Welding gun pose adjusting method, system and equipment for pipeline welding robot and medium

Abstract

The invention relates to the technical field of pipeline welding, and particularly discloses a pipeline welding robot welding gun pose adjusting method, system and device and a medium. The method comprises the steps that point cloud data of a to-be-welded area of a target pipeline is converted into target coordinate data under a workpiece coordinate system of a pipeline welding robot, target coordinate data are obtained, the target coordinate data are reconstructed, and a virtual pipeline model containing the to-be-welded area is obtained; and based on the virtual pipeline model, an included angle between the direction of a welding gun of the pipeline welding robot and the normal direction of the end point of the welding gun is determined, and according to the included angle, welding gun pose parameters of the pipeline welding robot are determined and adjusted. According to the method, digitalized process parameters based on experience and skills of skilled workers are directly applied to the welding robot, so that the welding gun of the pipeline welding robot can be subjected to pose adjustment according to welding requirements, and the problems of personal errors and manual safety can be avoided while the welding precision and efficiency are improved.

Description

Background Art

[0002] As oil and gas pipelines develop towards larger diameters, thicker walls and higher steel grades, faced with special construction environment temperatures and construction requirements of different terrains and topography, manual welding of oil pipelines in all positions is often required. Welders must have rich welding experience and skilled welding skills. These experiences and skills are conducive to improving welding efficiency and quality under different welding process requirements. Skilled welders need to gain experience through long-term practice, so there are only a limited number of skilled welders, and even skilled workers will have human errors and cannot repeat operations and obtain the same results.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a method, system, equipment and medium for adjusting the welding gun posture of a pipeline welding robot.

[0005] In a first aspect, the present invention provides a method for adjusting the welding gun posture of a pipeline welding robot, and the technical solution of the method is as follows:

[0006] Converting the point cloud data of the area to be welded of the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot, and reconstructing the target coordinate data to obtain a virtual pipeline model including the area to be welded;

[0007] Based on the virtual pipeline model, the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun endpoint is determined, and according to the angle, the welding gun posture parameters of the pipeline welding robot are determined and adjusted.

[0008] The beneficial effects of the welding gun posture adjustment method of a pipeline welding robot of the present invention are as follows:

[0009] The method of the present invention directly applies digitized process parameters based on the experience and skills of skilled workers to the welding robot, so that the welding gun of the pipeline welding robot can adjust its posture according to welding requirements. While improving the accuracy and efficiency of welding, it can also avoid human errors and manual safety issues.

[0010] On the basis of the above scheme, the method for adjusting the welding gun posture of a pipeline welding robot of the present invention can also be improved as follows.

[0011] In an optional manner, the method further includes:

[0012] The point cloud data of the area to be welded of the target pipe is collected by using a scanner.

[0013] In an optional manner, the step of converting the point cloud data of the to-be-welded area of ​​the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot includes:

[0014] Converting the point cloud data in the scanner coordinate system into first coordinate data in the tool coordinate system of the pipe welding robot;

[0015] According to the world coordinate system, the first coordinate data in the tool coordinate system of the welding robot is converted into the target coordinate data in the workpiece coordinate system of the pipe welding robot.

[0016] In an optional manner, the step of determining the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun endpoint based on the virtual pipeline model includes:

[0017] Determine a position to be welded in the virtual pipeline model, and obtain a pitch angle of a welding gun of the pipeline welding robot according to the position to be welded, and determine a direction of the welding gun of the pipeline welding robot according to the pitch angle of the welding gun;

[0018] The normal of each coordinate point in the virtual pipeline model is determined, and the direction of the normal of the welding gun endpoint is determined according to the position of the welding gun endpoint of the pipeline welding robot, and the angle between the welding gun direction and the normal of the welding gun endpoint is obtained.

[0019] In an optional manner, the step of determining the position to be welded in the virtual pipeline model includes:

[0020] The position to be welded in the virtual pipeline model is determined by using a grating encoder.

[0021] In an optional manner, the step of determining and adjusting the welding gun posture parameters of the pipeline welding robot according to the angle includes:

[0022] Obtaining the Euler angle of the angle, and converting the Euler angle into a quaternion;

[0023] The welding gun posture parameters of the pipeline welding robot are determined according to the quaternion, and the welding gun posture of the pipeline welding robot is adjusted according to the welding gun posture parameters.

[0024] In a second aspect, the present invention provides a welding gun posture adjustment system for a pipeline welding robot, the technical solution of the system is as follows:

[0025] Includes: generation module and adjustment module;

[0026] The generating module is used to: convert the point cloud data of the area to be welded of the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot, and reconstruct the target coordinate data to obtain a virtual pipeline model including the area to be welded;

[0027] The adjustment module is used to: determine the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun endpoint based on the virtual pipeline model, and determine and adjust the welding gun posture parameters of the pipeline welding robot according to the angle.

[0028] The beneficial effects of the welding gun posture adjustment system of a pipeline welding robot of the present invention are as follows:

[0029] The system of the present invention directly applies digitized process parameters based on the experience and skills of skilled workers to the welding robot, so that the welding gun of the pipeline welding robot can adjust its posture according to welding requirements. While improving the accuracy and efficiency of welding, it can also avoid human errors and manual safety issues.

[0030] On the basis of the above scheme, the welding gun posture adjustment system of a pipeline welding robot of the present invention can also be improved as follows.

[0031] In an optional manner, the device further includes: a collection module; the collection module is used to:

[0032] The point cloud data of the area to be welded of the target pipe is collected by using a scanner.

[0033] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0034] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the method for adjusting the welding gun posture of a pipeline welding robot according to the present invention are implemented.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0036] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the method for adjusting the welding gun posture of a pipeline welding robot according to the present invention.

[0037] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0039] Figure 1 A schematic flow chart of an embodiment of a method for adjusting the welding gun posture of a pipeline welding robot according to the present invention;

[0040] Figure 2 It is a structural schematic diagram of an embodiment of a welding gun posture adjustment system for a pipeline welding robot of the present invention;

[0041] Figure 3 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0042] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0043] Figure 1 A flow chart of an embodiment of a method for adjusting the posture of a welding gun of a pipeline welding robot provided by the present invention is shown. The method for adjusting the posture of a welding gun of a pipeline welding robot can be executed by an electronic device such as a terminal device or a server. Among them, the terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the method for adjusting the posture of a welding gun of a pipeline welding robot by calling computer-readable instructions stored in a memory by a processor. As Figure 1 As shown, the following steps are included:

[0044] S1. Converting the point cloud data of the area to be welded of the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot, and reconstructing the target coordinate data to obtain a virtual pipeline model including the area to be welded.

[0045] Among them, the target pipeline is the pipeline area that needs to be welded in this embodiment. The point cloud data of the area to be welded is three-dimensional point cloud data, specifically refers to the cross-sectional profile information obtained by using a line profile scanner before pipeline welding. The weld width and depth can be obtained by analyzing the area to be welded, and compared with the cross-sectional profile data of the previous weld to obtain the filling amount of two adjacent welds. The target coordinate data is three-dimensional coordinate data. The specific process of reconstructing the target coordinate data is prior art and will not be described in detail here. The virtual pipeline model is a virtual model obtained after the coordinate data is reconstructed, and the model is a virtual model of the area to be welded.

[0046] It should be noted that the coordinates of the middle point and the depth and width of the pipe weld in the area to be welded are determined. The width is reduced by 1mm on both sides to determine the swing width of the welding gun of the pipe welding robot, and the depth is increased by 10mm to determine the rod extension of the welding wire. The percentage of the difference between the filling amount and the ideal filling amount, in the next welding, the circumferential movement speed is increased or decreased accordingly.

[0047] In S1, specifically:

[0048] 1) Using a scanner, collecting the point cloud data of the area to be welded of the target pipeline.

[0049] Among them, a scanner is used to perform laser scanning on the welding area to obtain point cloud data.

[0050] 2) The step of converting the point cloud data of the area to be welded of the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot comprises:

[0051] The point cloud data of the scanner coordinate system is converted into first coordinate data of the tool coordinate system of the pipeline welding robot.

[0052] According to the world coordinate system, the first coordinate data in the tool coordinate system of the welding robot is converted into the target coordinate data in the workpiece coordinate system of the pipe welding robot.

[0053] Among them, according to the pose matrix and origin position of the tool coordinate system relative to the world coordinate system, and the pose matrix and origin position of the workpiece coordinate system relative to the world coordinate system; the coordinates of the origin of the tool coordinate system in the workpiece coordinate system can be obtained. According to the coordinates of the origin in the workpiece coordinate system, each point corresponding to the first coordinate data is converted to obtain the target coordinate data. Specifically, the conversion is performed according to the following formulas: P_tw_rot=tool_tw*P, P_w=P_tw_rot+M_tool_w; P is the coordinate of any point position in the tool coordinate system of the welding robot; tool_tw is the rotation matrix of the tool coordinate system of the welding robot; P_tw_rot is the rotation result of point P in the tool coordinate system of the welding robot; M_tool_w is the coordinate of the origin of the tool coordinate system of the welding robot in the workpiece coordinate system of the welding robot; P_w is the coordinate of point P in the workpiece coordinate system of the welding robot.

[0054] S2. Based on the virtual pipeline model, determine the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun endpoint, and determine and adjust the welding gun posture parameters of the pipeline welding robot according to the angle.

[0055] In S2, specifically:

[0056] 1) Based on the virtual pipeline model, the step of determining the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun end point comprises:

[0057] The position to be welded in the virtual pipeline model is determined, and according to the position to be welded, the pitch angle of the welding gun of the pipeline welding robot is obtained, and according to the pitch angle of the welding gun, the direction of the welding gun of the pipeline welding robot is determined.

[0058] The normal of each coordinate point in the virtual pipeline model is determined, and the direction of the normal of the welding gun endpoint is determined according to the position of the welding gun endpoint of the pipeline welding robot, and the angle between the welding gun direction and the normal of the welding gun endpoint is obtained.

[0059] The grating encoder is used to determine the position to be welded in the virtual pipeline model. The grating encoder is used to locate the position to be welded. The welding process requirements are determined according to the position to be welded. The welding process requirements include the pitch angle of the welding gun of the pipeline welding robot. The direction of the welding gun of the pipeline welding robot is determined according to the pitch angle of the welding gun.

[0060] It should be noted that different welding positions correspond to different pitch angle requirements. Through Euler angle conversion, the normal direction of the welding gun end point is made to present a certain angle with the direction perpendicular to the pipe surface, and this angle meets the pitch angle requirement.

[0061] 2) According to the angle, the step of determining and adjusting the welding gun posture parameters of the pipeline welding robot comprises:

[0062] The Euler angle of the angle is obtained, and the Euler angle is converted into a quaternion.

[0063] Among them, the Euler angle of the included angle is obtained according to the ZYX Euler angle representation formula.

[0064] The welding gun posture parameters of the pipeline welding robot are determined according to the quaternion, and the welding gun posture of the pipeline welding robot is adjusted according to the welding gun posture parameters.

[0065] Among them, the three angles corresponding to the Euler angle of the included angle are α for rotation around the x-axis, β for rotation around the y-axis, and γ for rotation around the z-axis. Converting these three angles into quaternions gives the following formula:

[0066]

[0067] And according to The final result of the four elements q(1), q(2), q(3) and q(4) is:

[0068]

[0069]

[0070] The technical solution of this embodiment directly applies digitized process parameters based on the experience and skills of skilled workers to the welding robot, so that the welding gun of the pipeline welding robot can adjust its posture according to welding requirements. While improving the accuracy and efficiency of welding, it can also avoid human errors and manual safety issues.

[0071] Figure 2 FIG. 2 is a schematic diagram showing a structure of an embodiment of a pipeline welding robot welding gun posture adjustment system 200 provided by the present invention. Figure 2 As shown, the system 200 includes: a generating module 210 and an adjusting module 220 .

[0072] The generating module 210 is used to: convert the point cloud data of the area to be welded of the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot, and reconstruct the target coordinate data to obtain a virtual pipeline model including the area to be welded;

[0073] The adjustment module 220 is used to: determine the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun endpoint based on the virtual pipeline model, and determine and adjust the welding gun posture parameters of the pipeline welding robot according to the angle.

[0074] In an optional manner, the device further includes: a collection module; the collection module is used to:

[0075] The point cloud data of the area to be welded of the target pipe is collected by using a scanner.

[0076] In an optional manner, the step of converting the point cloud data of the to-be-welded area of ​​the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot in the generating module 210 includes:

[0077] Converting the point cloud data in the scanner coordinate system into first coordinate data in the tool coordinate system of the welding robot;

[0078] According to the world coordinate system, the first coordinate data in the tool coordinate system of the welding robot is converted into the target coordinate data in the workpiece coordinate system of the pipe welding robot.

[0079] In an optional manner, the step of determining the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun endpoint based on the virtual pipeline model in the adjustment module 220 includes:

[0080] Determine a position to be welded in the virtual pipeline model, and obtain a pitch angle of a welding gun of the pipeline welding robot according to the position to be welded, and determine a direction of the welding gun of the pipeline welding robot according to the pitch angle of the welding gun;

[0081] The normal of each coordinate point in the virtual pipeline model is determined, and the direction of the normal of the welding gun endpoint is determined according to the position of the welding gun endpoint of the pipeline welding robot, and the angle between the welding gun direction and the normal of the welding gun endpoint is obtained.

[0082] In an optional manner, the step of determining the position to be welded in the virtual pipeline model in the adjustment module 220 includes:

[0083] The position to be welded in the virtual pipeline model is determined by using a grating encoder.

[0084] In an optional manner, the step of determining and adjusting the welding gun posture parameters of the pipeline welding robot according to the angle in the adjustment module 220 includes:

[0085] Obtaining the Euler angle of the angle, and converting the Euler angle into a quaternion;

[0086] The welding gun posture parameters of the pipeline welding robot are determined according to the quaternion, and the welding gun posture of the pipeline welding robot is adjusted according to the welding gun posture parameters.

[0087] The technical solution of this embodiment directly applies digitized process parameters based on the experience and skills of skilled workers to the welding robot, so that the welding gun of the pipeline welding robot can adjust its posture according to welding requirements. While improving the accuracy and efficiency of welding, it can also avoid human errors and manual safety issues.

[0088] The above-mentioned parameters and steps for each module to implement corresponding functions in the pipeline welding robot welding gun posture adjustment system 200 of this embodiment can refer to the parameters and steps in the embodiment of the pipeline welding robot welding gun posture adjustment method above, and will not be repeated here.

[0089] like Figure 3 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above-mentioned methods for adjusting the welding gun posture of a pipeline welding robot, specifically:

[0090] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements any of the pipe welding robot welding gun posture adjustment methods provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for implementing device functions, which will not be repeated here.

[0091] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above-mentioned methods for adjusting the welding gun posture of a pipeline welding robot.

[0092] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0093] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes any of the above-mentioned methods for adjusting the welding gun posture of a pipeline welding robot.

[0094] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0095] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0096] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0097] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for adjusting the welding gun posture of a pipeline welding robot, characterized in that: include: Converting the point cloud data of the area to be welded of the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot, and reconstructing the target coordinate data to obtain a virtual pipeline model including the area to be welded; Based on the virtual pipeline model, the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun endpoint is determined, and according to the angle, the welding gun posture parameters of the pipeline welding robot are determined and adjusted.

2. The method for adjusting the welding gun posture of a pipeline welding robot according to claim 1, characterized in that: Also includes: The point cloud data of the area to be welded of the target pipe is collected by using a scanner.

3. The method for adjusting the welding gun posture of a pipeline welding robot according to claim 2, characterized in that: The step of converting the point cloud data of the to-be-welded area of ​​the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot comprises: Converting the point cloud data in the scanner coordinate system into first coordinate data in the tool coordinate system of the pipeline welding robot; According to the world coordinate system, the first coordinate data in the tool coordinate system of the welding robot is converted into the target coordinate data in the workpiece coordinate system of the pipe welding robot.

4. The method for adjusting the welding gun posture of a pipeline welding robot according to claim 1, characterized in that: The step of determining the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun end point based on the virtual pipeline model comprises: Determine a position to be welded in the virtual pipeline model, and obtain a pitch angle of a welding gun of the pipeline welding robot according to the position to be welded, and determine a direction of the welding gun of the pipeline welding robot according to the pitch angle of the welding gun; The normal of each coordinate point in the virtual pipeline model is determined, and the direction of the normal of the welding gun endpoint is determined according to the position of the welding gun endpoint of the pipeline welding robot, and the angle between the welding gun direction and the normal of the welding gun endpoint is obtained.

5. The method for adjusting the welding gun posture of a pipeline welding robot according to claim 4, characterized in that: The step of determining the position to be welded in the virtual pipeline model comprises: The position to be welded in the virtual pipeline model is determined by using a grating encoder.

6. The method for adjusting the welding gun posture of a pipeline welding robot according to claim 1, characterized in that: The step of determining and adjusting the welding gun posture parameters of the pipeline welding robot according to the angle includes: Obtaining the Euler angle of the angle, and converting the Euler angle into a quaternion; The welding gun posture parameters of the pipeline welding robot are determined according to the quaternion, and the welding gun posture of the pipeline welding robot is adjusted according to the welding gun posture parameters.

7. A welding gun posture adjustment system for a pipeline welding robot, characterized in that: include: Generate modules and adjust modules; The generating module is used to: convert the point cloud data of the area to be welded of the target pipeline into target coordinate data in the workpiece coordinate system of the pipeline welding robot, and reconstruct the target coordinate data to obtain a virtual pipeline model including the area to be welded; The adjustment module is used to: determine the angle between the welding gun direction of the pipeline welding robot and the normal direction of the welding gun endpoint based on the virtual pipeline model, and determine and adjust the welding gun posture parameters of the pipeline welding robot according to the angle.

8. The welding gun posture adjustment system of the pipeline welding robot according to claim 7 is characterized in that: Also includes: Acquisition module; the acquisition module is used for: The point cloud data of the area to be welded of the target pipe is collected by using a scanner.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the method for adjusting the welding gun posture of a pipeline welding robot as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the method for adjusting the welding gun posture of a pipeline welding robot as described in any one of claims 1 to 6.

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