Pipe plate welding motion track planning method and device based on robot, medium and equipment

Abstract

The embodiment of the invention discloses a pipe plate welding motion track planning method and device based on a robot, a medium and equipment, and relates to the technical field of automatic welding. Spatial position transformation is carried out on the workpiece to solve a photographing point track of the robot, then the robot moves according to the photographing point track, the pose of the robot and point cloud data of the tube plate are obtained when the robot moves to a point position, and therefore the pose of the workpiece is recognized. And the pose of the workpiece is converted into a robot tool coordinate system through the calibration relation and the pose of the robot, the actual welding point pose of the tube plate is obtained, the tube plate welding sequence is planned in advance, and the pose states of the robot and the workpiece are combined, so that the welding precision can be improved, the pose of each round tube does not need to be adjusted in the welding process, and the welding efficiency is improved. The welding consistency is ensured while efficient welding point planning is achieved, finally all actual welding point postures of the tube plate are integrated, the welding movement track for welding the whole tube plate can be obtained, and the welding movement track planning quality is improved.

Description

Technical Field

[0001] The present application relates to the field of automated welding technology, and in particular to a robot-based tube-sheet welding motion trajectory planning method, device, medium and equipment. Background Art

[0002] Welding is a very important manufacturing process in the industrial age. However, traditional welding relies too much on manual operation, which is inefficient and has certain safety risks. In addition, long-term exposure to harsh welding conditions may affect human health. In order to improve the current situation, the industry has introduced industrial robots to replace manual welding. Industrial robots are technological products that integrate motion actuators, high-precision sensors, and specific operating tools, which can effectively improve welding quality and efficiency.

[0003] Industrial robot welding is a way to achieve automated welding through advance teaching programming. One of the important aspects is the planning of welding motion trajectories. However, under robot welding, it is impossible to adapt to the manufacturing deviations of different workpieces. Directly using pre-compiled program control will lead to reduced welding level, low quality, poor welding consistency, low efficiency and other problems, especially for complex workpieces, such as tube sheet welding, which usually contains hundreds of holes to be welded. Traditional tube sheet welding usually takes several days or even a week to weld a product. This process requires continuous repeated welding of a large number of round tubes, and the welding position and posture of each round tube need to be adjusted. The complex working conditions lead to the reduction of the quality of welding motion trajectory planning, further amplifying the problem of reduced welding level and affecting the intelligent welding process. Summary of the invention

[0004] The main purpose of the present application is to provide a robot-based tube sheet welding motion trajectory planning method, device, medium and equipment, aiming to solve the problem of low quality of welding motion trajectory planning when robots are used to automatically weld tube sheets in the prior art.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a robot-based tube-sheet welding motion trajectory planning method, comprising the following steps:

[0007] According to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the trajectory sequence of the robot's shooting points is solved;

[0008] According to the trajectory sequence of the photo points, the robot is moved to the photo points in sequence to take photos, and the current posture information of the robot and the point cloud data of the tube sheet at the photo points are obtained;

[0009] Identify the point cloud data of the tube sheet and obtain the workpiece information and posture;

[0010] According to the calibration relationship and the current posture information of the robot, the workpiece information posture is converted to the robot tool coordinate system to obtain the actual welding point posture of the tube sheet;

[0011] According to the actual welding point posture of the tube sheet, the welding motion trajectory of the tube sheet is obtained.

[0012] In a possible implementation of the first aspect, according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, solving the trajectory sequence of the camera points of the robot includes:

[0013] According to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet, the plane coordinates of the photographing point in the robot tool coordinate system are obtained;

[0014] According to the plane coordinates of the photographing point in the robot tool coordinate system, the spatial coordinates of the photographing point are obtained;

[0015] Obtain the target pose based on the initial pose of the photo and the spatial coordinates of the photo point;

[0016] According to the calibration relationship, the target posture is converted into the camera posture of the robot movement;

[0017] According to the shooting posture of the robot movement and the welding sequence of the tube sheet, the trajectory sequence of the robot's shooting points is solved.

[0018] In a possible implementation of the first aspect, obtaining the spatial coordinates of the photographing point according to the plane coordinates of the photographing point in the robot tool coordinate system includes:

[0019] Through the plane relationship, the plane coordinates of the photographing point in the robot tool coordinate system are substituted into the plane equation, and the Z coordinate is obtained to obtain the spatial coordinates of the photographing point.

[0020] In a possible implementation of the first aspect, before solving the trajectory sequence of the camera points of the robot according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the method further includes:

[0021] The actual spatial physical coordinates of the circular tube are obtained, and two coordinate dimensions are selected according to its spatial quadrant to obtain the coordinates of the first point;

[0022] According to the first point coordinates, obtain the second point coordinates of the corresponding circular tube on the two-dimensional drawing of the tube sheet;

[0023] Using the least square method, the first point coordinate and the second point coordinate are homographed to obtain a mapping matrix;

[0024] According to the mapping matrix, the first point coordinates and the second point coordinates, a mapping relationship between the space coordinate system and the two-dimensional drawing of the tube sheet is obtained.

[0025] In a possible implementation of the first aspect, after obtaining the welding motion trajectory of the tube sheet according to the actual welding point posture of the tube sheet, the method further includes:

[0026] According to the welding motion trajectory of the tube sheet, the welding machine is controlled to perform automated welding operations.

[0027] In a possible implementation of the first aspect, before solving the trajectory sequence of the camera points of the robot according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the method further includes:

[0028] Draw according to the product's dimensional information to obtain a two-dimensional drawing of the tube sheet.

[0029] In a possible implementation of the first aspect, before solving the trajectory sequence of the camera points of the robot according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the method further includes:

[0030] The tube sheets to be welded are sorted to obtain the welding sequence of the tube sheets.

[0031] In a second aspect, an embodiment of the present application provides a robot-based tube-sheet welding motion trajectory planning device, comprising:

[0032] A solution module, which is used to solve the trajectory sequence of the robot's photographing points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet;

[0033] The photographing module is used to move the robot to the photographing points in sequence according to the trajectory sequence of the photographing points to take pictures, and obtain the current posture information of the robot at the photographing points and the point cloud data of the tube sheet;

[0034] A first acquisition module, the first acquisition module is used to identify the point cloud data of the tube sheet and obtain the workpiece information posture;

[0035] The second acquisition module is used to convert the workpiece information posture into the robot tool coordinate system according to the calibration relationship and the current posture information of the robot, so as to obtain the actual welding point posture of the tube sheet;

[0036] The trajectory acquisition module is used to obtain the welding motion trajectory of the tube sheet according to the actual welding point posture of the tube sheet.

[0037] In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, the robot-based tube-to-sheet welding motion trajectory planning method provided in any one of the first aspects above is implemented.

[0038] In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein:

[0039] The memory is used to store computer programs;

[0040] The processor is used to load and execute a computer program so that the electronic device executes the robot-based tube-to-sheet welding motion trajectory planning method provided in any one of the first aspects above.

[0041] Compared with the prior art, the beneficial effects of this application are:

[0042] The embodiment of the present application proposes a robot-based tube sheet welding motion trajectory planning method, device, medium and equipment, the method comprising: solving the trajectory sequence of the robot's photo points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet; according to the trajectory sequence of the photo points, the robot is moved to the photo points in sequence to take photos, and the current posture information of the robot at the photo points and the point cloud data of the tube sheet are obtained; the point cloud data of the tube sheet is identified to obtain the workpiece information posture; according to the calibration relationship and the current posture information of the robot, the workpiece information posture is converted to the robot tool coordinate system to obtain the actual welding point posture of the tube sheet; according to the actual welding point posture of the tube sheet, the welding motion trajectory of the tube sheet is obtained. This application first uses the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet, combined with the planned welding sequence of the tube sheet, to transform its spatial position to solve the robot's photo point trajectory, and then moves the robot according to the photo point trajectory, and obtains the robot's posture and point cloud data of the tube sheet when moving to the point position, thereby identifying the workpiece's posture, and using the calibration relationship and the robot's posture to convert the workpiece's posture to the robot tool coordinate system to obtain the actual welding point posture of the tube sheet. Since the tube sheet welding sequence is planned in advance and the posture state of the robot and the workpiece are combined, the welding accuracy can be improved, and there is no need to adjust the posture of each round tube during welding, so that efficient welding point planning is achieved while ensuring welding consistency. Finally, all the actual welding point postures of the tube sheet are integrated to obtain the welding motion trajectory of the entire tube sheet, thereby improving the quality of welding motion trajectory planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the structure of an electronic device of a hardware operating environment involved in an embodiment of the present application;

[0044] Figure 2A schematic flow chart of a robot-based tube-to-sheet welding motion trajectory planning method provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of a two-dimensional drawing of a tube sheet in a robot-based tube sheet welding motion trajectory planning method provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of a module of a robot-based tube-to-sheet welding motion trajectory planning device provided in an embodiment of the present application;

[0047] Markings in the figure: 101 - processor, 102 - communication bus, 103 - network interface, 104 - user interface, 105 - memory. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] See attached Figure 1 , attached Figure 1 This is a schematic diagram of the structure of an electronic device of the hardware operating environment involved in the embodiment of the present application. The electronic device may include: a processor 101, such as a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. Among them, the communication bus 102 is used to realize the connection and communication between these components. The user interface 104 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 104 may also include a standard wired interface and a wireless interface. The network interface 103 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 105 may optionally be a storage device independent of the aforementioned processor 101. The memory 105 may be a high-speed random access memory (RAM) memory, or it may be a stable non-volatile memory (NVM), such as at least one disk storage; the processor 101 may be a general-purpose processor, including a central processing unit, a network processor, etc., or it may be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0050] Those skilled in the art will appreciate that Figure 1 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0051] As attached Figure 1 As shown, the memory 105 as a storage medium may include an operating system, a network communication module, a user interface module, and a robot-based tube-to-sheet welding motion trajectory planning device.

[0052] In the attached Figure 1 In the electronic device shown, the network interface 103 is mainly used for data communication with the network server; the user interface 104 is mainly used for data interaction with the user; the processor 101 and the memory 105 in the present application can be set in the electronic device, and the electronic device calls the robot-based tube sheet welding motion trajectory planning device stored in the memory 105 through the processor 101, and executes the robot-based tube sheet welding motion trajectory planning method provided in the embodiment of the present application.

[0053] See attached Figure 2 Based on the hardware device of the aforementioned embodiment, the embodiment of the present application provides a robot-based tube-sheet welding motion trajectory planning method, comprising the following steps:

[0054] S10: according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the trajectory sequence of the shooting points of the robot is solved.

[0055] In the specific implementation process, a mapping relationship is established between two-dimensional and three-dimensional, that is, the two-dimensional drawing and the spatial coordinate system. The welding of the tube sheet will include the welding of many round tubes. The two-dimensional drawing is shown in the attached figure. Figure 3 As shown, it can be drawn according to the size information of the product, that is, according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, before solving the trajectory sequence of the robot's shooting points, the method also includes:

[0056] Draw according to the product's dimensional information to obtain a two-dimensional drawing of the tube sheet.

[0057] While drawing the drawings, you can extract and save the workpiece information, such as the number of round tubes, location distribution, etc., including the two-dimensional horizontal and vertical coordinates (x, y) of the round tube, the radius of the round tube, etc., which can be saved in DXF format. DXF file is a CAD saving format that saves all the information in the CAD two-dimensional drawings.

[0058] The welding sequence of the tube sheet can be obtained by specifying a specific welding sequence or manually sorting the tube sheets to be welded to obtain the welding sequence M of the tube sheet. DXF = {P dxf1 ,P dxf2 ,…P dxfn That is, according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, before solving the trajectory sequence of the robot's photographing points, the method also includes:

[0059] The tube sheets to be welded are sorted to obtain the welding sequence of the tube sheets.

[0060] In one embodiment, before solving the trajectory sequence of the robot's photographing points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the method further includes:

[0061] The actual spatial physical coordinates of the circular tube are obtained, and two coordinate dimensions are selected according to its spatial quadrant to obtain the coordinates of the first point;

[0062] According to the first point coordinates, obtain the second point coordinates of the corresponding circular tube on the two-dimensional drawing of the tube sheet;

[0063] Using the least square method, the first point coordinate and the second point coordinate are homographed to obtain a mapping matrix;

[0064] According to the mapping matrix, the first point coordinates and the second point coordinates, a mapping relationship between the space coordinate system and the two-dimensional drawing of the tube sheet is obtained.

[0065] In the specific implementation process, the actual circular tube is first detected to obtain the actual spatial physical coordinates M (x, y, z) of the circular tube. According to the spatial quadrant of the coordinates, two coordinate dimensions are selected from x, y, and z. For example, if the tube plate plane is parallel to the horizontal plane, the coordinate z value of the circular tube changes less. The x and y dimensions can be selected to obtain the first point coordinates, recorded as P1 (x, y). The corresponding circular tube on the two-dimensional drawing is selected, and the coordinates P2 (x, y) are recorded to obtain the second point coordinates. P1 and P2 are taken as a point pair, and the least squares method is used to solve the homography change mapping matrix T. b , T b is a 3×3 matrix:

[0066]

[0067] Among them, a, b, c, d represent the rotation and scaling coefficients, and dx, dy are the translation coefficients.

[0068] The conversion relationship from P2 to P1, that is, the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet is:

[0069] P1=T b *P2

[0070] Through the above mapping relationship, the welding sequence M of the tube sheet is DXF = {P dxf1 ,P dxf2 ,…P dxfn}, transform the spatial position one by one, and solve the robot's photo point trajectory sequence M picture = {P pic1,P pic2 ,…P picn Specifically: According to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the trajectory sequence of the robot's shooting points is solved, including:

[0071] According to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet, the plane coordinates of the photographing point in the robot tool coordinate system are obtained;

[0072] According to the plane coordinates of the photographing point in the robot tool coordinate system, the spatial coordinates of the photographing point are obtained;

[0073] Obtain the target pose based on the initial pose of the photo and the spatial coordinates of the photo point;

[0074] According to the calibration relationship, the target posture is converted into the camera posture of the robot movement;

[0075] According to the shooting posture of the robot movement and the welding sequence of the tube sheet, the trajectory sequence of the robot's shooting points is solved.

[0076] In the specific implementation process, take the point P in the trajectory sequence of the photographing point dxf (x, y), and transform it into the robot tool coordinate system through the mapping relationship to obtain the plane coordinates P of the photographing point pic (x, y), and then transform it into the spatial coordinate system, that is, solve its z value to get the spatial coordinate P pic (x, y, z), set the initial pose R for taking photos pic , combined with the photo taking point P pic (x, y, z), get the target pose T output , the pose is represented as a 4×4 matrix:

[0077]

[0078] Among them, N x ,N y ,N z is the coordinate system direction vector N(N x ,N y ,N z ), O x ,O y ,O z is the coordinate system direction vector O(O x ,O y ,O z ), A x ,A y ,A z is the coordinate system direction vector A(A x ,A y ,A z ), dx ,d y ,d z is the translation value of the coordinate system.

[0079] According to the calibration relationship, the posture is converted to obtain the camera posture T of the robot movement. pic :

[0080]

[0081] Among them, T robot is the current position of the robot, T calibration is the calibration relationship, T output is the target pose.

[0082] In one embodiment, obtaining the spatial coordinates of the photographing point according to the plane coordinates of the photographing point in the robot tool coordinate system includes:

[0083] Through the plane relationship, the plane coordinates of the photographing point in the robot tool coordinate system are substituted into the plane equation, and the Z coordinate is obtained to obtain the spatial coordinates of the photographing point.

[0084] In the specific implementation process, the acquisition of the spatial coordinates of the photographing point is actually to obtain the value of the Z coordinate under the previous plane coordinates, and to convert point P pic Substituting (,y) into the plane equation, we can find the value of coordinate Z.

[0085] S20: according to the trajectory sequence of the photographing points, the robot is moved to the photographing points in sequence to take photos, and the current posture information of the robot at the photographing points and the point cloud data of the tube sheet are obtained.

[0086] In the specific implementation process, according to the obtained trajectory sequence of the photo points, the robot is moved to each photo point in sequence to take pictures. When the photo point is reached, the 3D camera can be triggered through communication instructions to collect data and record the current robot tcp coordinate position and point cloud data collected by the 3D camera.

[0087] S30: Identify the point cloud data of the tube sheet and obtain the workpiece information position and posture.

[0088] S40: According to the calibration relationship and the current posture information of the robot, the workpiece information posture is converted to the robot tool coordinate system to obtain the actual welding point posture of the tube sheet.

[0089] In the specific implementation process, the point cloud data collected in the above steps is identified and detected, and the workpiece information position T is identified. object and calibrate it according to the calibration relationship T calibration And the robot's current position T robot , converted to the robot tool coordinate system, and the actual welding point position T of the tube sheet is obtainedweld :

[0090] T weld = robot * calibration * object

[0091] S50: Obtain the welding motion trajectory of the tube sheet according to the actual welding point posture of the tube sheet.

[0092] In the specific implementation process, take photos at each photo point position in turn according to the photo point sequence, repeat the steps of posture acquisition conversion until the photo point trajectory sequence is traversed, and all actual welding point postures constitute the welding motion trajectory. According to the trajectory combined with the welding process parameters, programming is performed. After the robot is controlled to move to the actual welding point posture during the automated welding process, the welding connected to its execution end is controlled to perform the welding operation to complete a single welding. According to the welding motion trajectory, welding is performed one by one at each welding point, thereby realizing the automated welding of the tube sheet, that is, after obtaining the welding motion trajectory of the tube sheet according to the actual welding point posture of the tube sheet, the method also includes:

[0093] According to the welding motion trajectory of the tube sheet, the welding machine is controlled to perform automated welding operations.

[0094] In this embodiment, the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet is firstly used, combined with the planned welding sequence of the tube sheet, and the spatial position is transformed to solve the robot's shooting point trajectory, and then the robot moves according to the shooting point trajectory, and obtains the robot's posture and point cloud data of the tube sheet when it moves to the point position, so as to identify the posture of the workpiece, and use the calibration relationship and the robot's posture to convert the workpiece's posture to the robot tool coordinate system to obtain the actual welding point posture of the tube sheet. Since the tube sheet welding sequence is planned in advance and the posture state of the robot and the workpiece are combined, the welding accuracy can be improved, and it is no longer necessary to adjust the posture of each round tube during welding, so as to achieve efficient welding point planning while ensuring welding consistency. Finally, all the actual welding point postures of the tube sheet are integrated to obtain the welding motion trajectory of the entire tube sheet, thereby improving the quality of welding motion trajectory planning.

[0095] See attached Figure 4 Based on the same inventive concept as in the above-mentioned embodiment, the embodiment of the present application further provides a robot-based tube-sheet welding motion trajectory planning device, comprising:

[0096] A solution module, which is used to solve the trajectory sequence of the robot's photographing points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet;

[0097] The photographing module is used to move the robot to the photographing points in sequence according to the trajectory sequence of the photographing points to take pictures, and obtain the current posture information of the robot at the photographing points and the point cloud data of the tube sheet;

[0098] A first acquisition module, the first acquisition module is used to identify the point cloud data of the tube sheet and obtain the workpiece information posture;

[0099] The second acquisition module is used to convert the workpiece information posture into the robot tool coordinate system according to the calibration relationship and the current posture information of the robot, so as to obtain the actual welding point posture of the tube sheet;

[0100] The trajectory acquisition module is used to obtain the welding motion trajectory of the tube sheet according to the actual welding point posture of the tube sheet.

[0101] Those skilled in the art should understand that the division of the various modules in the embodiment is only a division of logical functions, and can be fully or partially integrated into one or more actual carriers in actual application, and these modules can be all implemented in the form of software called by the processing unit, or all implemented in the form of hardware, or implemented in the form of a combination of software and hardware. It should be noted that the modules in the robot-based tube sheet welding motion trajectory planning device in this embodiment correspond one by one to the steps in the robot-based tube sheet welding motion trajectory planning method in the aforementioned embodiment. Therefore, the specific implementation method of this embodiment can refer to the implementation method of the aforementioned robot-based tube sheet welding motion trajectory planning method, which will not be repeated here.

[0102] Based on the same inventive concept as in the aforementioned embodiment, an embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, a robot-based tube sheet welding motion trajectory planning method as provided in an embodiment of the present application is implemented.

[0103] Based on the same inventive concept as in the above-mentioned embodiment, an embodiment of the present application further provides an electronic device, including a processor and a memory, wherein:

[0104] The memory is used to store computer programs;

[0105] The processor is used to load and execute a computer program so that the electronic device executes the robot-based tube-to-sheet welding motion trajectory planning method provided in the embodiment of the present application.

[0106] In some embodiments, the computer readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or various devices including one or any combination of the above memories. The computer may be various computing devices including intelligent terminals and servers.

[0107] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0108] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0109] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0110] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0111] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0112] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0113] In summary, the present application provides a robot-based tube sheet welding motion trajectory planning method, device, medium and equipment, the method comprising: solving the trajectory sequence of the robot's photo points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet; according to the trajectory sequence of the photo points, the robot is moved to the photo points in sequence to take pictures, and the current posture information of the robot at the photo points and the point cloud data of the tube sheet are obtained; the point cloud data of the tube sheet is identified to obtain the workpiece information posture; according to the calibration relationship and the current posture information of the robot, the workpiece information posture is converted to the robot tool coordinate system to obtain the actual welding point posture of the tube sheet; according to the actual welding point posture of the tube sheet, the welding motion trajectory of the tube sheet is obtained. This application first uses the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet, combined with the planned welding sequence of the tube sheet, to transform its spatial position to solve the robot's photo point trajectory, and then moves the robot according to the photo point trajectory, and obtains the robot's posture and point cloud data of the tube sheet when moving to the point position, thereby identifying the workpiece's posture, and using the calibration relationship and the robot's posture to convert the workpiece's posture to the robot tool coordinate system to obtain the actual welding point posture of the tube sheet. Since the tube sheet welding sequence is planned in advance and the posture state of the robot and the workpiece are combined, the welding accuracy can be improved, and there is no need to adjust the posture of each round tube during welding, so that efficient welding point planning is achieved while ensuring welding consistency. Finally, all the actual welding point postures of the tube sheet are integrated to obtain the welding motion trajectory of the entire tube sheet, thereby improving the quality of welding motion trajectory planning.

[0114] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot-based tube-sheet welding motion trajectory planning method, characterized in that: The following steps are involved: According to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the trajectory sequence of the robot's photographing points is solved; According to the trajectory sequence of the photographing points, the robot is moved to the photographing points in sequence to take photos, and the current posture information of the robot and the point cloud data of the tube sheet at the photographing points are obtained; Identify the point cloud data of the tube sheet to obtain workpiece information and posture; According to the calibration relationship and the current posture information of the robot, the workpiece information posture is converted into the robot tool coordinate system to obtain the actual welding point posture of the tube sheet; The welding motion trajectory of the tube sheet is obtained according to the actual welding point posture of the tube sheet.

2. The robot-based tube-to-sheet welding motion trajectory planning method according to claim 1, characterized in that: The method of solving the trajectory sequence of the robot's photographing points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet includes: According to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet, the plane coordinates of the photographing point in the robot tool coordinate system are obtained; Obtaining the spatial coordinates of the photographing point according to the plane coordinates of the photographing point in the robot tool coordinate system; Obtaining the target pose according to the initial pose of the photograph and the spatial coordinates of the photographing point; Converting the target posture according to the calibration relationship to a photographing posture of the robot movement; According to the photographing posture of the robot movement and the welding sequence of the tube sheet, the trajectory sequence of the robot's photographing points is solved.

3. The robot-based tube-to-sheet welding motion trajectory planning method according to claim 2, characterized in that: The step of obtaining the spatial coordinates of the photographing point according to the plane coordinates of the photographing point in the robot tool coordinate system includes: The plane coordinates of the photographing point in the robot tool coordinate system are substituted into the plane equation through the plane relationship, and the Z coordinate is obtained to obtain the spatial coordinates of the photographing point.

4. The robot-based tube-to-sheet welding motion trajectory planning method according to claim 1, characterized in that: Before solving the trajectory sequence of the robot's photographing points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the method further includes: The actual spatial physical coordinates of the circular tube are obtained, and two coordinate dimensions are selected according to its spatial quadrant to obtain the coordinates of the first point; According to the first point coordinates, obtaining the second point coordinates of the corresponding round tube on the two-dimensional drawing of the tube sheet; Using the least square method to perform homography transformation on the first point coordinates and the second point coordinates to solve the mapping matrix; According to the mapping matrix, the first point coordinates and the second point coordinates, a mapping relationship between the space coordinate system and the two-dimensional drawing of the tube sheet is obtained.

5. The robot-based tube-to-sheet welding motion trajectory planning method according to claim 1, characterized in that: After obtaining the welding motion trajectory of the tube sheet according to the actual welding point posture of the tube sheet, the method further includes: According to the welding movement trajectory of the tube sheet, the welding machine is controlled to perform automated welding operations.

6. The robot-based tube-to-sheet welding motion trajectory planning method according to claim 1, characterized in that: Before solving the trajectory sequence of the robot's photographing points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the method further includes: Draw according to the size information of the product to obtain a two-dimensional drawing of the tube sheet.

7. The robot-based tube-to-sheet welding motion trajectory planning method according to claim 1, characterized in that: Before solving the trajectory sequence of the robot's photographing points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet, the method further includes: The tube sheets to be welded are sorted to obtain a welding sequence of the tube sheets.

8. A robot-based tube-sheet welding motion trajectory planning device, characterized in that: include: A solution module, the solution module is used to solve the trajectory sequence of the robot's photographing points according to the mapping relationship between the spatial coordinate system and the two-dimensional drawing of the tube sheet and the welding sequence of the tube sheet; A photographing module, wherein the photographing module is used to move the robot to the photographing points in sequence according to the trajectory sequence of the photographing points to take photos, and obtain the current posture information of the robot and the point cloud data of the tube sheet at the photographing points; A first acquisition module, the first acquisition module is used to identify the point cloud data of the tube sheet and obtain workpiece information posture; A second acquisition module, the second acquisition module is used to convert the workpiece information posture into a robot tool coordinate system according to the calibration relationship and the current posture information of the robot, so as to obtain the actual welding point posture of the tube sheet; A trajectory acquisition module is used to obtain the welding motion trajectory of the tube sheet according to the actual welding point posture of the tube sheet.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is loaded and executed by the processor, the robot-based tube-to-sheet welding motion trajectory planning method as described in any one of claims 1-7 is implemented.

10. An electronic device, characterized in that: comprising a processor and a memory, wherein: The memory is used to store computer programs; The processor is used to load and execute the computer program so that the electronic device executes the robot-based tube-to-sheet welding motion trajectory planning method as described in any one of claims 1-7.

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