Method, device, product, equipment and medium for searching reference welding spot of cut inclined rib plate

Abstract

The invention relates to a locating method and device for a reference welding spot of a cut inclined rib plate, a product, equipment and a medium. The method comprises the steps that a chamfered rib plate and a bottom plate are perpendicularly arranged, the chamfered rib plate is provided with a bevel edge, and a straight line passing through the bottom end point of the bevel edge of the chamfered rib plate and a perpendicular foot of the bottom plate serve as reference welding spots; a three-dimensional coordinate system is constructed with the plane where the bottom plate is located as an xy-axis plane and the direction where the inclined rib plates are located as a z-axis direction; a direction vector and a unit direction vector of a positioning point on a bevel edge are obtained through calculation based on coordinates of the positioning point on the bevel edge of the chamfered rib plate, and then three-dimensional coordinates of a bottom end point of the bevel edge of the chamfered rib plate are obtained in the direction of the bevel edge; and after the three-dimensional coordinates of the bottom end points of the bevel edges of the chamfered rib plates are moved downwards to the xy-axis plane where the bottom plate is located along the z-axis, the three-dimensional coordinates of the reference welding spots are obtained, the positions of the reference welding spots of the chamfered rib plates can be accurately found out in the mode of the three-dimensional coordinates of the reference welding spots, and the welding quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of shipbuilding, and in particular to a method, device, computer program product, computer equipment and storage medium for locating reference welding points of beveled rib plates. Background Art

[0002] During the construction of a ship, the hull structure is usually split into components, sections and blocks, and then assembled in the next stage to form blocks and the entire ship. There are a large number of welding operations for end beveled ribs in various stages and areas of ship construction. The angle between the bevel of the beveled rib and the bottom plate is usually 30°, and the height between the bottom end of the bevel of the beveled rib and the bottom plate is 15 mm. When the robot welds the corner joint composed of the beveled rib and the bottom plate, it is necessary to find the accurate coordinate position of the bottom end of the bevel of the beveled rib, and use this point as the reference to plan the angle path and welding path. At present, the commonly used methods for locating the reference welding point of the beveled rib include contact, point laser, line laser dynamic scanning and 3D point cloud computing processing. The contact and point laser positioning efficiency is relatively low, the line laser dynamic scanning is prone to misjudgment of the position of the beveled rib, and the 3D point cloud computing is easily affected by light and has a large workload for software development. The bottom end point of the beveled edge of the beveled rib plate is usually not accurate due to cutting, assembly spot welding and grinding, which will have an adverse effect on the positioning of the reference welding point of the beveled rib plate. Summary of the invention

[0003] Based on this, a method, device, computer program product, computer equipment and storage medium for locating the reference welding point of a beveled rib plate are provided to solve the technical problem that it is difficult to accurately find the reference welding point position of the beveled rib plate.

[0004] On the one hand, a method for locating a reference welding point of a beveled rib plate is provided, the method comprising:

[0005] The beveled rib plate is vertically arranged with the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points;

[0006] A three-dimensional coordinate system is constructed by taking the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction;

[0007] Using a laser sensor to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the beveled edge of the beveled rib plate;

[0008] Obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by calculating the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0009] Move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate;

[0010] The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point.

[0011] In one embodiment, the step of calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point through the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point comprises:

[0012] Assume that the first positioning point is recorded as P1, and the second positioning point is recorded as P2;

[0013] Assume that the three-dimensional coordinates of the first positioning point P1 are (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 are (x2, y2, z2);

[0014] According to the three-dimensional coordinates of the first positioning point P1 (x1, y1, z1) and the three-dimensional coordinates of the second positioning point P2 (x2, y2, z2), the direction vector from the first positioning point to the second positioning point is calculated and obtained.

[0015] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector

[0016] In one embodiment, the first positioning point and the second positioning point are located on a straight line where the same edge of the beveled side of the beveled rib plate is located.

[0017] In one embodiment, the direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector include:

[0018] The direction vector from the first positioning point to the second positioning point for

[0019] Calculate the magnitude of the direction vector from the first positioning point to the second positioning point

[0020] The direction vector from the first positioning point to the second positioning point is divided by its modulus to obtain a unit direction vector

[0021] In one embodiment, the step of moving the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtaining the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate comprises:

[0022] The bottom end point of the beveled edge of the beveled rib plate is recorded as P3, and the reference welding point is recorded as P;

[0023] Assume that the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate are (x3, y3, z3);

[0024] The distance between the bottom end point of the bevel edge of the beveled rib plate and the reference welding point is preset to be A, and the unit direction vector Multiply by the multiple t to find the three-dimensional coordinates (x1, y1, z1) of the first positioning point P1 along the unit direction vector The coordinate point moved to z3=A is the bottom end point P3 of the beveled edge of the beveled rib plate;

[0025] according to Solve for the multiple t,

[0026] use Obtain the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate

[0027] In one of the embodiments, the z-axis coordinate value A of the three-dimensional coordinates of the bottom end point P3 of the beveled edge of the beveled rib plate is 15-30 mm.

[0028] In one embodiment, the unit direction vector Multiplication by the multiple t includes:

[0029] Obtaining the value of z2-z1, and judging the moving direction of the laser sensor on the beveled edge of the beveled rib plate according to the positive or negative value of z2-z1;

[0030] When the value of z2-z1 is less than zero, it is determined that the laser sensor moves from the top point of the bevel edge of the beveled rib plate to the bottom point of the bevel edge, and the multiple t is set to an integer greater than zero;

[0031] When the value of z2-z1 is greater than zero, it is determined that the laser sensor moves from the bottom end point of the beveled edge of the beveled rib plate to the top end point of the beveled edge, and the multiple t is set to an integer less than zero.

[0032] In one embodiment, the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point, comprising:

[0033] The three-dimensional coordinates of the bottom end point P3 of the beveled rib plate A) is set to zero, and the three-dimensional coordinates of the reference welding point P are obtained.

[0034] In one embodiment, the method for locating the reference welding point of the beveled rib plate further includes:

[0035] The three-dimensional coordinates of the reference welding point are sent to a host computer or a robot, and the beveled rib plate and the base plate are welded based on the three-dimensional coordinates of the reference welding point.

[0036] On the other hand, a device for locating reference welding points of a beveled rib plate is provided, the device comprising:

[0037] A welding structure positioning module is used to vertically arrange the beveled rib plate and the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points;

[0038] A three-dimensional coordinate system construction module is used to construct a three-dimensional coordinate system with the plane where the base plate is located as the xy axis plane and the direction where the beveled rib plate is located as the z axis direction;

[0039] A bevel positioning point coordinate acquisition module, used to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the bevel of the beveled rib plate using a laser sensor;

[0040] A vector calculation module, used for calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point through the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0041] A hypotenuse bottom endpoint search module, used to move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the hypotenuse bottom endpoint of the beveled rib plate and obtain the three-dimensional coordinates of the hypotenuse bottom endpoint of the beveled rib plate;

[0042] The reference welding point coordinate acquisition module is used to obtain the three-dimensional coordinates of the reference welding point after moving the three-dimensional coordinates of the bottom end point of the bevel edge of the beveled rib plate down along the z-axis to the xy-axis plane where the bottom plate is located.

[0043] In another aspect, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0044] The beveled rib plate is vertically arranged with the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points;

[0045] A three-dimensional coordinate system is constructed by taking the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction;

[0046] Using a laser sensor to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the beveled edge of the beveled rib plate;

[0047] Obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by calculating the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0048] Move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate;

[0049] The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point.

[0050] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0051] The beveled rib plate is vertically arranged with the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points;

[0052] A three-dimensional coordinate system is constructed by taking the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction;

[0053] Using a laser sensor to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the beveled edge of the beveled rib plate;

[0054] Obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by calculating the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0055] Move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate;

[0056] The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point.

[0057] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0058] The beveled rib plate is vertically arranged with the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points;

[0059] A three-dimensional coordinate system is constructed with the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction;

[0060] Using a laser sensor to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the beveled edge of the beveled rib plate;

[0061] Obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by calculating the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0062] Move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate;

[0063] The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point.

[0064] The above-mentioned method, device, computer program product, computer equipment and storage medium for locating the reference weld point of the beveled rib plate obtains the direction vector and unit direction vector of the positioning point on the beveled edge of the beveled rib plate by calculating the coordinates of the positioning point on the beveled edge of the beveled rib plate, and then obtains the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate along the direction of the beveled edge. The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference weld point. The three-dimensional coordinates of the reference weld point can be used to accurately find the position of the reference weld point of the beveled rib plate, thereby improving the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0066] Figure 1 This is an application environment diagram of a method for locating a reference welding point on a beveled rib plate in one embodiment of the present application;

[0067] Figure 2 A schematic diagram of a flow chart of a method for locating a reference welding point of a beveled rib plate in one embodiment of the present application;

[0068] Figure 3 A schematic diagram of the positions of coordinate points in a three-dimensional coordinate system in one embodiment of the present application;

[0069] Figure 4 This is a structural block diagram of a device for locating a reference welding point of a beveled rib plate in one embodiment of the present application;

[0070] Figure 5 This is a diagram of the internal structure of a computer device in one embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. 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.

[0072] The method for locating the reference welding point of the beveled rib plate provided in the present application can be applied to the following Figure 1 In the application environment shown. Among them, the host computer or robot is provided with a welding gun for welding the connection position of the beveled rib plate 1 and the base plate 2. The host computer or robot is provided with a laser sensor to collect three-dimensional coordinates. Specifically, the host computer or robot can control the moving direction of the laser sensor to correspond to the beveled edge 11 of the beveled rib plate 1 to collect the three-dimensional coordinates of at least one positioning point on the beveled edge 11 of the beveled rib plate 1. The host computer or robot obtains the three-dimensional coordinates of at least one positioning point on the beveled edge 11 of the beveled rib plate 1 to calculate the three-dimensional coordinates of the bottom end point P3 of the beveled edge 11 of the beveled rib plate 1, and then determines the reference welding point P of the vertical foot position of the straight line passing through the bottom end point of the beveled edge 11 of the beveled rib plate 1 and the base plate 2, and the beveled rib plate 1 and the base plate 2 are welded based on the three-dimensional coordinates of the reference welding point P.

[0073] In one embodiment, Figure 2 As shown, a method for locating a reference welding point of a beveled rib plate is provided, comprising the following steps:

[0074] Step S1, vertically arranging a beveled rib plate and a bottom plate, wherein the beveled rib plate is provided with a beveled edge, and taking a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the foot of the bottom plate as a reference welding point;

[0075] Step S2, constructing a three-dimensional coordinate system with the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction;

[0076] Step S3, using a laser sensor to collect the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point at intervals on the beveled edge of the beveled rib plate;

[0077] Step S4, calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point through the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0078] Step S5, moving the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtaining the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate;

[0079] Step S6, after the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located, the three-dimensional coordinates of the reference welding point are obtained.

[0080] like Figure 3 As shown, in this embodiment, the step of calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point through the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point includes:

[0081] Assume that the first positioning point is recorded as P1, and the second positioning point is recorded as P2;

[0082] Assume that the three-dimensional coordinates of the first positioning point P1 are (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 are (x2, y2, z2);

[0083] According to the three-dimensional coordinates of the first positioning point P1 (x1, y1, z1) and the three-dimensional coordinates of the second positioning point P2 (x2, y2, z2), the direction vector from the first positioning point to the second positioning point is calculated and obtained.

[0084] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector

[0085] In this embodiment, the first positioning point and the second positioning point are located on a straight line where the same edge of the beveled side of the beveled rib plate is located.

[0086] In this embodiment, the direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector include:

[0087] The direction vector from the first positioning point to the second positioning point for

[0088] Calculate the magnitude of the direction vector from the first positioning point to the second positioning point

[0089] The direction vector from the first positioning point to the second positioning point is divided by its modulus to obtain a unit direction vector

[0090] In this embodiment, the step of moving the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtaining the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate includes:

[0091] The bottom end point of the beveled edge of the beveled rib plate is recorded as P3, and the reference welding point is recorded as P;

[0092] Assume that the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate are (x3, y3, z3);

[0093] The distance between the bottom end point of the bevel edge of the beveled rib plate and the reference welding point is preset to be A, and the unit direction vector Multiply by the multiple t to find the three-dimensional coordinates (x1, y1, z1) of the first positioning point P1 along the unit direction vector The coordinate point moved to z3=A is the bottom end point P3 of the beveled edge of the beveled rib plate;

[0094] according to Solve for the multiple t,

[0095] use Obtain the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate

[0096] In this embodiment, the z-axis coordinate value A of the three-dimensional coordinates of the bottom end point P3 of the beveled edge of the beveled rib plate is 15-30 mm.

[0097] In this embodiment, the unit direction vector Multiplication by the multiple t includes:

[0098] Obtaining the value of z2-z1, and judging the moving direction of the laser sensor on the beveled edge of the beveled rib plate according to the positive or negative value of z2-z1;

[0099] When the value of z2-z1 is less than zero, it is determined that the laser sensor moves from the top point of the bevel edge of the beveled rib plate to the bottom point of the bevel edge, and the multiple t is set to an integer greater than zero;

[0100] When the value of z2-z1 is greater than zero, it is determined that the laser sensor moves from the bottom end point of the beveled edge of the beveled rib plate to the top end point of the beveled edge, and the multiple t is set to an integer less than zero.

[0101] In this embodiment, the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point, including:

[0102] The three-dimensional coordinates of the bottom end point P3 of the beveled rib plate A) is set to zero, and the three-dimensional coordinates of the reference welding point P are obtained.

[0103] In this embodiment, the method for locating the reference welding point of the beveled rib plate further includes:

[0104] The three-dimensional coordinates of the reference welding point are sent to a host computer or a robot, and the beveled rib plate and the base plate are welded based on the three-dimensional coordinates of the reference welding point.

[0105] See also Figure 3 In specific use, A=15mm is preferred.

[0106] S11, use line laser and other sensors to measure the position coordinates of any point P1 on the hypotenuse:

[0107] The program drives the robot to move above the beveled rib plate, and uses a laser sensor to collect the three-dimensional coordinate information P1 (x1, y1, z1) of any point P1 on the beveled edge of the beveled rib plate.

[0108] S12, use line laser and other sensors to measure the position coordinates of any point P2 on the hypotenuse:

[0109] The program drives the robot to move above the beveled rib plate, and uses a laser sensor to collect the three-dimensional coordinate information P2 (x2, y2, z2) of any point P2 on the beveled edge of the beveled rib plate.

[0110] S13, calculate the P1P2 direction vector:

[0111] First, find the direction vector from point P1 (x1, y1, z1) to point P2 (x2, y2, z2)

[0112]

[0113] S14, P1P2 direction vector modulus (or length):

[0114] Next, calculate the magnitude (or length) of the direction vector using the following formula to get the unit length direction vector: in

[0115] S15, normalized direction vector:

[0116] To get the unit direction vector, you need to divide the direction vector by its modulus.

[0117] It is the unit direction vector from point P1 to point P2.

[0118] S16, determine the coordinates of point P3 z = 15 mm high:

[0119] Need to find from P1 along The direction moves to the coordinate z = 15 mm. By changing the unit direction vector This is done by multiplying by a scalar t, so that the z coordinate is 15 mm.

[0120] therefore untie

[0121] You can use t to find the x3 and y3 coordinates of point P3:

[0122]

[0123] t and Substituting x3 and y3, we get:

[0124]

[0125] Therefore, the coordinate value of point P3 at z=15mm in the direction of the line connecting points P1 and P2 is:

[0126]

[0127] S17, determine the coordinates of the target point P at the end of the beveled rib plate:

[0128] The target points P and P3 have the same coordinate values ​​in the xy direction and z=0, so P(x3, y3, 0), so the coordinates of point P are

[0129] In the above-mentioned method for locating the reference weld point of the beveled rib plate, the direction vector and the unit direction vector of the positioning point on the beveled edge of the beveled rib plate are obtained by calculating the coordinates of the positioning point on the beveled edge of the beveled rib plate, and then the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are obtained along the direction of the beveled edge. The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference weld point. The three-dimensional coordinates of the reference weld point can be used to accurately find the position of the reference weld point of the beveled rib plate, thereby improving the welding quality.

[0130] In one embodiment, Figure 4 As shown, a device 10 for locating reference weld points of beveled rib plates is provided, comprising: a welding structure positioning module 1, a three-dimensional coordinate system construction module 2, a bevel positioning point coordinate acquisition module 3, a vector calculation module 4, a bevel bottom endpoint search module 5 and a reference weld point coordinate acquisition module 6.

[0131] The welding structure positioning module 1 is used to vertically set the beveled rib plate and the bottom plate. The beveled rib plate is provided with a beveled edge, and the straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points.

[0132] The module 2 for constructing a three-dimensional coordinate system is used to construct a three-dimensional coordinate system with the plane where the base plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction.

[0133] The bevel positioning point coordinate acquisition module 3 is used to collect the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point on the bevel edge of the beveled rib plate at intervals using a laser sensor.

[0134] The vector calculation module 4 is used to calculate and obtain a direction vector and a unit direction vector from the first positioning point to the second positioning point through the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point.

[0135] The hypotenuse bottom endpoint search module 5 is used to move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the hypotenuse bottom endpoint of the beveled rib plate and obtain the three-dimensional coordinates of the hypotenuse bottom endpoint of the beveled rib plate.

[0136] The reference welding point coordinate acquisition module 6 is used to obtain the three-dimensional coordinates of the reference welding point after moving the three-dimensional coordinates of the bottom end point of the bevel edge of the beveled rib plate down along the z-axis to the xy-axis plane where the bottom plate is located.

[0137] In this embodiment, the step of calculating and acquiring a direction vector and a unit direction vector from the first positioning point to the second positioning point through the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point includes:

[0138] Assume that the first positioning point is recorded as P1, and the second positioning point is recorded as P2;

[0139] Assume that the three-dimensional coordinates of the first positioning point P1 are (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 are (x2, y2, z2);

[0140] According to the three-dimensional coordinates of the first positioning point P1 (x1, y1, z1) and the three-dimensional coordinates of the second positioning point P2 (x2, y2, z2), the direction vector from the first positioning point to the second positioning point is calculated and obtained.

[0141] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector

[0142] In this embodiment, the first positioning point and the second positioning point are located on a straight line where the same edge of the beveled side of the beveled rib plate is located.

[0143] In one embodiment, the direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector include:

[0144] The direction vector from the first positioning point to the second positioning point for

[0145] Calculate the magnitude of the direction vector from the first positioning point to the second positioning point

[0146] The direction vector from the first positioning point to the second positioning point is divided by its modulus to obtain a unit direction vector

[0147] In this embodiment, the step of moving the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtaining the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate includes:

[0148] The bottom end point of the beveled edge of the beveled rib plate is recorded as P3, and the reference welding point is recorded as P;

[0149] Assume that the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate are (x3, y3, z3);

[0150] The distance between the bottom end point of the bevel edge of the beveled rib plate and the reference welding point is preset to be A, and the unit direction vector Multiply by the multiple t to find the three-dimensional coordinates (x1, y1, z1) of the first positioning point P1 along the unit direction vector The coordinate point moved to z3=A is the bottom end point P3 of the beveled edge of the beveled rib plate;

[0151] according to Solve for the multiple t,

[0152] use Obtain the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate

[0153] In this embodiment, the z-axis coordinate value A of the three-dimensional coordinates of the bottom end point P3 of the beveled edge of the beveled rib plate is 15-30 mm.

[0154] In this embodiment, the unit direction vector Multiplication by the multiple t includes:

[0155] Obtaining the value of z2-z1, and judging the moving direction of the laser sensor on the beveled edge of the beveled rib plate according to the positive or negative value of z2-z1;

[0156] When the value of z2-z1 is less than zero, it is determined that the laser sensor moves from the top point of the bevel edge of the beveled rib plate to the bottom point of the bevel edge, and the multiple t is set to an integer greater than zero;

[0157] When the value of z2-z1 is greater than zero, it is determined that the laser sensor moves from the bottom end point of the beveled edge of the beveled rib plate to the top end point of the beveled edge, and the multiple t is set to an integer less than zero.

[0158] In this embodiment, the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point, including:

[0159] The three-dimensional coordinates of the bottom end point P3 of the beveled rib plate The z-axis coordinate value of is set to zero, and the three-dimensional coordinates of the reference welding point P are obtained.

[0160] like Figure 4 As shown, in this embodiment, the bevel rib plate reference welding point positioning system 10 also includes: welding control 7.

[0161] The welding control 7 is used to send the three-dimensional coordinates of the reference welding point to the host computer or the robot, and to weld the beveled rib plate and the base plate based on the three-dimensional coordinates of the reference welding point.

[0162] In the above-mentioned device for locating the reference weld point of the beveled rib plate, the direction vector and the unit direction vector of the positioning point on the beveled edge of the beveled rib plate are obtained by calculating the coordinates of the positioning point on the beveled edge of the beveled rib plate, and then the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are obtained along the direction of the beveled edge. The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference weld point. The three-dimensional coordinate method of the reference weld point can accurately find the position of the reference weld point of the beveled rib plate, thereby improving the welding quality.

[0163] The specific definition of the reference welding point locating device for the beveled rib plate can be found in the definition of the reference welding point locating method for the beveled rib plate mentioned above, which will not be repeated here. Each module in the above-mentioned reference welding point locating device for the beveled rib plate can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0164] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0165] The beveled rib plate is vertically arranged with the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points;

[0166] A three-dimensional coordinate system is constructed with the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction;

[0167] Using a laser sensor to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the beveled edge of the beveled rib plate;

[0168] Obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by calculating the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0169] Move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate;

[0170] The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point.

[0171] In one embodiment, the computer program further implements the following steps when executed by a processor:

[0172] The step of calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point comprises:

[0173] Assume that the first positioning point is recorded as P1, and the second positioning point is recorded as P2;

[0174] Assume that the three-dimensional coordinates of the first positioning point P1 are (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 are (x2, y2, z2);

[0175] According to the three-dimensional coordinates of the first positioning point P1 (x1, y1, z1) and the three-dimensional coordinates of the second positioning point P2 (x2, y2, z2), the direction vector from the first positioning point to the second positioning point is calculated and obtained.

[0176] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector

[0177] In one embodiment, the computer program further implements the following steps when executed by a processor:

[0178] The first positioning point and the second positioning point are located on a straight line where the same edge of the beveled side of the beveled rib plate is located.

[0179] In one embodiment, the computer program further implements the following steps when executed by a processor:

[0180] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector include:

[0181] The direction vector from the first positioning point to the second positioning point for

[0182] Calculate the magnitude of the direction vector from the first positioning point to the second positioning point

[0183] The direction vector from the first positioning point to the second positioning point is divided by its modulus to obtain a unit direction vector

[0184] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0185] The step of moving the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtaining the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate comprises:

[0186] The bottom end point of the beveled edge of the beveled rib plate is recorded as P3, and the reference welding point is recorded as P;

[0187] Assume that the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate are (x3, y3, z3);

[0188] The distance between the bottom end point of the bevel edge of the beveled rib plate and the reference welding point is preset to be A, and the unit direction vector Multiply by the multiple t to find the three-dimensional coordinates (x1, y1, z1) of the first positioning point P1 along the unit direction vector The coordinate point moved to z3=A is the bottom end point P3 of the beveled edge of the beveled rib plate;

[0189] according to Solve for the multiple t,

[0190] use Obtain the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate

[0191] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0192] The z-axis coordinate value A of the three-dimensional coordinates of the bottom end point P3 of the beveled edge of the beveled rib plate is 15-30 mm.

[0193] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0194] The unit direction vector Multiplication by the multiple t includes:

[0195] Obtaining the value of z2-z1, and judging the moving direction of the laser sensor on the beveled edge of the beveled rib plate according to the positive or negative value of z2-z1;

[0196] When the value of z2-z1 is less than zero, it is determined that the laser sensor moves from the top point of the bevel edge of the beveled rib plate to the bottom point of the bevel edge, and the multiple t is set to an integer greater than zero;

[0197] When the value of z2-z1 is greater than zero, it is determined that the laser sensor moves from the bottom end point of the beveled edge of the beveled rib plate to the top end point of the beveled edge, and the multiple t is set to an integer less than zero.

[0198] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0199] The step of obtaining the three-dimensional coordinates of the reference welding point after moving the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate downward along the z-axis to the xy-axis plane where the bottom plate is located comprises:

[0200] The three-dimensional coordinates of the bottom end point P3 of the beveled rib plate A) is set to zero, and the three-dimensional coordinates of the reference welding point P are obtained.

[0201] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0202] The three-dimensional coordinates of the reference welding point are sent to a host computer or a robot, and the beveled rib plate and the base plate are welded based on the three-dimensional coordinates of the reference welding point.

[0203] The specific limitations on the steps implemented when the computer program is executed by the processor can be found in the above-mentioned limitations on the method for locating the reference weld point of the beveled rib plate, which will not be repeated here.

[0204] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the positioning data of the reference weld point of the bevel rib plate. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for positioning the reference weld point of the bevel rib plate is implemented.

[0205] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0206] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0207] The beveled rib plate is vertically arranged with the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points;

[0208] A three-dimensional coordinate system is constructed with the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction;

[0209] Using a laser sensor to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the beveled edge of the beveled rib plate;

[0210] Obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by calculating the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0211] Move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate;

[0212] The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point.

[0213] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0214] The step of calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point comprises:

[0215] Assume that the first positioning point is recorded as P1, and the second positioning point is recorded as P2;

[0216] Assume that the three-dimensional coordinates of the first positioning point P1 are (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 are (x2, y2, z2);

[0217] According to the three-dimensional coordinates of the first positioning point P1 (x1, y1, z1) and the three-dimensional coordinates of the second positioning point P2 (x2, y2, z2), the direction vector from the first positioning point to the second positioning point is calculated and obtained.

[0218] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector

[0219] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0220] The first positioning point and the second positioning point are located on a straight line where the same edge of the beveled side of the beveled rib plate is located.

[0221] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0222] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector include:

[0223] The direction vector from the first positioning point to the second positioning point for

[0224] Calculate the magnitude of the direction vector from the first positioning point to the second positioning point

[0225] The direction vector from the first positioning point to the second positioning point is divided by its modulus to obtain a unit direction vector

[0226] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0227] The step of moving the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtaining the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate comprises:

[0228] The bottom end point of the beveled edge of the beveled rib plate is recorded as P3, and the reference welding point is recorded as P;

[0229] Assume that the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate are (x3, y3, z3);

[0230] The distance between the bottom end point of the bevel edge of the beveled rib plate and the reference welding point is preset to be A, and the unit direction vector Multiply by the multiple t to find the three-dimensional coordinates (x1, y1, z1) of the first positioning point P1 along the unit direction vector The coordinate point moved to z3=A is the bottom end point P3 of the beveled edge of the beveled rib plate;

[0231] according to Solve for the multiple t,

[0232] use Obtain the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate

[0233] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0234] The z-axis coordinate value A of the three-dimensional coordinates of the bottom end point P3 of the beveled edge of the beveled rib plate is 15-30 mm.

[0235] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0236] The unit direction vector Multiplication by the multiple t includes:

[0237] Obtaining the value of z2-z1, and judging the moving direction of the laser sensor on the beveled edge of the beveled rib plate according to the positive or negative value of z2-z1;

[0238] When the value of z2-z1 is less than zero, it is determined that the laser sensor moves from the top point of the bevel edge of the beveled rib plate to the bottom point of the bevel edge, and the multiple t is set to an integer greater than zero;

[0239] When the value of z2-z1 is greater than zero, it is determined that the laser sensor moves from the bottom end point of the beveled edge of the beveled rib plate to the top end point of the beveled edge, and the multiple t is set to an integer less than zero.

[0240] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0241] The step of obtaining the three-dimensional coordinates of the reference welding point after moving the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate downward along the z-axis to the xy-axis plane where the bottom plate is located comprises:

[0242] The three-dimensional coordinates of the bottom end point P3 of the beveled rib plate The z-axis coordinate value of is set to zero, and the three-dimensional coordinates of the reference welding point P are obtained.

[0243] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0244] The three-dimensional coordinates of the reference welding point are sent to a host computer or a robot, and the beveled rib plate and the base plate are welded based on the three-dimensional coordinates of the reference welding point.

[0245] The specific limitations on the steps implemented when the processor executes the computer program can be found in the above-mentioned method for locating the reference weld point of the beveled rib plate, which will not be repeated here.

[0246] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0247] The beveled rib plate is vertically arranged with the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points;

[0248] A three-dimensional coordinate system is constructed with the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction;

[0249] Using a laser sensor to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the beveled edge of the beveled rib plate;

[0250] Obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by calculating the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0251] Move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate;

[0252] The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point.

[0253] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0254] The step of calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point comprises:

[0255] Assume that the first positioning point is recorded as P1, and the second positioning point is recorded as P2;

[0256] Assume that the three-dimensional coordinates of the first positioning point P1 are (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 are (x2, y2, z2);

[0257] According to the three-dimensional coordinates of the first positioning point P1 (x1, y1, z1) and the three-dimensional coordinates of the second positioning point P2 (x2, y2, z2), the direction vector from the first positioning point to the second positioning point is calculated and obtained.

[0258] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector

[0259] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0260] The first positioning point and the second positioning point are located on a straight line where the same edge of the beveled side of the beveled rib plate is located.

[0261] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0262] The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector include:

[0263] The direction vector from the first positioning point to the second positioning point for

[0264] Calculate the magnitude of the direction vector from the first positioning point to the second positioning point

[0265] The direction vector from the first positioning point to the second positioning point is divided by its modulus to obtain a unit direction vector

[0266] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0267] The step of moving the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtaining the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate comprises:

[0268] The bottom end point of the beveled edge of the beveled rib plate is recorded as P3, and the reference welding point is recorded as P;

[0269] Assume that the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate are (x3, y3, z3);

[0270] The distance between the bottom end point of the bevel edge of the beveled rib plate and the reference welding point is preset to be A, and the unit direction vector Multiply by the multiple t to find the three-dimensional coordinates (x1, y1, z1) of the first positioning point P1 along the unit direction vector The coordinate point moved to z3=A is the bottom end point P3 of the beveled edge of the beveled rib plate;

[0271] according to Solve for the multiple t,

[0272] use Obtain the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate

[0273] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0274] The z-axis coordinate value A of the three-dimensional coordinates of the bottom end point P3 of the beveled edge of the beveled rib plate is 15-30 mm.

[0275] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0276] The unit direction vector Multiplication by the multiple t includes:

[0277] Obtaining the value of z2-z1, and judging the moving direction of the laser sensor on the beveled edge of the beveled rib plate according to the positive or negative value of z2-z1;

[0278] When the value of z2-z1 is less than zero, it is determined that the laser sensor moves from the top point of the bevel edge of the beveled rib plate to the bottom point of the bevel edge, and the multiple t is set to an integer greater than zero;

[0279] When the value of z2-z1 is greater than zero, it is determined that the laser sensor moves from the bottom end point of the beveled edge of the beveled rib plate to the top end point of the beveled edge, and the multiple t is set to an integer less than zero.

[0280] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0281] The step of obtaining the three-dimensional coordinates of the reference welding point after moving the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate downward along the z-axis to the xy-axis plane where the bottom plate is located comprises:

[0282] The three-dimensional coordinates of the bottom end point P3 of the beveled rib plate A) is set to zero, and the three-dimensional coordinates of the reference welding point P are obtained.

[0283] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0284] The three-dimensional coordinates of the reference welding point are sent to a host computer or a robot, and the beveled rib plate and the base plate are welded based on the three-dimensional coordinates of the reference welding point.

[0285] The specific limitations on the steps implemented when the computer program is executed by the processor can be found in the above-mentioned limitations on the method for locating the reference weld point of the beveled rib plate, which will not be repeated here.

[0286] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0287] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0288] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for locating reference welding points of beveled rib plates, characterized in that: include: The beveled rib plate is vertically arranged with the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points; A three-dimensional coordinate system is constructed by taking the plane where the bottom plate is located as the xy-axis plane and the direction where the beveled rib plate is located as the z-axis direction; Using a laser sensor to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the beveled edge of the beveled rib plate; Obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by calculating the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point; Move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate; The three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate are moved down along the z-axis to the xy-axis plane where the bottom plate is located to obtain the three-dimensional coordinates of the reference welding point.

2. The method for locating reference welding points of a beveled rib plate according to claim 1, characterized in that: The step of calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point comprises: Assume that the first positioning point is recorded as P1, and the second positioning point is recorded as P2; Assume that the three-dimensional coordinates of the first positioning point P1 are (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 are (x2, y2, z2); According to the three-dimensional coordinates of the first positioning point P1 (x1, y1, z1) and the three-dimensional coordinates of the second positioning point P2 (x2, y2, z2), the direction vector from the first positioning point to the second positioning point is calculated and obtained. The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector 3. The method for locating reference welding points of a beveled rib plate according to claim 2, characterized in that: The first positioning point and the second positioning point are located on a straight line where the same edge of the beveled side of the beveled rib plate is located.

4. The method for locating reference welding points of a beveled rib plate according to claim 2, characterized in that: The direction vector from the first positioning point to the second positioning point Normalize to get the unit direction vector include: The direction vector from the first positioning point to the second positioning point for Calculate the magnitude of the direction vector from the first positioning point to the second positioning point The direction vector from the first positioning point to the second positioning point is divided by its modulus to obtain a unit direction vector 5. The method for locating reference welding points of a beveled rib plate according to claim 4, characterized in that: The step of moving the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the bottom endpoint of the hypotenuse of the beveled rib plate, and obtaining the three-dimensional coordinates of the bottom endpoint of the hypotenuse of the beveled rib plate comprises: The bottom end point of the beveled edge of the beveled rib plate is recorded as P3, and the reference welding point is recorded as P; Assume that the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate are (x3, y3, z3); The distance between the bottom end point of the bevel edge of the beveled rib plate and the reference welding point is preset to be A, and the unit direction vector Multiply by the multiple t to find the three-dimensional coordinates (x1, y1, z1) of the first positioning point P1 along the unit direction vector The coordinate point moved to z3 = A is the bottom end point P3 of the beveled edge of the beveled rib plate; according to Solve for the multiple t, use Obtain the three-dimensional coordinates of the bottom end point P3 of the beveled rib plate 6. The method for locating reference welding points of a beveled rib plate according to claim 5, characterized in that: The z-axis coordinate value A of the three-dimensional coordinates of the bottom end point P3 of the beveled edge of the beveled rib plate is 15-30 mm.

7. The method for locating reference welding points of a beveled rib plate according to claim 5, characterized in that: The unit direction vector Multiplication by the multiple t includes: Obtaining the value of z2-z1, and judging the moving direction of the laser sensor on the beveled edge of the beveled rib plate according to the positive or negative value of z2-z1; When the value of z2-z1 is less than zero, it is determined that the laser sensor moves from the top point of the bevel edge of the beveled rib plate to the bottom point of the bevel edge, and the multiple t is set to an integer greater than zero; When the value of z2-z1 is greater than zero, it is determined that the laser sensor moves from the bottom end point of the beveled edge of the beveled rib plate to the top end point of the beveled edge, and the multiple t is set to an integer less than zero.

8. The method for locating reference welding points of a beveled rib plate according to claim 4, characterized in that: The step of obtaining the three-dimensional coordinates of the reference welding point after moving the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate downward along the z-axis to the xy-axis plane where the bottom plate is located comprises: The three-dimensional coordinates of the bottom end point P3 of the beveled rib plate The z-axis coordinate value of is set to zero, and the three-dimensional coordinates of the reference welding point P are obtained.

9. The method for locating reference welding points of a beveled rib plate according to claim 1, characterized in that: Also includes: The three-dimensional coordinates of the reference welding point are sent to a host computer or a robot, and the beveled rib plate and the base plate are welded based on the three-dimensional coordinates of the reference welding point.

10. A device for locating reference welding points of beveled rib plates, characterized in that: The device comprises: A welding structure positioning module is used to vertically arrange the beveled rib plate and the bottom plate, wherein the beveled rib plate is provided with a beveled edge, and a straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the vertical foot of the bottom plate are used as reference welding points; A three-dimensional coordinate system construction module is used to construct a three-dimensional coordinate system with the plane where the base plate is located as the xy axis plane and the direction where the beveled rib plate is located as the z axis direction; A bevel positioning point coordinate acquisition module, used to collect the three-dimensional coordinates of a first positioning point and a second positioning point at intervals on the bevel of the beveled rib plate using a laser sensor; A vector calculation module, used for calculating and obtaining a direction vector and a unit direction vector from the first positioning point to the second positioning point through the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point; A hypotenuse bottom endpoint search module, used to move the direction vector from the first positioning point to the second positioning point by an integer multiple of the unit direction vector to find the hypotenuse bottom endpoint of the beveled rib plate and obtain the three-dimensional coordinates of the hypotenuse bottom endpoint of the beveled rib plate; The reference welding point coordinate acquisition module is used to obtain the three-dimensional coordinates of the reference welding point after moving the three-dimensional coordinates of the bottom end point of the bevel edge of the beveled rib plate down along the z-axis to the xy-axis plane where the bottom plate is located.

11. A computer program product, comprising 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 9 are implemented.

12. A computer 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 9 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, 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 9 are implemented.

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