Flexible welding method and system applied to aluminum profile transfer material frame

Abstract

The invention is suitable for the technical field of material welding, and provides a flexible welding method and system applied to an aluminum profile transfer material frame, and the method comprises the steps that firstly, on the basis of a shooting device, real-shot image information of a target material frame is obtained, and then feature set information of a to-be-welded area of the target material frame is generated according to the real-shot image information; and finally, according to the feature set information of the to-be-welded area, a welding control instruction is efficiently generated. Corresponding welding processes and welding technologies can be automatically configured according to the characteristics of different material frames, the aluminum profile transfer material frames are efficiently and comprehensively welded, the workload of welding personnel is remarkably reduced, the stability and consistency of the welding quality are improved, the number of local welding parts can be flexibly planned, and the welding efficiency is improved. According to the flexible welding method and device for the aluminum profile transfer material frame, an effective welding instruction can be flexibly and automatically generated through a camera according to the parameters of all moving parts needed by local welding, the actual change of local welding is adapted, and the actual requirement of the flexible welding machining technology for the aluminum profile transfer material frame is met.

Description

Technical Field

[0001] The present application relates to the technical field of material welding, and in particular to a flexible welding method and system thereof applied to a material transfer frame in an aluminum profile. Background Art

[0002] Aluminum profile transfer frames can not only temporarily store aluminum profiles, but also prevent aluminum profiles from being damaged during transportation. Therefore, aluminum profile transfer frames play an important role in material management and production processes.

[0003] At present, aluminum profile transfer frames need to be welded in all directions, and are usually welded manually. However, the size of aluminum profile transfer frames is large, and welders need to move around and adjust their postures frequently, resulting in low welding efficiency, which needs further improvement. Summary of the invention

[0004] Based on this, an embodiment of the present application provides a flexible welding method and system for a transfer frame in an aluminum profile to solve the problem of low welding efficiency in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a flexible welding method for a transfer frame in an aluminum profile, the method comprising:

[0006] Based on a preset shooting device, real-shot image information of the target material frame is obtained;

[0007] Generate feature set information of the area to be welded of the target material frame according to the real-shot image information, wherein the feature set information of the area to be welded includes position information of the area to be welded and type information of the area to be welded, and the position information of the area to be welded corresponds to the type information of the area to be welded;

[0008] A welding control instruction is generated according to the feature set information of the area to be welded, wherein the welding control instruction is used to instruct a preset welding robot to weld the target material frame.

[0009] Compared with the prior art, the beneficial effects are as follows: in the flexible welding method for aluminum profile transfer frame provided in the embodiment of the present application, the terminal device can first obtain the real-shot image information of the target frame based on the shooting device, and then quickly generate the feature set information of the area to be welded of the target frame according to the real-shot image information, and finally efficiently generate the welding control instructions according to the feature set information of the area to be welded, thereby realizing automatic and comprehensive welding of the aluminum profile transfer frame, greatly reducing the workload of welders, improving welding efficiency, and solving the current problem of low welding efficiency to a certain extent.

[0010] In a second aspect, an embodiment of the present application provides a flexible welding system for a transfer frame of an aluminum profile, the system comprising:

[0011] Real shot image information acquisition module: used to acquire real shot image information of the target material frame based on a preset shooting device;

[0012] A module for generating feature set information of the area to be welded: used for generating feature set information of the area to be welded of the target material frame according to the real-shot image information, wherein the feature set information of the area to be welded includes position information of the area to be welded and type information of the area to be welded, and the position information of the area to be welded corresponds to the type information of the area to be welded;

[0013] A welding control instruction generation module is used to generate a welding control instruction according to the feature set information of the area to be welded, wherein the welding control instruction is used to instruct a preset welding robot to weld the target material frame.

[0014] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect described above when executing the computer program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect described above are implemented.

[0016] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0018] Figure 1 It is a schematic diagram of a process of a flexible welding method provided in an embodiment of the present application;

[0019] Figure 2 is a flow chart of step S200 in the flexible welding method provided in one embodiment of the present application;

[0020] Figure 3 It is a schematic diagram of the process after step S240 in the flexible welding method provided in one embodiment of the present application;

[0021] Figure 4 is a flow chart of step S300 in the flexible welding method provided in one embodiment of the present application;

[0022] Figure 5 is a first schematic diagram of a welding robot provided by an embodiment of the present application;

[0023] Figure 6 is a second schematic diagram of a welding robot provided by an embodiment of the present application;

[0024] Figure 7 is a third schematic diagram of a welding robot provided in one embodiment of the present application;

[0025] Figure 8 It is a schematic diagram of the process after step S220 in the flexible welding method provided in one embodiment of the present application;

[0026] Fig. 9 It is a schematic diagram of the process after step S300 in the flexible welding method provided in one embodiment of the present application;

[0027] Fig.10 is a module block diagram of a flexible welding system provided by an embodiment of the present application;

[0028] Fig.11 It is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0030] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0032] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0033] See also Figure 1 , Figure 1 : is a flow chart of a flexible welding method for a transfer frame of an aluminum profile provided in an embodiment of the present application. In this embodiment, the execution subject of the flexible welding method is a terminal device. It is understandable that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc., and the embodiments of the present application do not impose any restrictions on the specific types of terminal devices.

[0034] See also Figure 1 The flexible welding method provided in the embodiment of the present application includes but is not limited to the following steps:

[0035] In S100, based on a preset shooting device, actual image information of a target material frame is acquired.

[0036] Specifically, the terminal device can first obtain the real-shot image information of the target material frame based on a preset shooting device, wherein the shooting device can be a 3D camera, that is, a depth camera; the target material frame is used to describe the transfer material frame of the aluminum profile to be welded; the real-shot image information is used to describe the image obtained by the shooting device taking real-time pictures of the target material frame.

[0037] In S200, feature set information of the to-be-welded area of ​​the target material frame is generated according to the real-shot image information.

[0038] Specifically, after the terminal device obtains the real-shot image information, the terminal device can generate feature set information of the area to be welded of the target material frame based on the real-shot image information, wherein the feature set information of the area to be welded includes position information of the area to be welded and type information of the area to be welded; the position information of the area to be welded is used to describe the specific position of the area to be welded in the target material frame; the type information of the area to be welded is used to describe the welding process type corresponding to the area to be welded; the position information of the area to be welded corresponds to the type information of the area to be welded.

[0039] In some possible implementations, in order to generate accurate feature set information of the area to be welded, please refer to Figure 2 Step S200 includes but is not limited to the following steps:

[0040] In S210, based on a preset edge detection algorithm, contour information of the area to be welded is generated according to the real-shot image information.

[0041] Specifically, the terminal device can first perform edge extraction processing on the actual image information based on a preset edge detection algorithm to generate contour information of the area to be welded, wherein the edge detection algorithm can be an edge detection algorithm based on a Sobel operator or an edge detection algorithm based on a Canny operator; the contour information of the area to be welded is used to describe the outer contour corresponding to the area to be welded of the target material frame.

[0042] In S220, based on a preset spatial coordinate system, position information of the area to be welded corresponding to the contour information of the area to be welded is determined.

[0043] Specifically, after the terminal device generates the contour information of the area to be welded, the terminal device can convert the pixel coordinates of the determined contour information of the area to be welded in the image into normalized coordinates based on a preset spatial coordinate system, and then convert the normalized coordinates into three-dimensional coordinates in the world coordinate system, thereby effectively determining the position information of the area to be welded corresponding to the contour information of the area to be welded.

[0044] In S230 , the material type information and material thickness information of the target material frame are obtained.

[0045] Specifically, after the terminal device determines the position information of the area to be welded, the terminal device can obtain the material type information and material thickness information of the target material frame, wherein the material type information is used to describe the material type of the target material frame, such as aluminum; the material thickness information is used to describe the material thickness of the target material frame; in one possible implementation, the material type information may be the material type of the area to be welded, and the material thickness information may be the thickness of the area to be welded.

[0046] In S240, the type information of the area to be welded corresponding to the contour information of the area to be welded is determined according to the material type information and the material thickness information.

[0047] Specifically, the type information of the area to be welded may be arc welding, gas shielded welding, tungsten inert gas welding or submerged arc welding; after the terminal device obtains the material type information and the material thickness information, the terminal device may determine the type information of the area to be welded corresponding to the contour information of the area to be welded based on the material type information and the material thickness information.

[0048] Exemplarily, when the thickness of the area to be welded is greater than a specified thickness threshold, the terminal device can determine that the type information of the area to be welded is arc welding or submerged arc welding; when the thickness of the area to be welded is less than a specified thickness threshold, the terminal device can determine that the type information of the area to be welded is tungsten inert gas welding, wherein the thickness threshold can be pre-defined by the welder.

[0049] Accordingly, see Figure 3 After step S240, the method further includes but is not limited to the following steps:

[0050] In S250, the material frame displacement angle information is generated according to the position information of the area to be welded.

[0051] Specifically, after the terminal device determines the type information of the area to be welded, the terminal device can generate the material frame displacement angle information according to the position information of the area to be welded, wherein the material frame displacement angle information is used to describe the required displacement angle of the material frame. For example, when it is necessary to weld the bottom of the target material frame, the material frame displacement angle information can be ninety degrees.

[0052] In S260, welding voltage information and welding current information are generated according to the type information of the area to be welded.

[0053] Specifically, after the terminal device generates the material frame displacement angle information, the terminal device can generate welding voltage information and welding current information according to the type information of the area to be welded, wherein the welding voltage information is used to describe the welding voltage required for welding, and the welding current information is used to describe the welding current required for welding. Exemplarily, when the type information of the area to be welded is tungsten inert gas welding, the welding voltage information can be 20 volts, and the welding current information can be 150 amperes; when the type information of the area to be welded is submerged arc welding, the welding voltage information can be 30 volts, and the welding current information can be 600 amperes.

[0054] In S300, a welding control instruction is generated according to the feature set information of the area to be welded.

[0055] Specifically, after the terminal device generates the feature set information of the area to be welded, the terminal device can generate a welding control instruction based on the feature set information of the area to be welded, wherein the welding control instruction is used to instruct a preset welding robot to weld the target material frame, and the welding robot can be a six-axis robot equipped with a welding gun.

[0056] In some possible implementations, in order to achieve efficient welding of the target material frame, please refer to Figure 4 Step S300 includes but is not limited to the following steps:

[0057] In S310, a positioner start instruction is generated according to the material frame displacement angle information.

[0058] Specifically, the terminal device can generate a positioner start instruction based on the material frame displacement angle information, so as to realize the servo-controlled positioner rotation to the required position angle, facilitate fine welding of the target material frame, and reduce the situation where the welding robot welds in an unreasonable posture. The positioner start instruction is used to instruct the preset positioner to rotate the target material frame according to the material frame displacement angle information.

[0059] In some possible implementations, each local welding point in the target material frame can correspond to a positioner angle, and each associated layout can correspond to a camera shooting angle. For example, the first material frame can plan 12 local welds to constitute the welding of the material frame, and the second material frame can plan 15 local welds to constitute the welding of the material frame. At the same time, the final configured parameters can be saved in the recipe data table, so as to facilitate direct call the next time the material frame is produced.

[0060] In S320, the ground rail target position information is generated according to the position information of the area to be welded and the preset working range information of the welding robot.

[0061] Specifically, after the terminal device generates a positioner start-up instruction, the terminal device can generate ground rail target position information based on the position information of the area to be welded and the preset working range information of the welding robot, wherein the ground rail target position information can be the position that the welding robot can reach when the position information of the area to be welded coincides with the working range information of the welding robot.

[0062] In some possible implementations, the terminal device can plan several local welding points in advance according to the specific length of the material frame and the position where welding is required. Each local welding point can correspond to a ground rail target position, thereby controlling the welding robot to be carried to the specified position through the ground rail.

[0063] In S330, a ground rail start instruction is generated according to the ground rail target position information.

[0064] Specifically, after the terminal device generates the ground rail target position information, the terminal device can generate a ground rail start instruction based on the ground rail target position information, so as to realize the use of a servo ground rail with linear motion to carry the robot to the welding area, wherein the ground rail start instruction is used to instruct the ground rail carrying the welding robot to move to the ground rail target position information.

[0065] For example, see Figure 5 , Figure 6 and Figure 7 The length of the target material frame can be as long as 6 to 7 meters, and the welding range of the welding robot can be a hemispherical area with the welding robot itself as the center point and a radius of 1.3 meters; after the welding robot completes welding of a part of the target material frame, the servo ground rail can transport the welding robot to the next part that needs welding processing.

[0066] In S340, a welding control instruction is generated according to the position information of the area to be welded, the type information of the area to be welded, the welding voltage information and the welding current information.

[0067] Specifically, after the terminal device generates the ground rail start instruction, the terminal device can generate a welding control instruction based on the position information of the area to be welded, the type information of the area to be welded, the welding voltage information and the welding current information, thereby controlling the welding robot to perform welding processing on the welding area position information in accordance with the welding voltage information and the welding current information in accordance with the type information of the area to be welded.

[0068] In some possible implementations, in order to optimize the welding trajectory, please refer to Figure 8 After step S220, the method further includes but is not limited to the following steps:

[0069] In S221, the welding start position information is obtained.

[0070] Specifically, the terminal device may first obtain welding starting position information, wherein the welding starting position information is used to describe the position information of the area to be welded that is closest to the welding robot.

[0071] In S222, based on a preset Euclidean distance calculation formula, the distance information corresponding to each other position information is determined.

[0072] Specifically, after the terminal device obtains the welding starting position information, the terminal device can determine the distance information corresponding to each other position information based on a preset Euclidean distance calculation formula, wherein the other position information is used to describe any position information of the area to be welded except the welding starting position information in the feature set information of the area to be welded, and the distance information is used to describe the shortest Euclidean distance between the other position information and the welding starting position information.

[0073] In S223, based on a plurality of interval distance information, the welding start position information and other position information are sequentially connected to generate welding path information.

[0074] Specifically, after the terminal device determines the distance information, the terminal device can generate welding path information based on multiple distance information, starting from the welding starting position information, and connecting the welding starting position information and various other position information in order from short to long in the distance information. The welding path information is used to describe the overall welding path.

[0075] In some possible implementations, in order to facilitate the welder to intuitively know the welding progress, please refer to Fig. 9 After step S300, the method further includes but is not limited to the following steps:

[0076] In S400, the total welding quantity information and the to-be-welded quantity information are obtained.

[0077] Specifically, the terminal device can first obtain the total welding quantity information and the number of welds to be welded information, wherein the total welding quantity information is used to describe the total number of position information of the areas to be welded, and the number of welds to be welded information is used to describe the number of areas to be welded that have not yet been welded.

[0078] In S410, welding progress information is generated according to the total welding quantity information and the to-be-welded quantity information.

[0079] Specifically, after the terminal device obtains the total welding quantity information and the to-be-welded quantity information, the terminal device may generate the welding progress information according to the quotient value of the to-be-welded quantity information divided by the total welding quantity information.

[0080] In some possible implementations, production personnel can plan the corresponding number of welding parts according to the individual differences of each material frame, and customize the ground rail positions, positioner positions and shooting angles corresponding to these local welding points through the touch screen to achieve flexible welding, wherein the actual welding position can be estimated by photographing the welding points through the above-mentioned pre-installed shooting device.

[0081] The implementation principle of the flexible welding method applied to the transfer frame of aluminum profiles in the embodiment of the present application is as follows: the terminal device can first obtain the actual image information of the target frame based on the shooting device, and then quickly generate the feature set information of the area to be welded of the target frame according to the actual image information; finally, according to the feature set information of the area to be welded, the welding control instructions are efficiently generated, thereby realizing automatic and comprehensive welding of the transfer frame of aluminum profiles, greatly reducing the workload of welders, improving the stability of welding quality, improving welding efficiency, and reducing labor costs.

[0082] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0083] The embodiment of the present application also provides a flexible welding system for a transfer frame of an aluminum profile. For ease of description, only the parts related to the present application are shown, such as Fig.10 As shown, the system 100 includes:

[0084] The real shot image information acquisition module 101 is used to acquire the real shot image information of the target material frame based on a preset shooting device;

[0085] The feature set information generating module 102 of the area to be welded is used to generate the feature set information of the area to be welded of the target material frame according to the real-shot image information, wherein the feature set information of the area to be welded includes the position information of the area to be welded and the type information of the area to be welded, and the position information of the area to be welded corresponds to the type information of the area to be welded;

[0086] The welding control instruction generation module 103 is used to generate welding control instructions according to the feature set information of the area to be welded, wherein the welding control instructions are used to instruct a preset welding robot to weld the target material frame.

[0087] Optionally, the above-mentioned feature set information generation module 102 for the area to be welded includes:

[0088] The submodule for generating contour information of the area to be welded is used to generate contour information of the area to be welded based on the preset edge detection algorithm and the real-shot image information;

[0089] A submodule for determining the position information of the area to be welded: used to determine the position information of the area to be welded corresponding to the contour information of the area to be welded based on a preset spatial coordinate system;

[0090] Material type information acquisition submodule: used to obtain the material type information and material thickness information of the target material frame;

[0091] Submodule for determining the type information of the area to be welded: used to determine the type information of the area to be welded corresponding to the contour information of the area to be welded according to the material type information and the material thickness information.

[0092] Accordingly, the system 100 further includes:

[0093] Material frame displacement angle information generation module: used to generate material frame displacement angle information according to the position information of the area to be welded.

[0094] Welding voltage information generation module: used to generate welding voltage information and welding current information according to the type information of the area to be welded.

[0095] Optionally, the welding control instruction generating module 103 includes:

[0096] Positioner start instruction generation submodule: used to generate a positioner start instruction according to the material frame displacement angle information, wherein the positioner start instruction is used to instruct the preset positioner to rotate the target material frame according to the material frame displacement angle information;

[0097] Ground rail target position information generation submodule: used to generate ground rail target position information according to the position information of the area to be welded and the preset working range information of the welding robot;

[0098] The ground rail start instruction generation submodule is used to generate a ground rail start instruction according to the ground rail target position information, wherein the ground rail start instruction is used to instruct the ground rail carrying the welding robot to move to the ground rail target position information;

[0099] Welding control instruction generation submodule: used to generate welding control instructions according to the position information of the area to be welded, the type information of the area to be welded, the welding voltage information and the welding current information.

[0100] Optionally, the system 100 further includes:

[0101] Welding start position information acquisition module: used to acquire welding start position information, wherein the welding start position information is used to describe the position information of the area to be welded closest to the welding robot;

[0102] The distance information determination module is used to determine the distance information corresponding to each other position information based on a preset Euclidean distance calculation formula, wherein the other position information is used to describe any position information of the area to be welded except the welding start position information in the feature set information of the area to be welded, and the distance information is used to describe the shortest Euclidean distance between the other position information and the welding start position information;

[0103] Welding path information generation module: used to generate welding path information by sequentially connecting welding starting position information and other position information based on multiple distance information.

[0104] Optionally, the system 100 further includes:

[0105] Total welding quantity information acquisition module: used to obtain total welding quantity information and to-be-welded quantity information;

[0106] Welding progress information generation module: used to generate welding progress information based on the total welding quantity information and the quantity to be welded information.

[0107] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0108] The present application also provides a terminal device, such as Fig.11 As shown, the terminal device 110 of this embodiment includes: a processor 111, a memory 112, and a computer program 113 stored in the memory 112 and executable on the processor 111. When the processor 111 executes the computer program 113, the steps in the above-mentioned flexible welding method embodiment are implemented, for example Figure 1Steps S100 to S300 shown; or, when the processor 111 executes the computer program 113, the functions of each module in the above device are realized, for example Fig.10 The functions of modules 101 to 103 are shown.

[0109] The terminal device 110 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server, and the terminal device 110 includes but is not limited to a processor 111 and a memory 112. Those skilled in the art will appreciate that Fig.11 It is only an example of the terminal device 110 and does not constitute a limitation of the terminal device 110. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 110 may also include input and output devices, network access devices, buses, etc.

[0110] Among them, the processor 111 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0111] The memory 112 may be an internal storage unit of the terminal device 110, such as a hard disk or memory of the terminal device 110, or an external storage device of the terminal device 110, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. equipped on the terminal device 110; further, the memory 112 may also include both an internal storage unit and an external storage device of the terminal device 110, and the memory 112 may also store a computer program 113 and other programs and data required by the terminal device 110, and the memory 112 may also be used to temporarily store data that has been output or is to be output.

[0112] One embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc.; the computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0113] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the methods, principles, and structures of the present application should be included in the protection scope of the present application.

Claims

1. A flexible welding method for a transfer frame in an aluminum profile, characterized in that: The method comprises: Based on a preset shooting device, real-shot image information of the target material frame is obtained; Generate feature set information of the area to be welded of the target material frame according to the real-shot image information, wherein the feature set information of the area to be welded includes position information of the area to be welded and type information of the area to be welded, and the position information of the area to be welded corresponds to the type information of the area to be welded; A welding control instruction is generated according to the feature set information of the area to be welded, wherein the welding control instruction is used to instruct a preset welding robot to weld the target material frame.

2. The method according to claim 1, characterized in that The step of generating feature set information of the area to be welded of the target material frame according to the real-shot image information includes: Based on a preset edge detection algorithm, the contour information of the area to be welded is generated according to the real-shot image information; Based on a preset spatial coordinate system, determining the position information of the area to be welded corresponding to the contour information of the area to be welded; Acquire material type information and material thickness information of the target material frame; Determining the type information of the area to be welded corresponding to the contour information of the area to be welded according to the material type information and the material thickness information; Correspondingly, after determining the type information of the area to be welded corresponding to the contour information of the area to be welded according to the material type information and the material thickness information, the method further includes: Generate material frame displacement angle information according to the position information of the area to be welded; Welding voltage information and welding current information are generated according to the type information of the area to be welded.

3. The method according to claim 2, characterized in that The step of generating a welding control instruction according to the feature set information of the area to be welded comprises: Generate a positioner start instruction according to the material frame displacement angle information, wherein the positioner start instruction is used to instruct a preset positioner to rotate the target material frame according to the material frame displacement angle information; Generate ground rail target position information according to the position information of the area to be welded and the preset working range information of the welding robot; Generate a ground rail start instruction according to the ground rail target position information, wherein the ground rail start instruction is used to instruct the ground rail carrying the welding robot to move to the ground rail target position information; A welding control instruction is generated according to the position information of the area to be welded, the type information of the area to be welded, the welding voltage information and the welding current information.

4. The method according to claim 2, characterized in that: After determining the position information of the area to be welded corresponding to the contour information of the area to be welded based on the preset spatial coordinate system, the method further includes: Acquire welding starting position information, wherein the welding starting position information is used to describe the position information of the area to be welded closest to the welding robot; Based on a preset Euclidean distance calculation formula, determining the distance information corresponding to each other position information, wherein the other position information is used to describe any one of the position information of the area to be welded except the welding start position information in the feature set information of the area to be welded, and the distance information is used to describe the shortest Euclidean distance between the other position information and the welding start position information; Based on the plurality of the spaced distance information, the welding start position information and the other position information are sequentially connected to generate welding path information.

5. The method according to claim 1, characterized in that After generating the welding control instruction according to the feature set information of the area to be welded, the method further includes: Obtain information on total welding quantity and quantity to be welded; Welding progress information is generated according to the total welding quantity information and the to-be-welded quantity information.

6. A flexible welding system for aluminum profile transfer frame, characterized in that: The system comprises: Real shot image information acquisition module: used to acquire real shot image information of the target material frame based on a preset shooting device; A module for generating feature set information of the area to be welded: used for generating feature set information of the area to be welded of the target material frame according to the real-shot image information, wherein the feature set information of the area to be welded includes position information of the area to be welded and type information of the area to be welded, and the position information of the area to be welded corresponds to the type information of the area to be welded; A welding control instruction generation module is used to generate a welding control instruction according to the feature set information of the area to be welded, wherein the welding control instruction is used to instruct a preset welding robot to weld the target material frame.

7. The system according to claim 6, characterized in that The feature set information generation module of the area to be welded includes: A submodule for generating contour information of the area to be welded: used for generating contour information of the area to be welded according to the real-shot image information based on a preset edge detection algorithm; A submodule for determining the position information of the area to be welded: used for determining the position information of the area to be welded corresponding to the contour information of the area to be welded based on a preset spatial coordinate system; Material type information acquisition submodule: used to acquire the material type information and material thickness information of the target material frame; A submodule for determining the type information of the area to be welded: used to determine the type information of the area to be welded corresponding to the contour information of the area to be welded according to the material type information and the material thickness information.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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