the second contour is split along the second splitting path to obtain a sixth contour.

[0034] Preferably, filling the gap at the split point between the fifth contour and the sixth contour to obtain the second welding path comprises:

[0035] Setting a first gap between the first position point and the second position point on the fifth contour; selecting a first neighboring point set between the first position point and the second position point based on the coordinate system, and fitting a first transition path of the first gap based on the first neighboring point set;

[0036] Setting a second gap between the third position point and the fourth position point on the sixth contour; selecting a second neighboring point set between the third position point and the fourth position point based on the coordinate system, and fitting a second transition path of the second gap based on the second neighboring point set;

[0037] It is determined whether the first transition path intersects with the second transition path. If the first transition path does not intersect with the second transition path, it is determined that the fifth contour and the sixth contour after filling the gap are the second welding path.

[0038] A second aspect of the present application provides a robot welding path optimization system, which applies the above-mentioned robot welding path optimization method, including:

[0039] An acquisition unit, the acquisition unit is used to acquire a three-dimensional model of a workpiece to be welded;

[0040] A first analysis unit, the first analysis unit is used to analyze the three-dimensional model and identify weld information;

[0041] A generating unit, the generating unit being configured to generate a first welding path based on the weld information, wherein the first welding path comprises a plurality of welding path profiles;

[0042] a second analysis unit, the second analysis unit is used to analyze the first welding path, determine whether there are two adjacent welding path contours connected, and if there are two adjacent welding path contours connected, perform a plane projection on the two connected welding path contours to obtain a first projection contour; wherein the first projection contour includes the first contour and the second contour;

[0043] A biasing unit, the biasing unit is used to bias the first contour inward to obtain a third contour; bias the second contour inward to obtain a fourth contour; and continuously bias the third contour and the fourth contour outward until the two generate a first intersection point and a second intersection point;

[0044] A calculation unit, the calculation unit is used to calculate a point on the first contour that is closest to the first intersection as a first position point, calculate a point on the first contour that is closest to the second intersection as a second position point; calculate a point on the second contour that is closest to the first intersection as a third position point, calculate a point on the second contour that is closest to the second intersection as a fourth position point; use the first position point and the third position point as a first split position point group, and use the second position point and the fourth position point as a second split position point group;

[0045] a splitting unit, the splitting unit being configured to split the first contour based on the first splitting position point group to obtain a fifth contour; and split the second contour based on the second splitting position point group to obtain a sixth contour;

[0046] The optimization unit is used to fill the gap at the split point of the fifth contour and the sixth contour to obtain a second welding path.

[0047] The beneficial effects of the present invention are at least one of the following:

[0048] By identifying and processing the connectivity issues of adjacent welding path contours, it ensures that each independent welding area can be accurately identified and processed, avoiding missed welding, re-welding or invalid welding due to path errors, and improving welding quality and efficiency.

[0049] By offsetting and splitting the welding path contour, the accuracy limitation problem caused by 3D scanning and surface reconstruction is solved, making the path planning of the robot welding system more reliable and accurate.

[0050] By filling the gaps in the split profile, the integrity of the welding path is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 The figure is a schematic diagram of the method flow of the first embodiment of the present invention. DETAILED DESCRIPTION

[0052] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0053] Embodiment 1, as Figure 1 As shown, a robot welding path optimization method comprises the following steps:

[0054] S1, obtaining a three-dimensional model of the workpiece to be welded.

[0055] For reference, use a 3D laser scanner or structured light scanning device to scan the furniture parts and collect point cloud data. Then, use reverse engineering software (such as Geomagic Wrap, RapidForm, etc.) to convert the point cloud into a 3D model. For example, use a scanner or an automatic mobile scanner to perform a full-scale scan around the furniture parts to capture the point cloud data of all visible surfaces. Use the software that comes with the scanning device or third-party software, such as MeshLab, CloudCompare, etc., to stitch the point cloud data from multiple perspectives to form a complete point cloud model.

[0056] S2, analyzing the three-dimensional model to identify weld information.

[0057] For reference, use CAD / CAM software or custom algorithms to analyze the 3D model and identify the edges and seams that need to be welded. For example, combine the feature recognition function in the CAD / CAM software to automatically or manually identify the features in the model, such as holes, slots, etc. The area around the holes is the weld, and use the measurement tools of the CAD / CAM software to obtain the weld information, including location, type, geometric properties and welding parameters.

[0058] S3, generating a first welding path based on the weld information, wherein the first welding path includes a plurality of welding path profiles.

[0059] For reference, initial welding paths are planned on the 3D model based on the weld information. These paths may include multiple welding path contours, each contour representing a welding trajectory.

[0060] S4, analyzing the first welding path to determine whether there are two adjacent welding path contours connected.

[0061] If there are two adjacent welding path contours that are connected, execute S5.

[0062] For reference, check all welding path contours and determine whether they are connected by calculating the shortest distance or spatial relationship between them. For example, for each pair of welding path contours, calculate the shortest distance between them. This can be achieved by calculating the straight-line distance between two points, the minimum contact distance, or the closest point projection distance. According to the calculated distance matrix, check whether there are any two welding path contours whose distance is less than the preset threshold. If so, it is confirmed to be connected.

[0063] S5, performing a planar projection on the two connected welding path contours to obtain a first projection contour; wherein the first projection contour includes a first contour and a second contour.

[0064] Wherein, if there are two adjacent welding path contours connected, performing plane projection on the two connected welding path contours to obtain a first projection contour includes:

[0065] If there are two adjacent welding path contours connected, the least squares method is used to fit a plane, and the two connected welding path contours are projected onto the plane to obtain the first projection contour; the two points with the farthest distance on the first projection contour are selected, one of which is taken as the origin, the line connecting the two points is taken as the X-axis, and the vector product of the normal vector of the projection plane and the X-axis is calculated as the Y-axis to establish a new coordinate system.

[0066] By fitting the plane using the least squares method, the path deviation caused by the mechanical error of the welding robot or equipment can be reduced, and the definition of the new coordinate system provides a clear reference frame.

[0067] S6, biasing the first contour inward to obtain a third contour; biasing the second contour inward to obtain a fourth contour.

[0068] Wherein, biasing the first contour inward to obtain the third contour; biasing the second contour inward to obtain the fourth contour includes.

[0069] The maximum distance between the first projection profile and the X-axis is calculated as the maximum offset distance, and the inward offset distance is set based on the maximum offset distance, wherein the inward offset distance is smaller than the maximum offset distance.

[0070] The first contour is offset inwardly based on the inward offset distance to obtain a third contour; and the second contour is offset inwardly based on the inward offset distance to obtain a fourth contour.

[0071] S7, continuously biasing the third contour and the fourth contour outward until the two generate a first intersection point and a second intersection point.

[0072] The third contour and the fourth contour are continuously offset outward until the first intersection point and the second intersection point are formed between the two.

[0073] An outward offset distance is set based on the maximum offset distance, wherein the outward offset distance is smaller than the maximum offset distance.

[0074] The third contour and the fourth contour are continuously offset outward based on the outward offset distance until a first intersection point and a second intersection point are generated therebetween.

[0075] S8, calculating a first position point on the first contour that is closest to the first intersection point, and a second position point that is closest to the second intersection point; calculating a third position point on the second contour that is closest to the first intersection point, and a fourth position point that is closest to the second intersection point.

[0076] The first position point and the third position point are used as a first split position point group, and the second position point and the fourth position point are used as a second split position point group.

[0077] Specifically, a first list and a second list are initialized, the first list is used to store the distances from each point on the first contour to the first intersection and the second intersection, and the second list is used to store the distances from each point on the second contour to the first intersection and the second intersection.

[0078] Calculate the distance value between each point on the first contour and the first intersection point and the second intersection point, add the points to the first list and save the corresponding point information;

[0079] Calculate the distance value between each point on the second contour and the first intersection point and the second intersection point, add to the second list and save the corresponding point information;

[0080] Find the minimum distance value from the first intersection point and the corresponding point from the first list, which is the first position point. Find the minimum distance value from the second intersection point and the corresponding point from the first list, which is the second position point.

[0081] Find the minimum distance value from the first intersection point and the corresponding point from the second list, which is the third position point.

[0082] Find the minimum distance value from the second intersection point and the corresponding point from the second list, which is the fourth position point.

[0083] S9, split the first contour based on the first splitting position point group to obtain a fifth contour; split the second contour based on the second splitting position point group to obtain a sixth contour.

[0084] Specifically, based on the first splitting position point group, a first splitting path on the first contour is determined; based on the second splitting position point group, a second splitting path on the first contour is determined;

[0085] The first contour is split along the first splitting path to obtain a fifth contour; and the second contour is split along the second splitting path to obtain a sixth contour.

[0086] For reference, a splitting path is determined on the first contour according to the first splitting position point group (i.e., the first position point and the third position point). This path should extend from the first position point to the third position point to ensure that a clear splitting line is formed between the two points.

[0087] Similarly, based on the second splitting position point group (ie, the second position point and the fourth position point), another splitting path is determined on the second contour. After the splitting is completed, it is checked whether the fifth contour and the sixth contour are completely independent and do not have any physical or spatial connection.

[0088] S10, filling the gap at the split point between the fifth contour and the sixth contour to obtain a second welding path.

[0089] Specifically, a first gap is set between the first position point and the second position point on the fifth contour; based on the coordinate system, a first set of neighboring points between the first position point and the second position point is selected, and a first transition path of the first gap is fitted based on the first set of neighboring points.

[0090] For example, a curve fitting method such as spline interpolation or Bezier curve is used to fit a first transition path based on the first set of neighboring points, which path should smoothly connect the first position point and the second position point. Similarly, a second transition path is fitted based on the second set of neighboring points, connecting the third position point and the fourth position point.

[0091] A second gap is set between the third position point and the fourth position point on the sixth contour; based on the coordinate system, a second neighboring point set is selected between the third position point and the fourth position point, and a second transition path of the second gap is fitted based on the second neighboring point set.

[0092] It is determined whether the first transition path intersects with the second transition path. If the first transition path does not intersect with the second transition path, it is determined that the fifth contour and the sixth contour after filling the gap are the second welding path.

[0093] For example, the first transition path and the second transition path are converted into a series of line segments. Each path is composed of a series of points, which can be fitted by spline, Bezier curve or other interpolation methods. Every two consecutive points are regarded as a line segment, and for each pair of line segments on the path (one from the first transition path and the other from the second transition path), a line segment intersection detection algorithm is used to determine whether they intersect.

[0094] The line segment intersection detection algorithm usually involves calculating the direction vector of the line segment, determining the parametric equation of the line segment, and then solving the system of simultaneous equations to find possible intersection points. If the solved intersection point is within the actual interval of the two line segments (that is, the intersection parameter is between 0 and 1), it is considered that the two line segments do intersect. If no pair of line segments intersect, it can be confirmed that the first transition path and the second transition path have no intersection, that is, they do not intersect.

[0095] To simplify the calculations, you can first do some quick elimination tests, such as checking whether the bounding boxes of the line segments overlap. If the bounding boxes do not overlap, then the line segments definitely do not intersect.

[0096] If the paths do not intersect, the fifth contour and the sixth contour after filling the gap are output as the second welding path to a subsequent processing stage, for example, the path data is sent to a welding robot control system.

[0097] Embodiment 2, a robot welding path optimization system, using the robot welding path optimization method described in embodiment 1, comprises:

[0098] An acquisition unit is used to acquire a three-dimensional model of a workpiece to be welded.

[0099] A first analysis unit is used to analyze the three-dimensional model and identify weld information.

[0100] A generating unit is configured to generate a first welding path based on the weld information, wherein the first welding path includes a plurality of welding path profiles.

[0101] The second analysis unit is used to analyze the first welding path to determine whether there are two adjacent welding path contours connected. If there are two adjacent welding path contours connected, the two connected welding path contours are planar projected to obtain a first projection contour; wherein the first projection contour includes a first contour and a second contour.

[0102] The biasing unit is used to bias the first contour inward to obtain a third contour; bias the second contour inward to obtain a fourth contour; and continuously bias the third contour and the fourth contour outward until the two generate a first intersection point and a second intersection point.

[0103] A calculation unit, the calculation unit is used to calculate the point on the first contour that is closest to the first intersection as the first position point, calculate the point on the first contour that is closest to the second intersection as the second position point; calculate the point on the second contour that is closest to the first intersection as the third position point, calculate the point on the second contour that is closest to the second intersection as the fourth position point; use the first position point and the third position point as a first split position point group, and use the second position point and the fourth position point as a second split position point group.

[0104] A splitting unit is used to split the first contour based on the first splitting position point group to obtain a fifth contour; and split the second contour based on the second splitting position point group to obtain a sixth contour.

[0105] The optimization unit is used to fill the gap at the split point of the fifth contour and the sixth contour to obtain a second welding path.

[0106] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A robot welding path optimization method, characterized in that: Includes the following: Obtain a three-dimensional model of the workpiece to be welded; Analyzing the three-dimensional model to identify weld information; Based on the weld information, generating a first welding path, wherein the first welding path includes a plurality of welding path profiles; Analyze the first welding path to determine whether there are two adjacent welding path contours connected. If there are two adjacent welding path contours connected, perform plane projection on the two connected welding path contours to obtain a first projection contour; wherein the first projection contour includes the first contour and the second contour; if there are two adjacent welding path contours connected, use the least squares method to fit a plane, project the two connected welding path contours onto the plane, and obtain the first projection contour; select the two points on the first projection contour that are farthest apart, take one of the points as the origin, take the line connecting the two points as the X-axis, calculate the vector product of the normal vector of the projection plane and the X-axis as the Y-axis, and establish a new coordinate system; The first contour is offset inward to obtain a third contour; the second contour is offset inward to obtain a fourth contour; the maximum distance between the first projection contour and the X-axis is calculated as the maximum offset distance, and the inward offset distance is set based on the maximum offset distance, wherein the inward offset distance is less than the maximum offset distance; the first contour is offset inward based on the inward offset distance to obtain a third contour; the second contour is offset inward based on the inward offset distance to obtain a fourth contour; The third contour and the fourth contour are continuously offset outward until the two have a first intersection point and a second intersection point; Calculate a point on the first contour that is closest to the first intersection as the first position point, and calculate a point on the first contour that is closest to the second intersection as the second position point; calculate a point on the second contour that is closest to the first intersection as the third position point, and calculate a point on the second contour that is closest to the second intersection as the fourth position point; use the first position point and the third position point as a first split position point group, and use the second position point and the fourth position point as a second split position point group; Splitting the first contour based on the first splitting position point group to obtain a fifth contour; splitting the second contour based on the second splitting position point group to obtain a sixth contour; Filling the gap at the split point between the fifth contour and the sixth contour to obtain a second welding path; Setting a first gap between the first position point and the second position point on the fifth contour; selecting a first neighboring point set between the first position point and the second position point based on the coordinate system, and fitting a first transition path of the first gap based on the first neighboring point set; Setting a second gap between the third position point and the fourth position point on the sixth contour; selecting a second neighboring point set between the third position point and the fourth position point based on the coordinate system, and fitting a second transition path of the second gap based on the second neighboring point set; It is determined whether the first transition path intersects with the second transition path. If the first transition path does not intersect with the second transition path, it is determined that the fifth contour and the sixth contour after filling the gap are the second welding path.

2. A robot welding path optimization method according to claim 1, characterized in that: Continuously biasing the third contour and the fourth contour outward until the two generate a first intersection point and a second intersection point comprises: Setting an outward offset distance based on the maximum offset distance, wherein the outward offset distance is less than the maximum offset distance; The third contour and the fourth contour are continuously offset outward based on the outward offset distance until a first intersection point and a second intersection point are generated therebetween.

3. A robot welding path optimization method according to claim 2, characterized in that: The point on the first contour closest to the first intersection is calculated as the first position point, and the point on the first contour closest to the second intersection is calculated as the second position point; Calculating a point on the second contour closest to the first intersection point as the third position point, and calculating a point on the second contour closest to the second intersection point as the fourth position point includes: Initialize a first list and a second list, the first list is used to store the distances from each point on the first contour to the first intersection point and the second intersection point, and the second list is used to store the distances from each point on the second contour to the first intersection point and the second intersection point; Calculate the distance value between each point on the first contour and the first intersection point and the second intersection point, add the points to the first list and save the corresponding point information; Calculate the distance value between each point on the second contour and the first intersection point and the second intersection point, add to the second list and save the corresponding point information; Find the minimum distance value from the first intersection point and the corresponding point from the first list, which is the first position point; find the minimum distance value from the second intersection point and the corresponding point from the first list, which is the second position point; Find the minimum distance value from the first intersection point and the corresponding point from the second list, which is the third position point; Find the minimum distance value from the second intersection point and the corresponding point from the second list, which is the fourth position point.

4. A robot welding path optimization method according to claim 3, characterized in that: Splitting the first contour based on the first splitting position point group to obtain a fifth contour; Splitting the second contour based on the second split position point group to obtain a sixth contour includes: Based on the first splitting position point group, determining a first splitting path on the first contour; based on the second splitting position point group, determining a second splitting path on the first contour; The first contour is split along the first splitting path to obtain a fifth contour; and the second contour is split along the second splitting path to obtain a sixth contour.

5. A robot welding path optimization system, characterized in that: The robot welding path optimization method according to any one of claims 1 to 4 comprises: An acquisition unit, the acquisition unit is used to acquire a three-dimensional model of a workpiece to be welded; A first analysis unit, the first analysis unit is used to analyze the three-dimensional model and identify weld information; A generating unit, the generating unit being configured to generate a first welding path based on the weld information, wherein the first welding path comprises a plurality of welding path profiles; a second analysis unit, the second analysis unit is used to analyze the first welding path, determine whether there are two adjacent welding path contours connected, and if there are two adjacent welding path contours connected, perform a plane projection on the two connected welding path contours to obtain a first projection contour; wherein the first projection contour includes the first contour and the second contour; A biasing unit, the biasing unit is used to bias the first contour inward to obtain a third contour; bias the second contour inward to obtain a fourth contour; and continuously bias the third contour and the fourth contour outward until the two generate a first intersection point and a second intersection point; A calculation unit, the calculation unit is used to calculate a point on the first contour that is closest to the first intersection as a first position point, calculate a point on the first contour that is closest to the second intersection as a second position point; calculate a point on the second contour that is closest to the first intersection as a third position point, calculate a point on the second contour that is closest to the second intersection as a fourth position point; use the first position point and the third position point as a first split position point group, and use the second position point and the fourth position point as a second split position point group; a splitting unit, the splitting unit being configured to split the first contour based on the first splitting position point group to obtain a fifth contour; and split the second contour based on the second splitting position point group to obtain a sixth contour; The optimization unit is used to fill the gap at the split point of the fifth contour and the sixth contour to obtain a second welding path.

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