Method, device, product, equipment and medium for searching beveling rib base welding point

Abstract

The application relates to a method, device, product, equipment and medium for searching a reference welding point of a chamfered rib plate. The method comprises the following steps: vertically arranging the chamfered rib plate on a bottom plate, the chamfered rib plate being provided with a chamfered edge, so that a straight line passing through a bottom end point of the chamfered edge of the chamfered rib plate and a vertical foot of the bottom plate serves as a reference welding point; taking a plane where the bottom plate is located as an xy-axis plane and taking a direction where the chamfered rib plate is located as a z-axis direction to construct a three-dimensional coordinate system; obtaining a direction vector and a unit direction vector of a positioning point on the chamfered edge based on coordinates of the positioning point on the chamfered edge, and then obtaining three-dimensional coordinates of the bottom end point of the chamfered edge of the chamfered rib plate along the direction of the chamfered edge; and obtaining three-dimensional coordinates of the reference welding point after moving the three-dimensional coordinates of the bottom end point of the chamfered edge of the chamfered rib plate along the z-axis to the xy-axis plane where the bottom plate is located, so that the three-dimensional coordinates of the reference welding point can be used to accurately find the position of the reference welding point of the chamfered rib plate and improve the welding quality.

Description

Technical Field

[0001] This application relates to the field of shipbuilding technology, and in particular to a method, apparatus, computer program product, computer equipment and storage medium for locating reference weld points of beveled stiffeners. Background Technology

[0002] During ship construction, the hull structure is typically disassembled into components, sections, and assemblies. In the next stage, assembly work is performed to form the assemblies and the complete ship. Numerous welding operations involving beveled ribs are conducted at various stages and areas of ship construction. The angle between the beveled edge of the rib and the base plate is typically 30°, and the height between the bottom end of the beveled edge and the base plate is 15mm. When welding the corner joint formed by the beveled rib and the base plate, the robot needs to accurately locate the coordinates of the bottom end of the beveled edge to plan the corner wrapping path and welding path. Currently, commonly used methods for locating the reference weld point of the beveled rib include contact welding, point laser welding, line laser dynamic scanning, and 3D point cloud computing. Contact welding and point laser welding are relatively inefficient, line laser dynamic scanning is prone to misjudging the position of the beveled rib, and 3D point cloud computing is susceptible to lighting conditions and requires significant software development effort. The bottom end of the beveled edge of the beveled rib plate is usually not very accurate due to cutting, assembly welding and grinding, which will have an adverse effect on the positioning of the reference weld point of the beveled rib plate. Summary of the Invention

[0003] Based on this, a method, apparatus, computer program product, computer equipment, and storage medium for locating the reference weld point of a beveled rib plate are provided to solve the technical problem of difficulty in accurately locating the reference weld point of a beveled rib plate.

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

[0005] The beveled rib is set perpendicular to the base plate. The beveled rib has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib and the perpendicular foot of the base plate are used as the reference weld point.

[0006] A three-dimensional coordinate system is constructed using the plane where the base plate is located as the xy-axis plane and the direction where the chamfered rib is located as the z-axis direction.

[0007] A laser sensor is used to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate;

[0008] The direction vector and unit direction vector from the first positioning point to the second positioning point are calculated and obtained by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point.

[0009] Move the unit direction vector along 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 inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the inclined edge of the slanted rib plate.

[0010] The three-dimensional coordinates of the reference weld point are obtained by shifting the three-dimensional coordinates of the bottom end of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

[0011] In one embodiment, calculating the direction vector and unit direction vector from the first positioning point to the second positioning point using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point includes:

[0012] Let the first positioning point be denoted as P1, and the second positioning point be denoted as P2;

[0013] Let the three-dimensional coordinates of the first positioning point P1 be (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 be (x2, y2, z2).

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

[0015] The direction vector from the first positioning point to the second positioning point Standardization yields the unit direction vector.

[0016] In one embodiment, the first positioning point and the second positioning point are located on the same straight line along the inclined edge of the beveled rib.

[0017] In one embodiment, the direction vector from the first positioning point to the second positioning point is... Standardization yields 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] Divide the direction vector from the first positioning point to the second positioning point by its modulus to obtain the unit direction vector.

[0021] In one embodiment, the step of moving along a 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 beveled edge of the beveled rib, and obtaining the three-dimensional coordinates of the bottom endpoint of the beveled edge of the beveled rib includes:

[0022] Let P3 be the bottom endpoint of the inclined side of the beveled rib plate, and P be the reference weld point;

[0023] Let the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib be (x3, y3, z3);

[0024] The distance from the bottom end of the beveled edge of the beveled rib to the reference weld point is preset to A. The unit direction vector is then... Multiply by a factor t to find the three-dimensional coordinates (x1, y1, z1) from the first positioning point P1 along the unit direction vector. The coordinate point where the direction is moved to z3=A is the bottom endpoint P3 of the inclined side of the slanted rib plate;

[0025] according to Find the multiple t.

[0026] use Obtain the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the beveled rib.

[0027] In one embodiment, the z-axis coordinate value A in the three-dimensional coordinate system of the bottom endpoint P3 of the beveled rib is 15-30mm.

[0028] In one embodiment, the unit direction vector is... Multiplying by a multiple t includes:

[0029] Obtain the values ​​of z2-z1, and determine the direction of movement of the laser sensor on the inclined side of the slanted rib plate based on the sign of the values ​​of z2-z1;

[0030] When the value of z2-z1 is less than zero, it is determined that the laser sensor has moved from the top point of the inclined edge of the slanted rib to the bottom point of the inclined edge, and the multiplier 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 has moved from the bottom end of the inclined side of the slanted rib to the top end of the inclined side, and the multiplier t is set to an integer less than zero.

[0032] In one embodiment, obtaining the three-dimensional coordinates of the reference weld point by shifting the three-dimensional coordinates of the bottom endpoint of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located includes:

[0033] The three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib plate are determined. A) Set the z-axis coordinate value to zero, and obtain the three-dimensional coordinates of the reference solder point P.

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

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

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

[0037] A welding structure positioning module is used to set the beveled rib plate perpendicularly to the base plate. The beveled rib plate has a beveled edge, and the straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the perpendicular foot of the base plate are used as the reference weld point.

[0038] A module 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 chamfered rib plate is located as the z-axis direction.

[0039] The inclined edge positioning point coordinate acquisition module is used to acquire the three-dimensional coordinates of the first positioning point and the two positioning points at intervals on the inclined edge of the rib plate using a laser sensor.

[0040] The vector calculation module is used to calculate and obtain the direction vector and unit direction vector from the first positioning point to the second positioning point using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0041] The hypotenuse bottom endpoint search module is used to move along 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 sloping rib and obtain the three-dimensional coordinates of the hypotenuse bottom endpoint of the sloping rib.

[0042] The reference weld point coordinate acquisition module is used to obtain the three-dimensional coordinates of the reference weld point by shifting the three-dimensional coordinates of the bottom end point of the inclined edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

[0043] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0044] The beveled rib is set perpendicular to the base plate. The beveled rib has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib and the perpendicular foot of the base plate are used as the reference weld point.

[0045] A three-dimensional coordinate system is constructed using the plane where the base plate is located as the xy-axis plane and the direction where the chamfered rib is located as the z-axis direction.

[0046] A laser sensor is used to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate;

[0047] The direction vector and unit direction vector from the first positioning point to the second positioning point are calculated and obtained by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point.

[0048] Move the unit direction vector along 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 inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the inclined edge of the slanted rib plate.

[0049] The three-dimensional coordinates of the reference weld point are obtained by shifting the three-dimensional coordinates of the bottom end of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

[0050] In another aspect, 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 executes the computer program to perform the following steps:

[0051] The beveled rib is set perpendicular to the base plate. The beveled rib has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib and the perpendicular foot of the base plate are used as the reference weld point.

[0052] A three-dimensional coordinate system is constructed using the plane where the base plate is located as the xy-axis plane and the direction where the chamfered rib is located as the z-axis direction.

[0053] A laser sensor is used to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate;

[0054] The direction vector and unit direction vector from the first positioning point to the second positioning point are calculated and obtained by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point.

[0055] Move the unit direction vector along 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 inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the inclined edge of the slanted rib plate.

[0056] The three-dimensional coordinates of the reference weld point are obtained by shifting the three-dimensional coordinates of the bottom end of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

[0057] In another aspect, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0058] The beveled rib is set perpendicular to the base plate. The beveled rib has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib and the perpendicular foot of the base plate are used as the reference weld point.

[0059] A three-dimensional coordinate system is constructed using the plane where the base plate is located as the xy-axis plane and the direction where the chamfered rib is located as the z-axis direction.

[0060] A laser sensor is used to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate;

[0061] The direction vector and unit direction vector from the first positioning point to the second positioning point are calculated and obtained by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point.

[0062] Move the unit direction vector along 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 inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the inclined edge of the slanted rib plate.

[0063] The three-dimensional coordinates of the reference weld point are obtained by shifting the three-dimensional coordinates of the bottom end of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

[0064] The aforementioned method, apparatus, computer program product, computer equipment, and storage medium for locating the reference weld point of the beveled rib plate calculates and obtains the direction vector and unit direction vector of the positioning point on the beveled side based on the coordinates of the positioning point on the beveled side of the rib plate. Then, it obtains the three-dimensional coordinates of the bottom end point of the beveled side of the rib plate along the beveled side direction. After shifting the three-dimensional coordinates of the bottom end point of the beveled side of the rib plate down along the z-axis to the xy-axis plane where the base plate is located, it obtains the three-dimensional coordinates of the reference weld point. Using the three-dimensional coordinates of the reference weld point can accurately find the position of the reference weld point of the beveled rib plate, thus improving the welding quality. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is an application environment diagram of the reference weld point locating method for the beveled stiffener plate in one embodiment of this application;

[0067] Figure 2 This is a flowchart illustrating the method for locating the reference weld point of the beveled stiffener plate in one embodiment of this application.

[0068] Figure 3 This is a schematic diagram showing the coordinate point positions in a three-dimensional coordinate system in one embodiment of this application;

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

[0070] Figure 5 This is an internal structural diagram of a computer device in one embodiment of this application. Detailed Implementation

[0071] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0072] The method for locating the reference weld point of the beveled stiffener plate provided in this application can be applied to, for example... Figure 1 In the application environment shown, a welding torch is used by a host computer or robot to weld the connection between the beveled rib plate 1 and the base plate 2. A laser sensor is used by the host computer or robot to collect three-dimensional coordinates. Specifically, the host computer or robot can control the movement 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. The host computer or robot uses the three-dimensional coordinates of at least one positioning point on the beveled edge 11 to calculate the three-dimensional coordinates of the bottom endpoint P3 of the beveled edge 11. Then, a reference welding point P is determined, with the perpendicular position of the straight line passing through the bottom endpoint of the beveled edge 11 to the base plate 2. The welding of the beveled rib plate 1 and the base plate 2 is performed based on the three-dimensional coordinates of the reference welding point P.

[0073] In one embodiment, such as Figure 2 As shown, a method for locating the reference weld point of a beveled stiffener is provided, including the following steps:

[0074] Step S1: The beveled rib plate is set perpendicular to the base plate. The beveled rib plate has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the perpendicular foot of the base plate are used as the reference weld point.

[0075] Step S2: 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 chamfered rib is located as the z-axis direction;

[0076] Step S3: Use a laser sensor to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate;

[0077] Step S4: Calculate the direction vector and unit direction vector from the first positioning point to the second positioning point using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point;

[0078] Step S5: Move the unit direction vector along 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 end point of the inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom end point of the inclined edge of the slanted rib plate.

[0079] Step S6: Move the three-dimensional coordinates of the bottom end point of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located to obtain the three-dimensional coordinates of the reference weld point.

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

[0081] Let the first positioning point be denoted as P1, and the second positioning point be denoted as P2;

[0082] Let the three-dimensional coordinates of the first positioning point P1 be (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 be (x2, y2, z2).

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

[0084] The direction vector from the first positioning point to the second positioning point Standardization yields the unit direction vector.

[0085] In this embodiment, the first positioning point and the second positioning point are located on the same straight line along the inclined edge of the beveled rib.

[0086] In this embodiment, the direction vector from the first positioning point to the second positioning point is... Standardization yields 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] Divide the direction vector from the first positioning point to the second positioning point by its modulus to obtain the unit direction vector.

[0090] In this embodiment, the step of moving along 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 inclined edge of the beveled rib and obtaining the three-dimensional coordinates of the bottom endpoint of the inclined edge of the beveled rib includes:

[0091] Let P3 be the bottom endpoint of the inclined side of the beveled rib plate, and P be the reference weld point;

[0092] Let the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib be (x3, y3, z3);

[0093] The distance from the bottom end of the beveled edge of the beveled rib to the reference weld point is preset to A. The unit direction vector is then... Multiply by a factor t to find the three-dimensional coordinates (x1, y1, z1) from the first positioning point P1 along the unit direction vector. The coordinate point where the direction is moved to z3=A is the bottom endpoint P3 of the inclined side of the slanted rib plate;

[0094] according to Find the multiple t.

[0095] use Obtain the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the beveled rib.

[0096] In this embodiment, the z-axis coordinate value A in the three-dimensional coordinate system of the bottom endpoint P3 of the beveled rib is 15-30mm.

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

[0098] Obtain the values ​​of z2-z1, and determine the direction of movement of the laser sensor on the inclined side of the slanted rib plate based on the sign of the values ​​of z2-z1;

[0099] When the value of z2-z1 is less than zero, it is determined that the laser sensor has moved from the top point of the inclined edge of the slanted rib to the bottom point of the inclined edge, and the multiplier 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 has moved from the bottom end of the inclined side of the slanted rib to the top end of the inclined side, and the multiplier t is set to an integer less than zero.

[0101] In this embodiment, obtaining the three-dimensional coordinates of the reference weld point by shifting the three-dimensional coordinates of the bottom endpoint of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located includes:

[0102] The three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib plate are determined. A) Set the z-axis coordinate value to zero, and obtain the three-dimensional coordinates of the reference solder point P.

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

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

[0105] Please see Figure 3 In practical applications, A = 15mm is preferred.

[0106] S11. Use sensors such as line lasers to measure the coordinates of any point P1 on the hypotenuse:

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

[0108] S12. Use sensors such as line lasers to measure the coordinates of any point P2 on the hypotenuse:

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

[0110] S13. Calculate the direction vectors of P1P2:

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

[0112]

[0113] The magnitude (or length) of the direction vectors S14 and P1P2:

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

[0115] S15, Standardized Direction Vector:

[0116] To obtain the unit direction vector, the direction vector needs to be divided by its magnitude.

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

[0118] S16. Determine the coordinates of the height of point P3 at z = 15mm:

[0119] We need to find the path from P1 along... The direction is moved to the coordinate z = 15mm. This is achieved by using the unit direction vector. This is achieved by multiplying by a scalar t, resulting in a z-coordinate of 15mm.

[0120] therefore untie

[0121] We 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 coordinates of point P3, which is at a height of 15mm along the line connecting points P1 and P2, are:

[0126]

[0127] S17. Determine the coordinates of the target point P at the end of the chamfered stiffener:

[0128] Target points P and P3 have the same x and y coordinates and z = 0, so P(x3, y3, 0). Therefore, the coordinates of point P are...

[0129] In the above-mentioned method for locating the reference weld point of the beveled rib, the direction vector and unit direction vector of the positioning point on the beveled side are calculated based on the coordinates of the positioning point on the beveled side of the rib. Then, the three-dimensional coordinates of the bottom end point of the beveled side of the rib are obtained along the direction of the beveled side. The three-dimensional coordinates of the bottom end point of the beveled side of the rib are moved down along the z-axis to the xy-axis plane where the base plate is located to obtain the three-dimensional coordinates of the reference weld point. Using the three-dimensional coordinates of the reference weld point can accurately find the position of the reference weld point of the beveled rib and improve the welding quality.

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

[0131] The welding structure positioning module 1 is used to set the beveled rib plate perpendicularly to the base plate. The beveled rib plate has a beveled edge, and the straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the perpendicular foot of the base plate are used as the reference weld point.

[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 chamfered rib is located as the z-axis direction.

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

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

[0135] The inclined edge bottom endpoint search module 5 is used to move along 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 inclined edge bottom endpoint of the sloping rib plate and obtain the three-dimensional coordinates of the inclined edge bottom endpoint of the sloping rib plate.

[0136] The reference weld point coordinate acquisition module 6 is used to move the three-dimensional coordinates of the bottom end point of the inclined edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located, and then obtain the three-dimensional coordinates of the reference weld point.

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

[0138] Let the first positioning point be denoted as P1, and the second positioning point be denoted as P2;

[0139] Let the three-dimensional coordinates of the first positioning point P1 be (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 be (x2, y2, z2).

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

[0141] The direction vector from the first positioning point to the second positioning point Standardization yields the unit direction vector.

[0142] In this embodiment, the first positioning point and the second positioning point are located on the same straight line along the inclined edge of the beveled rib.

[0143] In one embodiment, the direction vector from the first positioning point to the second positioning point... Standardization yields 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] Divide the direction vector from the first positioning point to the second positioning point by its modulus to obtain the unit direction vector.

[0147] In this embodiment, the step of moving along 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 inclined edge of the beveled rib and obtaining the three-dimensional coordinates of the bottom endpoint of the inclined edge of the beveled rib includes:

[0148] Let P3 be the bottom endpoint of the inclined side of the beveled rib plate, and P be the reference weld point;

[0149] Let the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib be (x3, y3, z3);

[0150] The distance from the bottom end of the beveled edge of the beveled rib to the reference weld point is preset to A. The unit direction vector is then... Multiply by a factor t to find the three-dimensional coordinates (x1, y1, z1) from the first positioning point P1 along the unit direction vector. The coordinate point where the direction is moved to z3=A is the bottom endpoint P3 of the inclined side of the slanted rib plate;

[0151] according to Find the multiple t.

[0152] use Obtain the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the beveled rib.

[0153] In this embodiment, the z-axis coordinate value A in the three-dimensional coordinate system of the bottom endpoint P3 of the beveled rib is 15-30mm.

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

[0155] Obtain the values ​​of z2-z1, and determine the direction of movement of the laser sensor on the inclined side of the slanted rib plate based on the sign of the values ​​of z2-z1;

[0156] When the value of z2-z1 is less than zero, it is determined that the laser sensor has moved from the top point of the inclined edge of the slanted rib to the bottom point of the inclined edge, and the multiplier 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 has moved from the bottom end of the inclined side of the slanted rib to the top end of the inclined side, and the multiplier t is set to an integer less than zero.

[0158] In this embodiment, obtaining the three-dimensional coordinates of the reference weld point by shifting the three-dimensional coordinates of the bottom endpoint of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located includes:

[0159] The three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib plate are determined. The z-axis coordinate value is set to zero to obtain the three-dimensional coordinates of the reference solder point P.

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

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

[0162] In the aforementioned device for locating the reference weld point of the beveled rib, the direction vector and unit direction vector of the positioning point on the beveled side are calculated based on the coordinates of the positioning point on the beveled side. Then, the three-dimensional coordinates of the bottom end point of the beveled side are obtained along the beveled side direction. The three-dimensional coordinates of the bottom end point of the beveled side are then moved down along the z-axis to the xy-axis plane where the base plate is located to obtain the three-dimensional coordinates of the reference weld point. Using the three-dimensional coordinates of the reference weld point can accurately locate the reference weld point of the beveled rib and improve the welding quality.

[0163] Specific limitations regarding the beveled rib reference weld point location device can be found in the limitations of the beveled rib reference weld point location method described above, and will not be repeated here. Each module in the aforementioned beveled rib reference weld point location device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0164] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0165] The beveled rib is set perpendicular to the base plate. The beveled rib has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib and the perpendicular foot of the base plate are used as the reference weld point.

[0166] A three-dimensional coordinate system is constructed using the plane where the base plate is located as the xy-axis plane and the direction where the chamfered rib is located as the z-axis direction.

[0167] A laser sensor is used to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate;

[0168] The direction vector and unit direction vector from the first positioning point to the second positioning point are calculated and obtained by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point.

[0169] Move the unit direction vector along 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 inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the inclined edge of the slanted rib plate.

[0170] The three-dimensional coordinates of the reference weld point are obtained by shifting the three-dimensional coordinates of the bottom end of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

[0171] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

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

[0173] Let the first positioning point be denoted as P1, and the second positioning point be denoted as P2;

[0174] Let the three-dimensional coordinates of the first positioning point P1 be (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 be (x2, y2, z2).

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

[0176] The direction vector from the first positioning point to the second positioning point Standardization yields the unit direction vector.

[0177] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0178] The first positioning point and the second positioning point are located on the same straight line along the inclined edge of the beveled rib.

[0179] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0180] The direction vector from the first positioning point to the second positioning point Standardization yields 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] Divide the direction vector from the first positioning point to the second positioning point by its modulus to obtain the unit direction vector.

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

[0185] The step of moving along 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 inclined edge of the chamfered rib, and obtaining the three-dimensional coordinates of the bottom endpoint of the inclined edge of the chamfered rib includes:

[0186] Let P3 be the bottom endpoint of the inclined side of the beveled rib plate, and P be the reference weld point;

[0187] Let the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib be (x3, y3, z3);

[0188] The distance from the bottom end of the beveled edge of the beveled rib to the reference weld point is preset to A. The unit direction vector is then... Multiply by a factor t to find the three-dimensional coordinates (x1, y1, z1) from the first positioning point P1 along the unit direction vector. The coordinate point where the direction is moved to z3=A is the bottom endpoint P3 of the inclined side of the slanted rib plate;

[0189] according to Find the multiple t.

[0190] use Obtain the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the beveled rib.

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

[0192] The z-axis coordinate value A of the bottom endpoint P3 of the inclined edge of the slanted stiffener is 15-30mm in three-dimensional coordinates.

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

[0194] The unit direction vector Multiplying by a multiple t includes:

[0195] Obtain the values ​​of z2-z1, and determine the direction of movement of the laser sensor on the inclined side of the slanted rib plate based on the sign of the values ​​of z2-z1;

[0196] When the value of z2-z1 is less than zero, it is determined that the laser sensor has moved from the top point of the inclined edge of the slanted rib to the bottom point of the inclined edge, and the multiplier 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 has moved from the bottom end of the inclined side of the slanted rib to the top end of the inclined side, and the multiplier t is set to an integer less than zero.

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

[0199] The step of shifting the three-dimensional coordinates of the bottom endpoint of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located to obtain the three-dimensional coordinates of the reference weld point includes:

[0200] The three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib plate are determined. A) Set the z-axis coordinate value to zero, and obtain the three-dimensional coordinates of the reference solder point P.

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

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

[0203] For specific limitations on the steps implemented when a computer program is executed by a processor, please refer to the limitations on the method for locating the reference weld point of the beveled rib plate mentioned above, which will not be repeated here.

[0204] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores location data for the reference weld points of the beveled stiffener plate. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a method for locating reference weld points of the beveled stiffener plate.

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

[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 executes the computer program to perform the following steps:

[0207] The beveled rib is set perpendicular to the base plate. The beveled rib has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib and the perpendicular foot of the base plate are used as the reference weld point.

[0208] A three-dimensional coordinate system is constructed using the plane where the base plate is located as the xy-axis plane and the direction where the chamfered rib is located as the z-axis direction.

[0209] A laser sensor is used to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate;

[0210] The direction vector and unit direction vector from the first positioning point to the second positioning point are calculated and obtained by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point.

[0211] Move the unit direction vector along 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 inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the inclined edge of the slanted rib plate.

[0212] The three-dimensional coordinates of the reference weld point are obtained by shifting the three-dimensional coordinates of the bottom end of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

[0213] In one embodiment, the processor, when executing a computer program, also performs the following steps:

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

[0215] Let the first positioning point be denoted as P1, and the second positioning point be denoted as P2;

[0216] Let the three-dimensional coordinates of the first positioning point P1 be (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 be (x2, y2, z2).

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

[0218] The direction vector from the first positioning point to the second positioning point Standardization yields the unit direction vector.

[0219] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0220] The first positioning point and the second positioning point are located on the same straight line along the inclined edge of the beveled rib.

[0221] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0222] The direction vector from the first positioning point to the second positioning point Standardization yields 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] Divide the direction vector from the first positioning point to the second positioning point by its modulus to obtain the unit direction vector.

[0226] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0227] The step of moving along 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 inclined edge of the chamfered rib, and obtaining the three-dimensional coordinates of the bottom endpoint of the inclined edge of the chamfered rib includes:

[0228] Let P3 be the bottom endpoint of the inclined side of the beveled rib plate, and P be the reference weld point;

[0229] Let the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib be (x3, y3, z3);

[0230] The distance from the bottom end of the beveled edge of the beveled rib to the reference weld point is preset to A. The unit direction vector is then... Multiply by a factor t to find the three-dimensional coordinates (x1, y1, z1) from the first positioning point P1 along the unit direction vector. The coordinate point where the direction is moved to z3=A is the bottom endpoint P3 of the inclined side of the slanted rib plate;

[0231] according to Find the multiple t.

[0232] use Obtain the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the beveled rib.

[0233] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0234] The z-axis coordinate value A of the bottom endpoint P3 of the inclined edge of the slanted stiffener is 15-30mm in three-dimensional coordinates.

[0235] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0236] The unit direction vector Multiplying by a multiple t includes:

[0237] Obtain the values ​​of z2-z1, and determine the direction of movement of the laser sensor on the inclined side of the slanted rib plate based on the sign of the values ​​of z2-z1;

[0238] When the value of z2-z1 is less than zero, it is determined that the laser sensor has moved from the top point of the inclined edge of the slanted rib to the bottom point of the inclined edge, and the multiplier 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 has moved from the bottom end of the inclined side of the slanted rib to the top end of the inclined side, and the multiplier t is set to an integer less than zero.

[0240] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0241] The step of shifting the three-dimensional coordinates of the bottom endpoint of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located to obtain the three-dimensional coordinates of the reference weld point includes:

[0242] The three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib plate are determined. The z-axis coordinate value is set to zero to obtain the three-dimensional coordinates of the reference solder point P.

[0243] In one embodiment, the processor, when executing a computer program, also performs the following steps:

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

[0245] For specific limitations on the steps implemented by the processor when executing a computer program, please refer to the limitations on the method of locating the reference weld point of the beveled rib plate mentioned above, which will not be repeated here.

[0246] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0247] The beveled rib is set perpendicular to the base plate. The beveled rib has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib and the perpendicular foot of the base plate are used as the reference weld point.

[0248] A three-dimensional coordinate system is constructed using the plane where the base plate is located as the xy-axis plane and the direction where the chamfered rib is located as the z-axis direction.

[0249] A laser sensor is used to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate;

[0250] The direction vector and unit direction vector from the first positioning point to the second positioning point are calculated and obtained by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point.

[0251] Move the unit direction vector along 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 inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the inclined edge of the slanted rib plate.

[0252] The three-dimensional coordinates of the reference weld point are obtained by shifting the three-dimensional coordinates of the bottom end of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

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

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

[0255] Let the first positioning point be denoted as P1, and the second positioning point be denoted as P2;

[0256] Let the three-dimensional coordinates of the first positioning point P1 be (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 be (x2, y2, z2).

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

[0258] The direction vector from the first positioning point to the second positioning point Standardization yields the unit direction vector.

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

[0260] The first positioning point and the second positioning point are located on the same straight line along the inclined edge of the beveled rib.

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

[0262] The direction vector from the first positioning point to the second positioning point Standardization yields 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] Divide the direction vector from the first positioning point to the second positioning point by its modulus to obtain the unit direction vector.

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

[0267] The step of moving along 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 inclined edge of the chamfered rib, and obtaining the three-dimensional coordinates of the bottom endpoint of the inclined edge of the chamfered rib includes:

[0268] Let P3 be the bottom endpoint of the inclined side of the beveled rib plate, and P be the reference weld point;

[0269] Let the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib be (x3, y3, z3);

[0270] The distance from the bottom end of the beveled edge of the beveled rib to the reference weld point is preset to A. The unit direction vector is then... Multiply by a factor t to find the three-dimensional coordinates (x1, y1, z1) from the first positioning point P1 along the unit direction vector. The coordinate point where the direction is moved to z3=A is the bottom endpoint P3 of the inclined side of the slanted rib plate;

[0271] according to Find the multiple t.

[0272] use Obtain the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the beveled rib.

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

[0274] The z-axis coordinate value A of the bottom endpoint P3 of the inclined edge of the slanted stiffener is 15-30mm in three-dimensional coordinates.

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

[0276] The unit direction vector Multiplying by a multiple t includes:

[0277] Obtain the values ​​of z2-z1, and determine the direction of movement of the laser sensor on the inclined side of the slanted rib plate based on the sign of the values ​​of z2-z1;

[0278] When the value of z2-z1 is less than zero, it is determined that the laser sensor has moved from the top point of the inclined edge of the slanted rib to the bottom point of the inclined edge, and the multiplier 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 has moved from the bottom end of the inclined side of the slanted rib to the top end of the inclined side, and the multiplier t is set to an integer less than zero.

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

[0281] The step of shifting the three-dimensional coordinates of the bottom endpoint of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located to obtain the three-dimensional coordinates of the reference weld point includes:

[0282] The three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib plate are determined. A) Set the z-axis coordinate value to zero, and obtain the three-dimensional coordinates of the reference solder point P.

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

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

[0285] For specific limitations on the steps implemented when a computer program is executed by a processor, please refer to the limitations on the method for locating the reference weld point of the beveled rib plate mentioned above, which will not be repeated here.

[0286] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, 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. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0287] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for locating the reference weld point of a beveled stiffener plate, characterized in that, include: The beveled rib is set perpendicular to the base plate. The beveled rib has a beveled edge. The straight line passing through the bottom end point of the beveled edge of the beveled rib and the perpendicular foot of the base plate are used as the reference weld point. A three-dimensional coordinate system is constructed using the plane where the base plate is located as the xy-axis plane and the direction where the chamfered rib is located as the z-axis direction; A laser sensor is used to collect the three-dimensional coordinates of the first positioning point and the second positioning point at intervals on the inclined side of the slanted rib plate; The direction vector and unit direction vector from the first positioning point to the second positioning point are calculated and obtained by using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point. Move the unit direction vector along 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 inclined edge of the slanted rib plate, and obtain the three-dimensional coordinates of the bottom endpoint of the inclined edge of the slanted rib plate. The three-dimensional coordinates of the reference weld point are obtained by shifting the three-dimensional coordinates of the bottom end of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located; The step of calculating and obtaining the direction vector and unit direction vector from the first positioning point to the second positioning point using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point includes: Let the first positioning point be denoted as P1, and the second positioning point be denoted as P2; Let the three-dimensional coordinates of the first positioning point P1 be (x1, y1, z1), and the three-dimensional coordinates of the second positioning point P2 be (x2, y2, z2). The direction vector from the first positioning point to the second positioning point is calculated based on the three-dimensional coordinates (x1, y1, z1) of the first positioning point P1 and the three-dimensional coordinates (x2, y2, z2) of the second positioning point P2. ; The direction vector from the first positioning point to the second positioning point Standardization yields the unit direction vector. ; Wherein, the direction vector from the first positioning point to the second positioning point Standardization yields the unit direction vector. include: The direction vector from the first positioning point to the second positioning point ; Calculate the magnitude of the direction vector from the first positioning point to the second positioning point. ; Divide the direction vector from the first positioning point to the second positioning point by its modulus to obtain the unit direction vector. ; The step of moving along 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 inclined edge of the beveled rib and obtaining the three-dimensional coordinates of the bottom endpoint of the inclined edge of the beveled rib includes: Let P3 be the bottom endpoint of the inclined side of the beveled rib plate, and P be the reference weld point; Let the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib be (x3, y3, z3). The distance from the bottom end of the beveled edge of the beveled rib to the reference weld point is preset to A. The unit direction vector is then... Multiply by a factor t to find the three-dimensional coordinates (x1, y1, z1) from the first positioning point P1 along the unit direction vector. The coordinate point z3=A is the bottom endpoint P3 of the inclined side of the sloping rib plate. according to Find the multiple t. ; use Obtain the three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the beveled rib. .

2. The method for locating the reference weld point of the beveled stiffener plate according to claim 1, characterized in that, The first positioning point and the second positioning point are located on the same straight line along the inclined edge of the beveled rib.

3. The method for locating the reference weld point of the beveled stiffener plate according to claim 1, characterized in that, The z-axis coordinate value A of the bottom endpoint P3 of the inclined edge of the slanted stiffener is 15-30mm in three-dimensional coordinates.

4. The method for locating the reference weld point of the beveled stiffener plate according to claim 1, characterized in that, The unit direction vector Multiplying by a multiple t includes: Obtain the values ​​of z2-z1, and determine the direction of movement of the laser sensor on the inclined side of the slanted rib plate based on the sign of the values ​​of z2-z1; When the value of z2-z1 is less than zero, it is determined that the laser sensor has moved from the top point of the inclined edge of the slanted rib to the bottom point of the inclined edge, and the multiplier 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 has moved from the bottom end of the inclined side of the slanted rib to the top end of the inclined side, and the multiplier t is set to an integer less than zero.

5. The method for locating the reference weld point of the beveled stiffener plate according to claim 1, characterized in that, The step of shifting the three-dimensional coordinates of the bottom endpoint of the beveled edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located to obtain the three-dimensional coordinates of the reference weld point includes: The three-dimensional coordinates of the bottom endpoint P3 of the inclined side of the rib plate are determined. The z-axis coordinate value is set to zero to obtain the three-dimensional coordinates of the reference solder point P. .

6. The method for locating the reference weld point of the beveled stiffener plate according to claim 1, characterized in that, Also includes: The three-dimensional coordinates of the reference weld point are sent to the host computer or robot, and the welding of the chamfered rib plate and the base plate is performed based on the three-dimensional coordinates of the reference weld point.

7. A device for locating reference weld points on beveled stiffeners, characterized in that, The apparatus for implementing the method for locating the reference weld point of the chamfered stiffener plate according to any one of claims 1 to 6 includes: A welding structure positioning module is used to set the beveled rib plate perpendicularly to the base plate. The beveled rib plate has a beveled edge, and the straight line passing through the bottom end point of the beveled edge of the beveled rib plate and the perpendicular foot of the base plate are used as the reference weld point. A module 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 chamfered rib plate is located as the z-axis direction. The inclined edge positioning point coordinate acquisition module is used to acquire the three-dimensional coordinates of the first positioning point and the two positioning points at intervals on the inclined edge of the rib plate using a laser sensor. The vector calculation module is used to calculate and obtain the direction vector and unit direction vector from the first positioning point to the second positioning point using the three-dimensional coordinates of the first positioning point and the three-dimensional coordinates of the second positioning point; The hypotenuse bottom endpoint search module is used to move along 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 sloping rib and obtain the three-dimensional coordinates of the hypotenuse bottom endpoint of the sloping rib. The reference weld point coordinate acquisition module is used to obtain the three-dimensional coordinates of the reference weld point by shifting the three-dimensional coordinates of the bottom end point of the inclined edge of the beveled rib plate down along the z-axis to the xy-axis plane where the base plate is located.

8. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1 to 6.

9. 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, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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