Three-dimensional weaving welding trajectory generation method, device, electronic equipment and storage medium

Abstract

The present disclosure provides a method, device, electronic device and storage medium for generating a three-dimensional swing welding trajectory. The method includes: discretizing a weld path point sequence of a workpiece to obtain multiple target point coordinates of a robot arm TCP in a world coordinate system, and transforming the multiple target point coordinates into a robot tool coordinate system; determining a coordinate system transformation relationship associated with a starting point between each two adjacent target points according to the welding forward speed direction and normal direction between each two adjacent target points in the robot tool coordinate system; generating a three-dimensional swing welding trajectory according to the welding forward speed between the two target points in the robot tool coordinate system, the coordinate system transformation relationship, and the welding swing speed between each two adjacent target points in the weld bead coordinate system. The technical solution disclosed in the present disclosure can adapt to general welding robots or general and various robot motion algorithms that require superimposed motion on a path.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robot automatic welding, and in particular to a three-dimensional weaving welding trajectory generation method, device, electronic equipment and storage medium. Background Art

[0002] In the related technologies, the weaving welding trajectory relies on the main body controller of the industrial robot or collaborative robot, and a special weaving welding plug-in package is developed based on the main body controller, so that it can execute a straight line path at two given points, or execute an arc at three or more given points, and finally superimpose the weaving welding trajectory on this path. However, each robot has a different controller program, and the calling method varies from machine to machine. This is not a big problem for robots dedicated to a certain welding process, but if you want the robot to have better versatility and hope to achieve universal movement, this method will hinder universalization and increase development costs. Summary of the invention

[0003] The present invention provides a three-dimensional weaving welding trajectory generation method, device, electronic equipment and storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, a method for generating a three-dimensional weaving welding trajectory is provided, comprising:

[0005] Discretize the weld path point sequence of the workpiece to obtain multiple target point coordinates of the robot arm tool center point TCP of the swing welding robot in the world coordinate system, and transform the multiple target point coordinates into the robot tool coordinate system;

[0006] Determining a welding forward speed between every two adjacent target points among the plurality of target points in the robot tool coordinate system according to welding process information associated with the workpiece;

[0007] According to the welding forward speed direction and the normal direction between each two adjacent target points in the robot tool coordinate system, determine the coordinate system transformation relationship associated with the starting point between each two adjacent target points, wherein the coordinate system transformation relationship is the transformation relationship between the robot tool coordinate system and the weld bead coordinate system;

[0008] Determine the welding swing speed between each two adjacent target points in the weld bead coordinate system according to the welding process information;

[0009] A three-dimensional swing welding trajectory is generated based on the welding forward speed between each two adjacent target points among the multiple target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding swing speed between each two adjacent target points in the weld bead coordinate system.

[0010] According to a second aspect of an embodiment of the present disclosure, a three-dimensional weaving welding trajectory generating device is provided, comprising:

[0011] A preprocessing module is used to discretize the weld path point sequence of the workpiece, obtain multiple target point coordinates of the robot arm tool center point TCP of the swing welding robot in the world coordinate system, and transform the multiple target point coordinates into the robot tool coordinate system;

[0012] A first determination module is used to determine a welding forward speed between every two adjacent target points among the plurality of target points in the robot tool coordinate system according to welding process information associated with the workpiece;

[0013] A second determination module is used to determine a coordinate system transformation relationship associated with a starting point between each two adjacent target points according to a welding forward speed direction and a normal direction between each two adjacent target points in the robot tool coordinate system, wherein the coordinate system transformation relationship is a transformation relationship between the robot tool coordinate system and the weld bead coordinate system;

[0014] A third determination module is used to determine the welding swing speed between each two adjacent target points in the weld bead coordinate system according to the welding process information;

[0015] A generation module is used to generate a three-dimensional swing welding trajectory according to the welding forward speed between each two adjacent target points among the multiple target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding swing speed between each two adjacent target points in the weld bead coordinate system.

[0016] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] 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 described in the first aspect.

[0020] According to a fourth aspect of an embodiment of the present disclosure, a storage medium is provided, wherein the storage medium stores instructions, and when the instructions are executed on an electronic device, the electronic device executes the method described in the first aspect above.

[0021] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the steps of the method described in the first aspect when executed by a processor.

[0022] According to the technical solution disclosed in the present invention, the weld path point sequence can be discretized to obtain multiple target point coordinates of TCP in the world coordinate system, and the multiple target point coordinates are transformed into the robot tool coordinate system. According to the welding forward speed direction and normal direction between each two adjacent target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points is determined, so as to generate a three-dimensional swing welding trajectory according to the coordinate system transformation relationship, the welding forward speed between the two target points in the robot tool coordinate system, and the welding swing speed between the two target points in the weld bead coordinate system. It can be seen that the welding forward speed in the robot tool coordinate system and the welding swing speed in the weld bead coordinate system can be superimposed through the coordinate system transformation relationship between the robot tool coordinate system and the weld bead coordinate system to generate a three-dimensional swing welding trajectory, that is, the three-dimensional swing welding trajectory generation method of the embodiment of the present invention can be established on a general manipulator control program for swing welding generation, and can adapt to general welding robots or general and various robot motion algorithms that need to superimpose motion on the path, so that the welding robot has better versatility and reduces the development cost.

[0023] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A schematic flow chart of a method for generating a three-dimensional weaving welding trajectory provided in an embodiment of the present disclosure.

[0026] Figure 2A Schematic diagram of the coordinate system relationship between the weld bead coordinate system and the robot tool coordinate system provided in the embodiment of the present disclosure Figure 1 .

[0027] Figure 2B This is an example diagram of a weld coordinate system provided in an embodiment of the present disclosure.

[0028] Figure 3 Schematic diagram 2 of the coordinate system relationship between the weld coordinate system and the robot tool coordinate system provided in the embodiment of the present disclosure.

[0029] Figure 4A An example diagram of a given cycle provided for an embodiment of the present disclosure.

[0030] Figure 4B An example diagram of a given cycle provided for an embodiment of the present disclosure.

[0031] Figure 4C This is an example diagram of the effects of velocity, displacement, and acceleration in the iterative method provided in an embodiment of the present disclosure.

[0032] Figure 5 A schematic flow chart of a method for generating a three-dimensional weaving welding trajectory provided in an embodiment of the present disclosure.

[0033] Fig. 6A An example diagram of the trajectory of the swing offset after returning to the center line through the welding return speed provided in the embodiment of the present disclosure.

[0034] Figure 6B A schematic diagram of a simulation of the effect of z-axis offset when the swing offset returns to the center line provided in an embodiment of the present disclosure.

[0035] Figure 7 A block diagram of a three-dimensional weaving welding trajectory generating device provided in an embodiment of the present disclosure.

[0036] Figure 8 A block diagram of an electronic device for implementing a three-dimensional weaving welding trajectory generation method provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0038] The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0039] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, quantity or content of the description objects. The statement of the description object refers to the description in the context of the claims or embodiments, and should not constitute unnecessary restrictions due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and the "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number, and can be one or more. Taking the "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes may be the same or different. For example, if the description object is "device", then the "first device" and the "second device" may be the same device or different devices, and their types may be the same or different. For another example, if the description object is "information", then the "first information" and the "second information" may be the same information or different information, and their contents may be the same or different.

[0040] In each embodiment of the present disclosure, if there is no special explanation and logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship. The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure.

[0041] It should be noted that in the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0042] It should also be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this disclosure are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0043] It is worth noting that in the embodiments of the present disclosure, certain software, components, models, etc. that already exist in the industry may be mentioned. They should be considered as exemplary and their purpose is only to illustrate the feasibility of implementing the technical solution of the present disclosure, but it does not mean that the applicant has or will necessarily use the solution.

[0044] In the related technologies, the weaving welding trajectory relies on the main body controller of the industrial robot or collaborative robot, and a special weaving welding plug-in package is developed based on the main body controller, so that it can execute a straight line path at two given points, or execute an arc at three or more given points, and finally superimpose the weaving welding trajectory on this path. However, each robot has a different controller program, and the calling method varies from machine to machine. This is not a big problem for robots dedicated to a certain welding process, but if you want the robot to have better versatility and hope to achieve universal movement, this method will hinder universalization and increase development costs.

[0045] It is worth noting that the current control methods on the market are all striving for excellence in various aspects such as welding quality, trying to produce perfect welds. However, in many non-batch scenarios, such ultra-high-precision welds are not required, but welding similar to manual welding is required, and the requirements for versatility are relatively high at this time. Based on this, the present disclosure provides a three-dimensional swing welding trajectory generation method that can adapt to general welding robots or general and various robot motion algorithms that need to superimpose motion on the path.

[0046] The following describes a three-dimensional weaving welding trajectory generation method, device, electronic device and storage medium according to an embodiment of the present disclosure with reference to the accompanying drawings.

[0047] Figure 1 The figure is a flow chart of the method for generating a three-dimensional welding trajectory provided by the embodiment of the present disclosure. Figure 1 As shown, the three-dimensional weaving welding trajectory generation method may include but is not limited to the following steps.

[0048] In step 101, the weld path point sequence of the workpiece is discretized to obtain multiple target point coordinates of the tool central point (TCP) of the robot arm of the welding robot in the world coordinate system, and the multiple target point coordinates are transformed into the robot tool coordinate system.

[0049] In some embodiments, the weld path point sequence of the workpiece can be obtained based on various methods such as a large model. For example, a 3D camera is used to scan the workpiece to obtain a 2D image and a 3D point cloud of the workpiece, and the 2D image and the 3D point cloud are visually recognized based on the large model to obtain the weld path point sequence of the workpiece. Exemplarily, the weld path point sequence can include multiple point clouds of the weld path of the workpiece. Exemplarily, the large model can be a large language model (Large Language Model, referred to as: LLM), but is not limited thereto.

[0050] Exemplarily, the method described in the embodiments of the present disclosure can be established on a general robot arm control program, for example, various methods such as large models are used to process the point cloud of the obtained workpiece weld path, and ultimately only the coordinate position in the three-dimensional space is obtained through the point cloud, that is, the six coordinate values ​​of the robot arm TCP in the three-dimensional space are controlled, such as: x, y, z, rx, ry, rz, which are respectively the movement along the x, y, and z axes of the world coordinate system, and the rotation around the x, y, and z axes. By filtering and interpolating these, but not particularly accurate identification positions, such as straight lines or curves, these subdivided small straight line segments are used to generate pendulum welding, without the need for complex planning through arc fitting, specification, and other algorithms that require manual intervention.

[0051] In a possible implementation, when obtaining the weld path point sequence of the workpiece, the weld path point sequence can be discretized. For example, the weld path point sequence can be discretized at fixed intervals to obtain multiple target point coordinates of the robot TCP in the world coordinate system, and the multiple target point coordinates are transformed into the robot tool coordinate system. Exemplarily, the TCP can be a welding gun tip. In some embodiments, the terms "target point", "discrete point" and the like can be interchangeable.

[0052] In some embodiments, the above-mentioned multiple target points can divide the weld path of the workpiece into at least one segment, that is, a segment is formed between each adjacent two target points among the multiple target points, each segment corresponds to a robot tool coordinate system, and the robot tool coordinate system corresponding to each segment can be a coordinate system that can be established based on the starting point of the segment, that is: the direction of the starting point of the segment is consistent with the direction of the starting TCP. Exemplarily, after obtaining the coordinates of multiple target points of the robot arm TCP in the world coordinate system, the coordinates of the multiple target points can be changed to the corresponding robot tool coordinate system. Exemplarily, the origin of the robot tool coordinate system can be the starting point of the segment, the X-axis of the robot tool coordinate system can point to the welding forward speed direction of the segment (i.e., the segment between each adjacent two target points among the multiple target points) in the robot tool coordinate system, the Z-axis of the robot tool coordinate system can point to the direction of the welding gun tip in the robot tool coordinate system, and the Y-axis of the robot tool coordinate system can be specified by the right-hand coordinate system.

[0053] In step 102 , a welding advancement speed between every two adjacent target points among a plurality of target points in a robot tool coordinate system is determined according to welding process information associated with the workpiece.

[0054] In some embodiments, the welding running speed value between each two adjacent target points among multiple target points can be obtained based on the welding process information calculated by certain methods, and the welding forward speed between each two adjacent target points in the robot tool coordinate system can be determined based on the welding running speed value.

[0055] In some embodiments, welding process information associated with a workpiece can be obtained based on user interaction. In some embodiments, a large model can be used to predict based on 2D image information and 3D point cloud information of the workpiece to obtain welding process information to be used when welding the workpiece; wherein the 2D image information and 3D point cloud information of the workpiece can be obtained based on scanning the workpiece with a 3D camera.

[0056] In some embodiments, the welding process information associated with the workpiece may include but is not limited to the welding running speed between each two adjacent target points; illustratively, the welding running speed may include a speed value and a speed direction. In some embodiments, the welding process information associated with the workpiece may be obtained, and the speed value of the welding running speed between each two adjacent target points (i.e., the welding running speed) may be determined from the welding process information, and the welding running speed value between each two adjacent target points may be determined as the welding forward speed between the corresponding two adjacent target points in the robot tool coordinate system.

[0057] Exemplarily, the welding speed value between each two adjacent target points can be understood as: the welding speed value from the starting point to the end point among each two adjacent target points. Exemplarily, the welding speed value between each two adjacent target points can be obtained based on the welding speed value at the starting point and the welding speed value at the end point among each two adjacent target points. For example, the difference between the welding speed value at the starting point and the welding speed value at the end point among each two adjacent target points is the welding speed value between each two adjacent target points.

[0058] In step 103, a coordinate system transformation relationship associated with a starting point between every two adjacent target points is determined according to the welding forward speed direction and the normal direction between every two adjacent target points in the robot tool coordinate system.

[0059] In some embodiments, the welding forward speed direction between each two adjacent target points in the robot tool coordinate system can be projected to the forward direction of the weld bead as the X-axis of the weld bead coordinate system, and the normal direction between each two adjacent target points in the robot tool coordinate system can be projected to the normal direction of the swing plane as the Z-axis of the weld bead coordinate system to obtain a coordinate system transformation relationship associated with the starting point between each two adjacent target points. In some embodiments, the coordinate system transformation relationship can be a transformation relationship between the robot tool coordinate system and the weld bead coordinate system. In some embodiments, the above-mentioned swing plane can be consistent with the Y-axis of the weld bead coordinate system; or, the swing direction of the swing plane can be at a certain angle to the Y-axis of the weld bead coordinate system; or, the swing direction of the swing plane can swing on the YZ plane under the weld bead coordinate system, but generally speaking, these movements are determined based on the forward direction formed between the two adjacent target points and the normal direction of the weld bead.

[0060] In some embodiments, the forward direction of the weld bead and the normal between every two adjacent target points in the robot tool coordinate system can be orthogonalized; the forward speed direction of the welding between every two adjacent target points in the robot tool coordinate system is projected onto the X-axis of the weld bead coordinate system to obtain a first rotation matrix; the X-axis points to the forward direction of the weld bead; the first rotation matrix is ​​applied to the normal after the orthogonalization, and the normal after the orthogonalization is aligned to the Z-axis of the weld bead coordinate system to obtain a second rotation matrix; the Z-axis points to the normal of the swing plane; based on the first rotation matrix and the second rotation matrix, the coordinate system transformation relationship associated with the starting point between every two adjacent target points is determined.

[0061] For example, Figure 2A As shown, taking the workpiece as a steel plate as an example, it is necessary to weld steel plate 1 and steel plate 2 together along the weld. Figure 2A and Figure 2B As shown in the figure, the point cloud composed of the weld path point sequence can give the direction of the welding gun at this discrete distance. The welding gun direction is the normal direction of the weld (abbreviated as normal). Every two adjacent target points form a segment. The starting point of each segment is the origin. The forward direction is the X-axis of the weld coordinate system. The normal direction of the weld is the Z-axis of the weld coordinate system. The Y-axis of the weld coordinate system is specified by the right-hand coordinate system. In this way, the weld coordinate system can be established. Figure 2A As shown in the figure, taking a straight weld as an example, there are two discrete points between the starting point and the end point of the weld. The starting point, the end point and the two discrete points of the weld are used as the four target points of TCP in the world coordinate system. Corresponding weld coordinate systems can be established for the three segments formed by the four target points. The starting point of each segment is used as the origin, the forward direction of each segment (i.e., the speed direction from the starting point of the segment to the end point of the segment) is the X-axis, the normal direction of the segment is the Z-axis, and the Y-axis is specified by the right-hand coordinate system, so that the weld coordinate system of the segment can be established.

[0062] Figure 3 This is an example diagram of the coordinate system relationship of the non-linear weld provided in the embodiment of the present disclosure. Figure 3 As shown in , the weld is divided into multiple segments through multiple target points, and a corresponding weld coordinate system is established for each segment, such as Figure 3 As shown, green represents the weld bead coordinate system, and black represents the robot tool coordinate system. In each segment, the weld bead coordinate system and the robot tool coordinate system share the same origin, that is, they are both the starting points in the segment, but the orientation of the robot tool coordinate system is different from the orientation of the weld bead coordinate system used for swing welding generation, and it is necessary to establish a coordinate system relationship between the two (that is, a coordinate system transformation relationship). Since the speed direction of the segment in the robot tool coordinate system (or TCP coordinate system) is consistent with the X-axis direction of the weld bead coordinate system, and the normal direction of the swing welding plane is consistent with the Z-axis direction of the weld bead coordinate system, the speed direction of the segment in the robot tool coordinate system can be projected onto the X-axis after orthogonalizing the forward direction with the normal direction in the specified robot tool coordinate system, and the first rotation matrix that makes the two coincide can be obtained. , and apply the first rotation matrix to the orthogonalized normal and align it to the Z axis to obtain the second rotation matrix According to the first rotation matrix and the second rotation matrix, the coordinate system transformation relationship of the segment association can be obtained , that is, the transformation relationship between the robot tool coordinate system of the segment and the weld coordinate system. For example, the first rotation matrix can be and the second rotation matrix Multiply them to get the coordinate system transformation relationship It is worth noting that each time the robot passes a weld target point, the coordinate system transformation relationship It needs to be recalculated.

[0063] In step 104, the welding swing speed between every two adjacent target points in the weld bead coordinate system is determined according to the welding process information.

[0064] In some embodiments, the welding process information associated with the workpiece may include, but is not limited to, the swing amplitude and / or the swing frequency. Exemplarily, the welding process information may include the swing amplitude and the swing frequency. Exemplarily, the swing amplitude may be a three-dimensional representation of (x, y, z).

[0065] In some embodiments, an auxiliary point sequence associated with each two adjacent target points can be generated according to the swing amplitude and / or the swing frequency, and the auxiliary point sequence can be a sequence composed of auxiliary points that have periodic motion along the three axes in the weld bead coordinate system; the welding swing speed between each two adjacent target points in the weld bead coordinate system is determined using the cosine acceleration motion law. Exemplarily, each two adjacent target points form a segment, and an auxiliary point sequence associated with the segment can be generated according to the swing amplitude and / or the swing frequency, and the auxiliary point sequence can be a sequence composed of auxiliary points that have periodic motion along the three axes in the weld bead coordinate system of the segment, and the welding swing speed of the segment in the weld bead coordinate system is determined based on the cosine acceleration motion law.

[0066] In some embodiments, time can be mapped to a given period, and different auxiliary points can be selected from the auxiliary point sequence according to the time; the cosine acceleration motion law is adopted according to the selected auxiliary points, and the maximum speed is continuously adjusted to finally obtain a speed sequence for executing the distance between each two adjacent target points within a specified time; the speed sequence is determined as the welding swing speed between each two adjacent target points in the weld coordinate system.

[0067] For example, Figure 4A and 4B As shown, two different cycle example diagrams are given respectively. Taking one of the two different cycles as an example, the time can be mapped into the given cycle, and different auxiliary points can be selected from the auxiliary point sequence according to the time, such as whether to go to (x, y, z) or (-x, -y, -z) and other auxiliary points. Substitute the selected auxiliary points into the commonly used cosine acceleration formula, iterate (adjust the maximum speed, for example, the speed value can be increased here), and finally calculate the speed sequence with acceleration and deceleration that executes the specified distance within the specified time, and use this as the basis to execute a more regular swing welding path, recorded as the welding swing speed .

[0068] Exemplarily, the above iterative method may include the following steps: Step 1, according to Figure 4C The maximum speed of the blue dashed line in the middle is used to calculate the cosine acceleration curve, and the displacement reached in the specified time is obtained. Step 2: Calculate the displacement error ,in, The ideal displacement is performed for a specified distance in a specified time. Step 3, when the error When the speed is greater than or equal to the threshold (e.g. 0.00001m), the maximum speed value is adjusted to Repeating steps 1 to 3 above, you can iterate to an acceptable cosine acceleration curve, and finally get the welding swing speed between every two adjacent target points in the weld coordinate system, which is recorded as .

[0069] In step 105, a three-dimensional swing welding trajectory is generated based on the welding forward speed between each two adjacent target points among multiple target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding swing speed between each two adjacent target points in the weld coordinate system.

[0070] In some embodiments, the welding swing speed between each two adjacent target points can be transformed from the weld bead coordinate system to the robot tool coordinate system based on the coordinate system transformation relationship associated with the starting point between each two adjacent target points; the welding forward speed between each two adjacent target points in the robot tool coordinate system and the welding swing speed after the coordinate system transformation are superimposed to obtain the running speed between each two adjacent target points in the robot tool coordinate system, and based on the running speed between each two adjacent target points in the robot tool coordinate system, a three-dimensional swing welding trajectory is generated.

[0071] Exemplarily, the above coordinate system transformation relationship is the transformation relationship between the robot tool coordinate system and the weld bead coordinate system. The coordinate system transformation relationship can be inversely calculated to obtain the transformation relationship between the weld bead coordinate system and the robot tool coordinate system. Based on the transformation relationship from the weld bead coordinate system to the robot tool coordinate system, the welding swing speed is transformed back to the robot tool coordinate system, and the welding forward speed and the welding swing speed after the coordinate system transformation are superimposed to obtain the running speed between each two adjacent target points in the robot tool coordinate system. The running speed between each two adjacent target points in the robot tool coordinate system can be combined to obtain a three-dimensional swing welding trajectory. Exemplarily, the formula for the running speed can be as follows:

[0072]

[0073] in, is the running speed between every two adjacent target points in the robot tool coordinate system; is the welding swing speed between every two adjacent target points in the weld coordinate system; is the welding forward speed between every two adjacent target points in the robot tool coordinate system; It is the transformation relationship from the weld bead coordinate system to the robot tool coordinate system.

[0074] It is worth noting that the robot tool coordinate system (also called the TCP coordinate system) is an additional coordinate system. Once the robot equipment is produced, it will not change. However, the actual controlled speed is in the robot tool coordinate system. Therefore, some transformations are required to modify the welding speed direction in any direction in space to the robot tool coordinate system.

[0075] In the above embodiment, the weld path point sequence can be discretized to obtain multiple target point coordinates of TCP in the world coordinate system, and the multiple target point coordinates are transformed into the robot tool coordinate system. According to the welding forward speed direction and normal direction between each two adjacent target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points is determined, so as to generate a three-dimensional swing welding trajectory according to the coordinate system transformation relationship, the welding forward speed between the two target points in the robot tool coordinate system, and the welding swing speed between the two target points in the weld bead coordinate system. It can be seen that the welding forward speed in the robot tool coordinate system and the welding swing speed in the weld bead coordinate system can be superimposed through the coordinate system transformation relationship between the robot tool coordinate system and the weld bead coordinate system to generate a three-dimensional swing welding trajectory, that is, the three-dimensional swing welding trajectory generation method of the disclosed embodiment can be established on a general manipulator control program for swing welding generation, and can adapt to general welding robots or general and various robot motion algorithms that need to superimpose motion on the path, so that the welding robot has better versatility and reduces development costs.

[0076] Figure 5 The figure is a flow chart of the method for generating a three-dimensional welding trajectory provided by the embodiment of the present disclosure. Figure 5 As shown, the three-dimensional weaving welding trajectory generation method may include but is not limited to the following steps.

[0077] In step 501, the weld path point sequence of the workpiece is discretized to obtain multiple target point coordinates of the robot arm TCP of the swing welding robot in the world coordinate system, and the multiple target point coordinates are transformed into the robot tool coordinate system.

[0078] Optional implementations of step 501 can be found in Figure 1 Optional implementations of step 101, and Figure 1 Other related parts in the embodiments involved will not be described in detail here.

[0079] In step 502 , a welding advancement speed between every two adjacent target points among a plurality of target points in a robot tool coordinate system is determined according to welding process information associated with the workpiece.

[0080] Optional implementations of step 502 can be found in Figure 1 Optional implementations of step 102, and Figure 1 Other related parts in the embodiments involved will not be described in detail here.

[0081] In step 503, the coordinate system transformation relationship associated with the starting point between every two adjacent target points is determined according to the welding forward speed direction and the normal direction between every two adjacent target points in the robot tool coordinate system.

[0082] Optional implementations of step 503 can be found in Figure 1 Optional implementations of step 103, and Figure 1 Other related parts in the embodiments involved will not be described in detail here.

[0083] In step 504, the welding swing speed between every two adjacent target points in the weld bead coordinate system is determined according to the welding process information.

[0084] Optional implementations of step 504 can be found in Figure 1 Optional implementations of step 104, and Figure 1 Other related parts in the embodiments involved will not be described in detail here.

[0085] In step 505, the welding return speed between every two adjacent target points in the weld bead coordinate system is determined.

[0086] In some embodiments, the oscillating welding trajectory offset information generated in the process of executing the distance between each two adjacent target points can be obtained; according to the oscillating welding trajectory offset information, the welding return speed between each two adjacent target points in the weld coordinate system is determined. Exemplarily, the welding oscillation speed in step 504 is an open-loop speed, which may cause the actual execution position to be inconsistent with the ideal position due to the inconsistency between time discreteness and cycle. Therefore, at the beginning of each cycle, the current position, or the error value between the oscillation extreme point of the previous cycle and the theoretical value can be determined, and it can be used as a PID (Proportional Integral Derivative) or other adjustment input parameter in the subsequent cycle as the welding return speed, recorded as .like Fig. 6A and Figure 6B As shown, when a swing deviation occurs, the trajectory of the swing deviation after returning to the center line can be obtained through the welding return speed.

[0087] In step 506, a three-dimensional swing welding trajectory is generated based on the welding forward speed between each two adjacent target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding swing speed and welding return speed between each two adjacent target points in the weld coordinate system.

[0088] In some embodiments, based on the coordinate system transformation relationship associated with the starting point between every two adjacent target points, the welding swing speed and the welding return speed are respectively transformed from the weld bead coordinate system to the robot tool coordinate system; the welding forward speed between every two adjacent target points in the robot tool coordinate system, the welding swing speed and the welding return speed after the coordinate system transformation are superimposed to obtain the running speed between every two adjacent target points in the robot tool coordinate system; based on the running speed between every two adjacent target points in the robot tool coordinate system, a three-dimensional swing welding trajectory is generated.

[0089] Exemplarily, the above-mentioned coordinate system transformation relationship is the transformation relationship between the robot tool coordinate system and the weld bead coordinate system. The coordinate system transformation relationship can be inversely calculated to obtain the transformation relationship between the weld bead coordinate system and the robot tool coordinate system. Based on the transformation relationship from the weld bead coordinate system to the robot tool coordinate system, the welding swing speed and the welding return speed are transformed back to the robot tool coordinate system, and the welding forward speed, the welding swing speed after the coordinate system transformation, and the welding return speed are superimposed to obtain the running speed between each two adjacent target points in the robot tool coordinate system. The running speeds between each two adjacent target points in the robot tool coordinate system are combined to obtain a three-dimensional swing welding trajectory. Exemplarily, the running speed The formula can be expressed as follows:

[0090] .

[0091] In some embodiments, the running speed between each two adjacent target points in the robot tool coordinate system can be transformed into a coordinate system for controlling the movement of the robot arm. The speed control of the robot tool coordinate system is used in the present disclosure, but it is not limited to this. For example, the movement of a certain coordinate system point behind any flange, or the speed of a positioner moving a welding workpiece can be controlled. The speed can be sent down by various control methods such as servo to control the movement of the robot arm. When controlling the movement of the robot arm, the TCP of the robot arm can be executed to the starting point in the world coordinate system, and the speed value obtained above can be sent down to the robot arm to control the movement of the robot arm and realize swing welding.

[0092] In the above embodiment, by considering the welding return speed, the generated three-dimensional weaving welding trajectory can be made more regular, further improving the welding effect of the welding robot.

[0093] Figure 7 The block diagram of the three-dimensional welding trajectory generation device provided by the embodiment of the present disclosure is as follows. Figure 7 As shown, the three-dimensional weaving welding trajectory generating device may include: a preprocessing module 701 , a first determining module 702 , a second determining module 703 , a third determining module 704 and a generating module 705 .

[0094] Among them, the preprocessing module 701 is used to discretize the weld path point sequence of the workpiece, obtain multiple target point coordinates of the robot arm tool center point TCP of the swing welding robot in the world coordinate system, and transform the multiple target point coordinates into the robot tool coordinate system.

[0095] The first determination module 702 is used to determine the welding forward speed between each two adjacent target points among the multiple target points in the robot tool coordinate system according to the welding process information associated with the workpiece. In some embodiments, the first determination module 702 is specifically used to: determine the welding process information associated with the workpiece; the welding process information includes the welding running speed value between each two adjacent target points; and determine the welding running speed value between each two adjacent target points as the welding forward speed between the corresponding two adjacent target points in the robot tool coordinate system.

[0096] The second determination module 703 is used to determine the coordinate system transformation relationship associated with the starting point between each two adjacent target points according to the welding forward speed direction and the normal direction in the robot tool coordinate system between each two adjacent target points, and the coordinate system transformation relationship is the transformation relationship between the robot tool coordinate system and the weld bead coordinate system. In some embodiments, the second determination module 703 is used to: orthogonalize the forward direction of the weld bead and the normal direction between each two adjacent target points in the robot tool coordinate system; project the welding forward speed direction between each two adjacent target points in the robot tool coordinate system to the X-axis of the weld bead coordinate system to obtain a first rotation matrix; the X-axis points to the forward direction of the weld bead; apply the first rotation matrix to the normal direction after orthogonalization, and align the normal direction after orthogonalization to the Z-axis of the weld bead coordinate system to obtain a second rotation matrix; the Z-axis points to the normal direction of the swing plane; based on the first rotation matrix and the second rotation matrix, determine the coordinate system transformation relationship associated with the starting point between each two adjacent target points.

[0097] The third determination module 704 is used to determine the welding swing speed between each two adjacent target points in the weld bead coordinate system according to the welding process information. In some embodiments, the third determination module 704 is used to: generate an auxiliary point sequence associated with each two adjacent target points according to the swing amplitude and / or the swing frequency, and the auxiliary point sequence is a sequence of auxiliary points that have periodic motion along the three axes in the weld bead coordinate system; and determine the welding swing speed between each two adjacent target points in the weld bead coordinate system using the cosine acceleration motion law.

[0098] In some embodiments, the third determination module 704 is used to: map time to a given period, and select different auxiliary points from the auxiliary point sequence according to the time; use the cosine acceleration motion law according to the selected auxiliary points, continuously adjust the maximum speed, and finally obtain a speed sequence for executing the distance between each two adjacent target points within a specified time; determine the speed sequence as the welding swing speed between each two adjacent target points in the weld coordinate system.

[0099] The generation module 705 is used to generate a three-dimensional swing welding trajectory according to the welding forward speed between each two adjacent target points among multiple target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding swing speed between each two adjacent target points in the weld bead coordinate system.

[0100] In some embodiments, the third determination module 704 is also used to determine the welding return speed between each two adjacent target points in the weld coordinate system. In some embodiments, the third determination module 704 is used to obtain the oscillating welding trajectory offset information generated in the process of executing the distance between each two adjacent target points; according to the oscillating welding trajectory offset information, determine the welding return speed between each two adjacent target points in the weld coordinate system. In this embodiment, the generation module 705 is used to generate a three-dimensional oscillating welding trajectory according to the welding forward speed between each two adjacent target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding swing speed and welding return speed between each two adjacent target points in the weld coordinate system.

[0101] In some embodiments, the generation module 705 is used to: based on the coordinate system transformation relationship associated with the starting point between each two adjacent target points, respectively transform the welding swing speed and the welding return speed from the weld bead coordinate system to the robot tool coordinate system; superimpose the welding forward speed between each two adjacent target points in the robot tool coordinate system, the welding swing speed and the welding return speed after the coordinate system transformation to obtain the running speed between each two adjacent target points in the robot tool coordinate system; based on the running speed between each two adjacent target points in the robot tool coordinate system, generate a three-dimensional swing welding trajectory.

[0102] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0103] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0104] like Figure 8As shown, it is a block diagram of an electronic device for implementing a three-dimensional weaving welding trajectory generation method according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, 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. For example, the electronic device can be a robot (such as a welding robot), and the electronic device can also be a single-chip microcomputer, which can be applied to a robot (such as a welding robot). 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 disclosure described and / or required herein.

[0105] like Figure 8 As shown, the electronic device includes: one or more processors 801, a memory 802, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 8 A processor 801 is taken as an example.

[0106] The memory 802 is a non-transient computer-readable storage medium provided by the present disclosure. The memory stores instructions executable by at least one processor to enable the at least one processor to execute the three-dimensional weaving welding trajectory generation method provided by the present disclosure. The non-transient computer-readable storage medium of the present disclosure stores computer instructions, which are used to enable a computer to execute the three-dimensional weaving welding trajectory generation method provided by the present disclosure.

[0107] The memory 802 is a non-transient computer-readable storage medium that can be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the three-dimensional weaving welding trajectory generation method in the embodiment of the present disclosure (for example, the attached Figure 7The processor 801 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 802, that is, the three-dimensional weaving welding trajectory generation method in the above method embodiment is realized.

[0108] The memory 802 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 802 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 802 may optionally include a memory remotely arranged relative to the processor 801, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0109] The electronic device may further include: an input device 803 and an output device 804. The processor 801, the memory 802, the input device 803 and the output device 804 may be connected via a bus or other means. Figure 8 The example of connecting through bus is taken in the following.

[0110] The input device 803 can receive input digital or character information, and generate key signal input related to user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 804 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0111] Various implementations of the systems and techniques described herein can be realized in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations may 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.

[0112] These computer programs (also referred to as programs, software, software applications, or code) include machine instructions for programmable processors and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or means (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0113] 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).

[0114] The systems and techniques described herein may be implemented in a computing system that includes backend 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 frontend 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 backend components, middleware components, or frontend 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), the Internet, and a blockchain network.

[0115] 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 between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0116] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0117] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present disclosure belong.

[0118] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0119] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0120] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0121] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0122] The storage medium mentioned above may be a read-only memory, a disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present disclosure. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present disclosure.

Claims

1. A three-dimensional weaving welding trajectory generation method, characterized in that: include: Discretize the weld path point sequence of the workpiece to obtain multiple target point coordinates of the robot arm tool center point TCP of the swing welding robot in the world coordinate system, and transform the multiple target point coordinates into the robot tool coordinate system; Determining a welding forward speed between every two adjacent target points among the plurality of target points in the robot tool coordinate system according to welding process information associated with the workpiece; According to the welding forward speed direction and the normal direction between each two adjacent target points in the robot tool coordinate system, determine the coordinate system transformation relationship associated with the starting point between each two adjacent target points, wherein the coordinate system transformation relationship is the transformation relationship between the robot tool coordinate system and the weld bead coordinate system; Determine the welding swing speed between each two adjacent target points in the weld bead coordinate system according to the welding process information; Generate a three-dimensional weaving welding trajectory according to the welding forward speed between each two adjacent target points among the multiple target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point among each two adjacent target points, and the welding weaving speed between each two adjacent target points in the weld bead coordinate system; The method further comprises: Determine the welding return speed between each two adjacent target points in the weld bead coordinate system; The method of generating a three-dimensional weaving welding trajectory according to the welding forward speed between each two adjacent target points among the multiple target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point among each two adjacent target points, and the welding weaving speed between each two adjacent target points in the weld bead coordinate system includes: The three-dimensional swing welding trajectory is generated according to the welding forward speed between each two adjacent target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding swing speed and welding return speed between each two adjacent target points in the weld bead coordinate system.

2. The method according to claim 1, characterized in that The step of determining the welding forward speed between each two adjacent target points in the robot tool coordinate system according to the welding process information associated with the workpiece includes: Determining welding process information associated with the workpiece; the welding process information includes a welding running speed value between each two adjacent target points; The welding running speed value between each two adjacent target points is determined as the welding forward speed between the corresponding two adjacent target points in the robot tool coordinate system.

3. The method according to claim 1, characterized in that The step of determining a coordinate system transformation relationship associated with a starting point between each two adjacent target points according to a welding forward speed direction and a normal direction between each two adjacent target points in the robot tool coordinate system comprises: Orthogonalizing the forward direction of the weld bead and the normal direction between each two adjacent target points in the robot tool coordinate system; Projecting the welding forward speed direction between each two adjacent target points in the robot tool coordinate system onto the X-axis of the weld bead coordinate system to obtain a first rotation matrix; the X-axis points to the forward direction of the weld bead; Applying the first rotation matrix to the normal direction after orthogonalization, and aligning the normal direction after orthogonalization to the Z axis of the weld bead coordinate system, to obtain a second rotation matrix; the Z axis points to the normal direction of the swing plane; Based on the first rotation matrix and the second rotation matrix, a coordinate system transformation relationship associated with a starting point between every two adjacent target points is determined.

4. The method according to claim 1, characterized in that The welding process information includes swing amplitude and / or swing frequency; and determining the welding swing speed between each two adjacent target points in the weld bead coordinate system according to the welding process information includes: According to the swing amplitude and / or the swing frequency, an auxiliary point sequence associated with each two adjacent target points is generated, wherein the auxiliary point sequence is a sequence of auxiliary points that have periodic motion along three axes in the weld bead coordinate system; The cosine acceleration motion law is used to determine the welding swing speed between each two adjacent target points in the weld bead coordinate system.

5. The method according to claim 4, characterized in that The method of using the cosine acceleration motion law to determine the welding swing speed between each two adjacent target points in the weld bead coordinate system includes: Mapping the time into a given period, and selecting different auxiliary points from the auxiliary point sequence according to the time; According to the selected auxiliary point, the cosine acceleration motion law is adopted to continuously adjust the maximum speed, and finally a speed sequence of the distance between each two adjacent target points is obtained within a specified time; The speed sequence is determined as the welding swing speed between each two adjacent target points in the weld bead coordinate system.

6. The method according to claim 1, characterized in that The step of determining the welding return speed between each two adjacent target points in the weld bead coordinate system comprises: Acquire the weaving welding trajectory offset information generated in the process of executing the distance between each two adjacent target points; According to the weaving welding trajectory offset information, the welding return speed between each two adjacent target points in the weld bead coordinate system is determined.

7. The method according to claim 1, characterized in that The method generates the three-dimensional oscillating welding trajectory according to the welding forward speed between each two adjacent target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding oscillation speed and welding return speed between each two adjacent target points in the weld bead coordinate system, including: Based on the coordinate system transformation relationship associated with the starting point between each two adjacent target points, respectively transforming the welding swing speed and the welding return speed from the weld bead coordinate system to the robot tool coordinate system; The welding forward speed between each two adjacent target points in the robot tool coordinate system, the welding swing speed after coordinate system transformation, and the welding return speed are superimposed to obtain the running speed between each two adjacent target points in the robot tool coordinate system; The three-dimensional weaving welding trajectory is generated based on the running speed between each two adjacent target points in the robot tool coordinate system.

8. A three-dimensional weaving welding trajectory generating device, characterized in that: include: A preprocessing module is used to discretize the weld path point sequence of the workpiece, obtain multiple target point coordinates of the robot arm tool center point TCP of the swing welding robot in the world coordinate system, and transform the multiple target point coordinates into the robot tool coordinate system; A first determination module is used to determine a welding forward speed between every two adjacent target points among the plurality of target points in the robot tool coordinate system according to welding process information associated with the workpiece; A second determination module is used to determine a coordinate system transformation relationship associated with a starting point between each two adjacent target points according to a welding forward speed direction and a normal direction between each two adjacent target points in the robot tool coordinate system, wherein the coordinate system transformation relationship is a transformation relationship between the robot tool coordinate system and the weld bead coordinate system; A third determination module is used to determine the welding swing speed between each two adjacent target points in the weld bead coordinate system according to the welding process information; A generating module, for generating a three-dimensional weaving welding trajectory according to a welding forward speed between each two adjacent target points among the plurality of target points in the robot tool coordinate system, a coordinate system transformation relationship associated with a starting point among each two adjacent target points, and a welding weaving speed between each two adjacent target points in the weld bead coordinate system; Wherein, the third determination module is further used to determine the welding return speed between every two adjacent target points in the weld coordinate system; The generation module is used to generate the three-dimensional swing welding trajectory according to the welding forward speed between each two adjacent target points in the robot tool coordinate system, the coordinate system transformation relationship associated with the starting point between each two adjacent target points, and the welding swing speed and welding return speed between each two adjacent target points in the weld bead coordinate system.

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 storage medium storing instructions, characterized in that: When the instructions are executed on an electronic device, the electronic device is caused to execute the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 7.

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