Track generation method and device, electronic equipment and storage medium

Abstract

The invention discloses a track generation method and device, electronic equipment and a storage medium. The track generation method comprises the steps of obtaining an initial track corresponding to a material batch according to size data of a to-be-welded edge of each material in any material batch; according to the size deviation between the to-be-welded edge of each material and the initial track, the track point radius of the initial track is adjusted until the track point radius covers each size deviation; and generating a welding track of each material in the material batch according to the initial track and the track point radius. According to the track generation method provided by the embodiment of the invention, the material welding efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of material welding, and in particular to a trajectory generation method, device, electronic device and storage medium. Background Art

[0002] Material welding of products is one of the main processes in the product assembly process. In order to improve the welding efficiency of materials, in the related technology, the edge of the material to be processed is identified, and the welding trajectory of the material is planned according to the edge recognition result, so as to process the material based on the welding trajectory, such as welding the material.

[0003] However, due to the fluctuation in the size of the materials, even if the materials belong to the same batch, it is necessary to plan the trajectories for different materials separately, which affects the welding efficiency of the materials. Summary of the invention

[0004] In view of the above problems, the present application provides a trajectory generation method, device, electronic device and storage medium, which can improve the welding efficiency of materials.

[0005] In a first aspect, the present application provides a trajectory generation method, the method comprising: obtaining an initial trajectory corresponding to any material batch based on the size data of the edges to be welded of each material in any material batch; adjusting the trajectory point radius of the initial trajectory based on the size deviation between the edges to be welded of each material and the initial trajectory until the trajectory point radius covers each size deviation; generating a welding trajectory for each material in the material batch based on the initial trajectory and the trajectory point radius.

[0006] In the technical solution of the embodiment of the present application, by utilizing the size data of the edges to be welded of each material in the material batch to obtain the initial trajectory corresponding to the material batch, the trajectory point radius of the initial trajectory is adjusted to cover the size deviations between the edges to be welded of each material and the initial trajectory, so as to generate the welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius, so that the generated welding trajectory can cover the size fluctuations of each material in the same material batch, and can meet the welding requirements of each material in the material batch, without the need to perform trajectory planning for different materials in the same material batch separately, thereby improving the welding efficiency of the materials.

[0007] In some embodiments, according to the size data of the edges to be welded of each material in any material batch, the initial trajectory corresponding to the material batch is obtained, including: according to the size data of the edges to be welded of each material, obtaining the size mean of each edge to be welded; according to the size mean, obtaining the initial trajectory. Since the initial trajectory is generated by the size mean of each edge to be welded, the size deviation range between the edge to be welded of each material and the initial trajectory is small, so that only a small range of adjustment is required for the trajectory point radius of the initial trajectory to cover the size deviation, thereby effectively reducing the size of the final welding trajectory and improving the qualified rate of the product.

[0008] In some embodiments, adjusting the radius of the trajectory point of the initial trajectory according to the size deviation between the edge to be welded of each material and the initial trajectory includes: adjusting the radius of the trajectory point according to each length deviation, each width deviation and each fillet deviation between the edge to be welded of each material and the initial trajectory. In this way, the adjusted trajectory point can more effectively cover all size fluctuations of the edge to be welded of each material, further improving the qualified rate of the product.

[0009] In some embodiments, the trajectory point radius is adjusted according to the length deviations, width deviations and fillet deviations between the edges of the materials to be welded and the initial trajectory, including: adjusting the trajectory point radius according to the peak values ​​of the length deviations, width deviations and fillet deviations. Thus, the trajectory points of the welding trajectories of a batch of materials generated subsequently are the same in size, so that the size fluctuations of the same batch of materials can be covered without multiple adjustments to the laser welding equipment during the welding process, thereby reducing the debugging cost of the equipment and improving the welding efficiency of materials welded using the welding trajectory.

[0010] In some embodiments, generating the welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius includes: calibrating the defocus amount of the welding equipment drawing the initial trajectory according to the trajectory point radius; generating the welding trajectory of each material in the material batch according to the initial trajectory and the defocus amount. In this way, the defocus amount of the welding equipment can be directly determined by the welding trajectory during subsequent welding, thereby reducing the debugging cost of the welding equipment.

[0011] In some embodiments, the method further includes: obtaining a welding trajectory of the target material according to a material batch to which the target material belongs, thereby being able to quickly obtain the welding trajectory of the target material and improving the welding efficiency of the material.

[0012] In some embodiments, it also includes: determining the material batch to which the target material belongs according to the material identification of the target material.

[0013] In the second aspect, the present application provides a trajectory generation device, including: an initial trajectory acquisition module, used to obtain the initial trajectory corresponding to the material batch according to the size data of the edges to be welded of each material in any material batch; a trajectory radius determination module, used to adjust the trajectory point radius of the initial trajectory according to the size deviation between the edges to be welded of each material and the initial trajectory, until the trajectory point radius covers each size deviation; a welding trajectory generation module, used to generate the welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius.

[0014] In the technical solution of the embodiment of the present application, after obtaining the initial trajectory corresponding to the material batch by utilizing the size data of the edges to be welded of each material in the material batch, the trajectory point radius of the initial trajectory is adjusted to cover the size deviations between the edges to be welded of each material and the initial trajectory, so as to generate the welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius, so that the generated welding trajectory can cover the size fluctuations of each material in the same material batch, and can meet the welding requirements of each material in the material batch, without the need to perform trajectory planning for different materials in the same material batch separately, thereby improving the welding efficiency of the materials.

[0015] In some embodiments, the initial trajectory acquisition module is specifically used to: obtain the size average of each edge to be welded according to the size data of the edge to be welded of each material; and obtain the initial trajectory according to the size average.

[0016] In some embodiments, the trajectory radius determination module is specifically used to adjust the trajectory point radius according to the length deviations, width deviations and fillet deviations between the edges to be welded of each of the materials and the initial trajectory.

[0017] In some embodiments, the trajectory radius determination module is specifically used to: adjust the trajectory point radius according to the peak values ​​of each of the length deviations, each of the width deviations, and each of the rounded corner deviations.

[0018] In some embodiments, the welding trajectory generation module is specifically used to: calibrate the defocus amount of the welding equipment that draws the initial trajectory according to the trajectory point radius; and generate the welding trajectory of each material in the material batch according to the initial trajectory and the defocus amount.

[0019] In some embodiments, the welding trajectory generation module is further used to obtain the welding trajectory of the target material according to the material batch to which the target material belongs.

[0020] In some embodiments, the welding trajectory generation module is further used to: determine the material batch to which the target material belongs according to the material identification of the target material.

[0021] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the method in the implementation of the first aspect when executing the computer program.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the method in the implementation of the first aspect.

[0023] In a fifth aspect, the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method in the first aspect or any optional implementation manner of the first aspect.

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0026] Figure 1 A first flow chart of a trajectory generation method according to some embodiments of the present application;

[0027] Figure 2 Schematic diagram of trajectories of some embodiments of the present application;

[0028] Figure 3 A second flow chart of a trajectory generation method according to some embodiments of the present application;

[0029] Figure 4 It is another trajectory schematic diagram of some embodiments of the present application;

[0030] Figure 5 A schematic diagram of the structure of a trajectory generating device according to some embodiments of the present application;

[0031] Figure 6 This is a schematic diagram of the structure of an electronic device according to some embodiments of the present application.

[0032] Some of the reference numerals in the specific implementation manner are as follows:

[0033] 301 - initial trajectory acquisition module; 302 - trajectory radius determination module; 303 - welding trajectory generation module; 40 - electronic device; 401 - processor; 402 - memory; 403 - communication bus. DETAILED DESCRIPTION

[0034] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0036] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0037] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0039] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0040] The material welding of products is one of the main processes in the product assembly process. For example, the top cover welding of the battery is the main connection process in the battery cell assembly process. In order to improve the welding efficiency of materials, in the related technology, the edge recognition of the material to be processed is performed, and the welding trajectory of the material is planned according to the recognition result, so as to weld the material based on the welding trajectory. For example, the edge image recognition of the battery top cover is performed to plan the welding trajectory of the battery top cover according to the recognized top cover edge image, so as to use the welding trajectory to weld the battery top cover.

[0041] However, due to the fluctuation of material size, even if the materials belong to the same batch, when switching different materials from the same batch for welding, the material trajectory planning needs to be re-performed, which seriously affects the production rhythm and thus affects the welding efficiency of the materials.

[0042] In response to the above technical problems, an embodiment of the present application provides a trajectory generation method. After obtaining the initial trajectory corresponding to the material batch based on the size data of the edges to be welded of each material in the material batch, the method adjusts the trajectory point radius of the initial trajectory to cover the size deviations between the edges to be welded of each material and the initial trajectory, so as to generate the welding trajectory of each material in the material batch based on the initial trajectory and the trajectory point radius, so that the generated welding trajectory can cover the size fluctuations of each material in the same material batch, and can meet the welding requirements of each material in the material batch, without the need to perform trajectory planning for different materials in the same material batch separately, thereby improving the welding efficiency of the materials.

[0043] The trajectory generation method, device, electronic device and storage medium disclosed in the embodiments of the present application can be applied to a terminal device to generate a welding trajectory of a material. The terminal device can be a desktop terminal, a mobile terminal or a server, and the server can be an independent server or a server cluster composed of multiple servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence sampling point devices.

[0044] According to some embodiments of the present application, taking a trajectory generation method provided in an embodiment of the present application as an example, the trajectory generation method can be applied to the aforementioned terminal device. Figure 1 As shown, the trajectory generation method includes:

[0045] S101, obtaining an initial trajectory corresponding to a material batch according to the size data of the edge to be welded of each material in any material batch;

[0046] S102, adjusting the trajectory point radius of the initial trajectory according to the size deviation between the edge to be welded of each material and the initial trajectory, until the trajectory point radius covers each size deviation;

[0047] S103, generating a welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius.

[0048] In some embodiments, a material batch may be a collection of multiple materials, and the dimensional deviation between each material in the same material batch is within a preset range. Among them, the material may be a top cover to be processed, such as a battery top cover to be welded. The edge to be welded of the material may be a contour formed by the position to be welded of the material. The dimensional data of the edge to be welded of the material is used to characterize the size of the edge to be welded of the material, which may specifically be the length, width, fillet or radius of the edge to be welded. Exemplarily, taking the shape of the edge to be welded of the material as a rectangle as an example, its dimensional data may include at least one of the length, width and fillet of the edge to be welded of the material. If the shape of the edge to be welded of the material is circular, its dimensional data may include the radius or diameter of the edge to be welded of the material.

[0049] When it is necessary to generate a welding trajectory of a material, the size data of the edge to be welded of each material in any material batch may be obtained first, such as obtaining the size data of the edge to be welded of each material in any material batch from a form recording the size data of the edge to be welded of each material. After obtaining the size data of the edge to be welded of each material belonging to the material batch, the initial trajectory corresponding to the material batch may be generated according to the size data of the edge to be welded of any material in the material batch, such as generating the initial trajectory corresponding to the material batch according to the smallest or largest edge to be welded of each material in the same material batch. Alternatively, the initial trajectory corresponding to the material batch may be generated according to the mode or median of the size data of the edge to be welded of each material.

[0050] As a possible implementation, taking the dimension data including the length of the edge to be welded as an example, the initial trajectory of the material batch can be obtained according to the mode of the length of each edge to be welded. For example, in a certain material batch, the mode of the length of each edge to be welded is 5 cm, and a line segment trajectory of 5 cm in length can be obtained as the initial trajectory of the material batch.

[0051] As another possible implementation, taking the case where the dimension data includes radius / diameter as an example, the initial trajectory of the material batch can be obtained according to the mode of the radius / diameter of each edge to be welded. For example, in a certain material batch, the mode of the diameter of each edge to be welded is 5 cm, and a circular trajectory with a diameter of 5 cm can be obtained as the initial trajectory of the material batch.

[0052] As another possible implementation, taking the dimension data including material length, material width and fillet as an example, the initial trajectory of the material batch can be obtained according to the mode of the length of each edge to be welded, the mode of the width of each edge to be welded and the mode of the fillet of each edge to be welded. For example, in a certain material batch, the mode of each length is 5cm, the mode of the width is 4cm, and the mode of the fillet is a radius of 0.1cm, then a rectangular trajectory with a length of 5cm, a width of 4cm and a fillet of 0.1cm can be obtained as the initial trajectory of the material batch.

[0053] Similarly, the initial trajectory of the material batch can also be obtained according to the size data of the edge to be welded of any material, or according to the median of the size data of the edge to be welded of each material.

[0054] After obtaining the initial trajectory corresponding to a material batch, the size data of the edges to be welded of each material in the material batch can be compared with the size data of the initial trajectory to obtain the size deviations between each edge to be welded and the initial trajectory.

[0055] As a possible implementation, taking the initial trajectory corresponding to the material batch as a line segment trajectory as an example, the length of the edge to be welded of any material in the material batch can be compared with the length of the initial trajectory to obtain the length deviation between the two. For example, if the length of the initial trajectory corresponding to the material batch is 5 cm, and the length of the edge to be welded of a material in the material batch is 4.99 cm, then the length deviation between the two can be obtained to be 0.01 cm.

[0056] As another possible implementation, taking the initial trajectory corresponding to the material batch as a circular trajectory as an example, the radius of the edge to be welded of any material in the material batch can be compared with the radius of the initial trajectory to obtain the radius deviation between the two. For example, if the radius of the initial trajectory corresponding to the material batch is 5 cm, and the material radius of a material in the material batch is 4.99 cm, then the radius deviation between the two can be obtained to be 0.1 cm.

[0057] As another possible implementation, taking the initial track corresponding to the material batch as a rectangular track as an example, the length of the edge to be welded of any material in the material batch can be compared with the length of the initial track to obtain the length deviation between the two, and the width of the edge to be welded of the material can be compared with the width of the initial track to obtain the width deviation between the two. After obtaining the length deviation and the width deviation, the length deviation and the width deviation can be used as the size deviation between the edge to be welded and the initial track, that is, the size deviation between the edge to be welded and the initial track includes the length deviation and the width deviation between the two.

[0058] After obtaining the size deviation between each edge to be welded and the initial trajectory, the trajectory point radius of the initial trajectory can be adjusted according to each size deviation so that the trajectory point radius covers each size deviation. Exemplarily, the trajectory point radius of the initial trajectory can be adjusted to be greater than or equal to the maximum size deviation among the size deviations, so that the trajectory point radius can cover all size deviations. For example, if the size deviation includes the length deviation, the maximum length deviation among the length deviations can be obtained first, and the trajectory point radius of the initial trajectory can be adjusted to be greater than or equal to the maximum length deviation. In order to avoid the subsequent generated welding trajectory being too large, the maximum length deviation among the length deviations can be determined as the trajectory point radius of the initial trajectory.

[0059] If the size deviation includes multiple types of size deviations, such as length deviation and width deviation, the radius of the track point on the long side of the initial track can be adjusted according to the length deviation in each size deviation, and the radius of the track point on the wide side of the initial track can be adjusted according to the width deviation in each size deviation. For example, the maximum length deviation in each length deviation is used as the radius of the track point on the long side of the initial track, and the maximum width deviation in each width deviation is used as the radius of the track point on the wide side of the initial track. For the track point at the intersection of the long side and the wide side, the maximum value of each length deviation and each width deviation can be selected as the radius of the track point.

[0060] After obtaining the radius of the trajectory point of the initial trajectory, the area of ​​each trajectory point in the initial trajectory can be adjusted according to the radius of the trajectory point, so that the center of each trajectory point constitutes the initial trajectory, and each trajectory point constitutes the welding trajectory of each material in the material batch. In this way, the welding trajectory of the material batch can be used to weld each material in the material batch. Among them, each trajectory point in the initial trajectory is a uniformly distributed trajectory point to improve the welding effect.

[0061] For example, Figure 2 As shown in the figure, assuming that the initial trajectory corresponding to a certain material batch is a line segment trajectory A, after obtaining the radius of the trajectory point, the area of ​​each trajectory point in the line segment trajectory is enlarged according to the radius of the trajectory point to generate a welding trajectory A' whose center constitutes the line segment trajectory A. Since the radius of each trajectory point covers the size deviation between the edge to be welded of each material and the line segment trajectory, the edges to be welded of all materials in the material batch will be covered by each trajectory point of the welding trajectory A', thereby meeting the welding requirements of all materials in the material batch.

[0062] The number of track points of the welding track formed according to the initial track and the track point radius may be the same as the number of track points of the initial track, or may be different from the number of track points of the initial track. For example, the number of track points of the welding track may be inversely proportional to the radius of its track points, that is, the larger the track point radius of the welding track, the fewer the number of track points.

[0063] By utilizing the size data of the edges to be welded of each material in the material batch and obtaining the initial trajectory corresponding to the material batch, the trajectory point radius of the initial trajectory is adjusted to cover the size deviations according to the size deviations between the edges to be welded of each material and the initial trajectory, so as to generate the welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius, so that the generated welding trajectory can cover the size fluctuations of each material in the same material batch and meet the welding requirements of each material in the material batch, without having to plan trajectories for different materials in the same material batch, thereby improving the welding efficiency of the materials.

[0064] Considering that a welding track that is too large will also affect the qualified rate of the product, if the size data of the edge to be welded of any material is used to generate the initial track, the size deviation range between the edge to be welded of each material and the initial track will be large, so that the radius of the track point needs to be adjusted to a larger range to cover all the size deviations, resulting in the final welding track being too large. Therefore, in order to avoid the final welding track being too large and improve the qualified rate of the product, in some embodiments, according to the size data of the edge to be welded of each material in any material batch, the initial track corresponding to the material batch is obtained, including:

[0065] According to the size data of the edges to be welded of each material, the size average of each edge to be welded is obtained;

[0066] According to the size mean, the initial trajectory is obtained.

[0067] In some embodiments, after obtaining the size data of the edges to be welded of each material belonging to the material batch, the size data of each edge to be welded can be weighted averaged to obtain the size mean of each edge to be welded. For example, the size data of each edge to be welded can be assigned a preset weight first, and then the size data of each edge to be welded can be weighted averaged according to the preset weight of the size data of each edge to be welded to obtain the size mean of each edge to be welded. Among them, the preset weight of the size data of each edge to be welded can be set according to the actual situation. For example, the same preset weight can be assigned to the size data of each edge to be welded. Alternatively, the size data of each edge to be welded can be assigned a corresponding preset weight according to the frequency of occurrence of the size data of each edge to be welded. For example, the higher the frequency of occurrence of the size data of the edge to be welded, the greater the preset weight of the size data of the edge to be welded.

[0068] After obtaining the mean size of each edge to be welded, the initial trajectory corresponding to the material batch can be generated according to the mean size.

[0069] Since the initial trajectory is generated by the average size of each edge to be welded, the size deviation range between the edge to be welded of each material and the initial trajectory is small, so that only a small range of adjustment of the trajectory point radius of the initial trajectory is required to cover the size deviation, thereby effectively reducing the size of the final welding trajectory and improving the product qualification rate.

[0070] When the material is a battery top cover with a rectangular edge to be welded, in order to reduce stress concentration and improve the strength and durability of the material, the edge to be welded of this type of battery top cover usually has rounded corners, and the initial track generated using the size data of each battery top cover of this material batch will also have rounded corners. At this time, in order to enable the subsequently generated welding track to completely cover all size fluctuations, in some embodiments, the track point radius can be adjusted according to the length deviations, width deviations, and rounded corner deviations between the edge to be welded of each material and the initial track.

[0071] Among them, after obtaining the initial trajectory, the length of the edge to be welded of any material in the material batch can be compared with the length of the initial trajectory to obtain the length deviation between the two, and the width of the edge to be welded of the material can be compared with the width of the initial trajectory to obtain the width deviation between the two, and at the same time, the fillet of the edge to be welded of the material can be compared with the fillet of the initial trajectory to obtain the fillet deviation between the two. In this way, after comparing the edges to be welded of all materials with the initial trajectory, the length deviations, width deviations and fillet deviations between the edges to be welded of each material and the initial trajectory can be obtained.

[0072] After obtaining the length deviations, width deviations, and fillet deviations, the radius of the track points on the long side of the initial track can be adjusted according to the maximum length deviation among the length deviations; the radius of the track points on the wide side of the initial track can be adjusted according to the maximum width deviation among the width deviations; and the radius of the track points on the fillet of the initial track can be adjusted according to the maximum fillet deviation among the fillet deviations. For the track points at the intersection of the long side and the fillet, the radius of the track points can be adjusted according to the maximum value among the length deviations and the fillet deviations. Similarly, for the track points at the intersection of the wide side and the fillet, the radius of the track points can be adjusted according to the maximum value among the wide side deviations and the fillet deviations.

[0073] When the edge to be welded of the material is a rectangle, the radius of the trajectory point is adjusted by the length deviations, width deviations and corner fillet deviations between the edge to be welded of each material and the initial trajectory, so that the adjusted trajectory points can more effectively cover all dimensional fluctuations of the edge to be welded of each material, further improving the product qualification rate.

[0074] Considering that in actual applications, the laser welding equipment that welds the materials draws the welding track, if the size of the track points of the welding track is inconsistent, the laser welding equipment needs to be adjusted multiple times during the welding process, affecting the welding efficiency. Therefore, in order to improve the welding efficiency, in some embodiments, if the material is a battery top cover with a rectangular edge to be welded, the track point radius can be adjusted according to the peak values ​​of the length deviations, width deviations, and fillet deviations between the edge to be welded of each material and the initial track.

[0075] For example, after obtaining the length deviations, width deviations, and fillet deviations between the edge to be welded of each material and the initial trajectory, the maximum deviation value can be determined from the deviation set consisting of the length deviations, width deviations, and fillet deviations, so as to adjust the trajectory point radius of the initial trajectory to be greater than or equal to the deviation value. If the maximum length deviation among the length deviations is 0.01 cm, the maximum width deviation among the width deviations is 0.02 cm, and the maximum fillet deviation among the fillet deviations is 0.01 cm, then the trajectory point radius of the initial trajectory can be determined to be greater than or equal to 0.02 cm.

[0076] The trajectory point radius is adjusted by the peak values ​​of the length deviations, width deviations and fillet deviations between the edge to be welded of each material and the initial trajectory, so that the trajectory points of the welding trajectory of a certain batch of materials generated subsequently can be the same size. Therefore, while covering the size fluctuations of the same batch of materials, there is no need to adjust the laser welding equipment multiple times during the welding process, thereby reducing the debugging cost of the equipment and improving the welding efficiency of materials welding using welding trajectories.

[0077] After obtaining the trajectory point radius of the initial trajectory corresponding to a certain material batch, the area of ​​each trajectory point in the initial trajectory can be adjusted according to the trajectory point radius to generate the welding trajectory of each material in the material batch.

[0078] As for the generation of welding trajectories, in some embodiments, such as Figure 3 As shown, generating a welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius includes:

[0079] S201, calibrating the defocus amount of the welding equipment that draws the initial trajectory according to the trajectory point radius;

[0080] S202, generating a welding trajectory of each material in the material batch according to the initial trajectory and the defocus amount.

[0081] The welding device may be a laser welder for welding materials, which realizes material welding through high-energy laser pulses generated by the transmitting end.

[0082] After obtaining the trajectory point radius of the initial trajectory, the defocus amount of the welding equipment can be calibrated by the trajectory point radius. If the trajectory point radius is synchronized to the host computer of the welding equipment, the host computer of the welding equipment calibrates the defocus amount of the welding equipment. In the process of calibrating the defocus amount of the welding equipment, the spot area formed by the welding equipment at the current defocus amount can be calculated in real time. If the radius of the spot area reaches the trajectory point radius, it means that the defocus amount calibration of the welding equipment is completed. At this time, the spot area formed under the defocus amount is the trajectory point area of ​​the welding trajectory.

[0083] After completing the calibration of the defocus amount of the welding equipment, the welding trajectory of each material in the material batch can be generated based on the spot area formed by the defocus amount and the initial trajectory, and the welding trajectory and the corresponding relationship between the welding trajectory, the material batch and the defocus amount can be saved in the trajectory library.

[0084] The defocus amount of the welding equipment that draws the initial trajectory is calibrated through the trajectory point radius, so that the welding trajectory of each material in the material batch is generated according to the initial trajectory and the defocus amount of the calibrated welding equipment, so that the defocus amount of the welding equipment can be directly determined during subsequent welding, thereby reducing the debugging cost of the welding equipment.

[0085] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution in the present application will be described clearly and completely below. In some embodiments, the trajectory generation method includes:

[0086] According to the size data of the edges to be welded of each material in any material batch, the size mean of each edge to be welded is obtained;

[0087] According to the initial trajectory determined by the size mean and the maximum size deviation of the edge to be welded of each material, the trajectory point radius of the initial trajectory is adjusted until the trajectory point radius is larger than the maximum size deviation;

[0088] The defocus amount of the welding equipment that draws the initial trajectory is calibrated according to the trajectory point radius, so as to generate the welding trajectory of each material in the material batch according to the initial trajectory and the calibrated defocus amount.

[0089] Among them, the corresponding size mean values ​​can be obtained according to different data types in the size data. For example, if the size data includes data types such as length, width, height, and fillet, then the length mean value of each welding edge is obtained according to the length of the welding edge of each material; the width mean value of each welding edge is obtained according to the width of the welding edge of each material; the height mean value of each welding edge is obtained according to the height of the welding edge of each material; the fillet mean value of each welding edge is obtained according to the fillet of the welding edge of each material. And so on, to obtain the size mean value corresponding to each data type. In this way, the processing requirements of materials of various shapes can be met.

[0090] For example, assuming that the edge to be welded of the material is a rectangle, the length, width and fillet of the edge to be welded of the material can be obtained, and then the length, width and fillet of each edge to be welded are weighted averaged to obtain the mean length, mean width and mean fillet of each edge to be welded. After obtaining the mean length, mean width and mean fillet, the corresponding initial trajectory can be generated according to the mean length, mean width and mean fillet. For example, if the mean length is 5 cm, the mean width is 4 cm, and the mean fillet is 0.1 cm in radius, a rectangular trajectory with a length of 5 cm, a width of 4 cm and a fillet of 0.1 cm can be obtained.

[0091] After obtaining the rectangular track of the material batch, the maximum length, maximum width and maximum rounded corner can be extracted from the length, width and rounded corner of each edge to be welded, and then the length, width and rounded corner of the initial track are compared with the maximum length, maximum width and maximum rounded corner respectively to obtain the length error, width error and rounded corner error. After obtaining the length error, width error and rounded corner error, the maximum value of these three error values ​​is obtained as the maximum size deviation, so as to determine the maximum size deviation as the track point radius of the rectangular track.

[0092] After determining the trajectory point radius of the rectangular trajectory, the defocus of the welding equipment is calibrated by the trajectory point radius, so that the radius of the spot area formed by the welding equipment according to the calibrated defocus reaches the trajectory point radius. After completing the calibration of the defocus of the welding equipment, the final welding trajectory is generated according to the spot area formed by the defocus and the rectangular trajectory. Figure 4 As shown, according to the spot area formed by the defocus amount and the rectangular track B, a welding track B' in which the centers of the track points form the rectangular track B can be generated.

[0093] After the welding trajectory is generated, the correspondence between the welding trajectory, the material batch and the defocus amount can be saved in the trajectory library for subsequent call.

[0094] In some embodiments, after generating the welding tracks of each material in any material batch, if a target material needs to be welded, the welding track of the target material can be obtained according to the material batch to which the target material belongs. The target material is any material to be welded.

[0095] When a welding request for a target material is received, the welding request can be responded to and the material batch to which the target material belongs can be determined, for example, by using a batch identifier in the welding request to determine the material batch to which the target material belongs.

[0096] Alternatively, the material batch to which the target material belongs can be determined based on the material ID of the target material.

[0097] The material identification is a unique identification of the target material, which can be a QR code or a barcode. The terminal device can pre-record the mapping relationship between the material identification and the material batch. After obtaining the material identification of the target material, the material batch to which the target material belongs can be determined according to the material identification. For example, by scanning the QR code or barcode of the target material, the material batch to which the target material belongs can be determined.

[0098] After determining the material batch to which the target material belongs, the welding trajectory corresponding to the material batch can be obtained from the trajectory library storing the welding trajectory through the material batch as the welding trajectory of the target material, so as to weld the target material using the welding trajectory. For example, after obtaining the welding trajectory of the target material, the fixed side of the target material is used as the reference side, and welding is performed according to the welding trajectory of the target material.

[0099] The welding trajectory of the target material is determined by the material batch to which the target material belongs, so that the welding trajectory of the target material can be quickly obtained and the welding efficiency of the material can be improved.

[0100] Figure 5 The present application provides a schematic diagram of the structure of a trajectory generating device. It should be understood that the device and Figure 1 Corresponding to the method embodiment executed in, the steps involved in the aforementioned method can be executed. The specific functions of the device can be found in the description above. To avoid repetition, detailed descriptions are appropriately omitted here. The device includes at least one software function module that can be stored in a memory in the form of software or firmware or solidified in the operating system (OS) of the device. Specifically, the device includes: an initial trajectory acquisition module 301, which is used to obtain the initial trajectory corresponding to the material batch according to the size data of the edge to be welded of each material in any material batch; a trajectory radius determination module 302, which is used to adjust the trajectory point radius of the initial trajectory according to the size deviation between the edge to be welded of each material and the initial trajectory, until the trajectory point radius covers each size deviation; a welding trajectory generation module 303, which is used to generate the welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius.

[0101] In the technical solution of the embodiment of the present application, by utilizing the size data of the edges to be welded of each material in the material batch to obtain the initial trajectory corresponding to the material batch, the trajectory point radius of the initial trajectory is adjusted to cover the size deviations between the edges to be welded of each material and the initial trajectory, so as to generate the welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius, so that the generated welding trajectory can cover the size fluctuations of each material in the same material batch, and can meet the welding requirements of each material in the material batch, without the need to perform trajectory planning for different materials in the same material batch separately, thereby improving the welding efficiency of the materials.

[0102] According to some embodiments of the present application, the initial trajectory acquisition module 301 is specifically used to: obtain the size average of each edge to be welded according to the size data of the edge to be welded of each material; and obtain the initial trajectory according to the size average.

[0103] According to some embodiments of the present application, the material includes a rectangular edge to be welded; the trajectory radius determination module 302 is specifically used to adjust the trajectory point radius according to the length deviations, width deviations and fillet deviations between the edge to be welded of each material and the initial trajectory.

[0104] According to some embodiments of the present application, the trajectory radius determination module 302 is specifically used to adjust the trajectory point radius according to the peak values ​​of each length deviation, each width deviation and each rounded corner deviation.

[0105] According to some embodiments of the present application, the welding trajectory generation module 303 is specifically used to: calibrate the defocus amount of the welding equipment that draws the initial trajectory according to the trajectory point radius; and generate the welding trajectory of each material in the material batch according to the initial trajectory and the defocus amount.

[0106] According to some embodiments of the present application, the welding trajectory generating module 303 is further used to obtain the welding trajectory of the target material according to the material batch to which the target material belongs.

[0107] According to some embodiments of the present application, the welding trajectory generation module 303 is further used to: determine the material batch to which the target material belongs according to the material identification of the target material.

[0108] According to some embodiments of the present application, Figure 6As shown, the present application provides an electronic device 40, including: a processor 401 and a memory 402, the processor 401 and the memory 402 are interconnected and communicate with each other through a communication bus 403 and / or other forms of connection mechanisms (not marked), the memory 402 stores a computer program executable by the processor 401, and when the computing device is running, the processor 401 executes the computer program to execute the method executed by the external terminal in any optional implementation method, for example: according to the size data of the edge to be welded of each material in any material batch, an initial trajectory corresponding to the material batch is obtained; according to the size deviation between the edge to be welded of each material and the initial trajectory, the trajectory point radius of the initial trajectory is adjusted until the trajectory point radius covers each size deviation; according to the initial trajectory and the trajectory point radius, a welding trajectory for each material in the material batch is generated.

[0109] The present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method in any of the aforementioned optional implementations is executed.

[0110] Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, disk or optical disk.

[0111] The present application provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the method in any optional implementation manner.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A trajectory generation method, characterized in that: include: According to the size data of the edges to be welded of each material in any material batch, an initial trajectory corresponding to the material batch is obtained; According to the size deviation between the edge to be welded of each of the materials and the initial trajectory, adjusting the trajectory point radius of the initial trajectory until the trajectory point radius covers each of the size deviations; A welding trajectory of each material in the material batch is generated according to the initial trajectory and the trajectory point radius.

2. The method according to claim 1, characterized in that According to the size data of the edges to be welded of each material in any material batch, an initial trajectory corresponding to the material batch is obtained, including: According to the size data of the edges to be welded of each material, the size average of each edge to be welded is obtained; The initial trajectory is obtained according to the size mean.

3. The method according to claim 1, characterized in that According to the size deviation between the edge to be welded of each of the materials and the initial trajectory, adjusting the trajectory point radius of the initial trajectory comprises: The trajectory point radius is adjusted according to the length deviations, width deviations and fillet deviations between the edges to be welded of each of the materials and the initial trajectory.

4. The method according to claim 3, characterized in that According to the length deviations, width deviations and fillet deviations between the edges to be welded of each material and the initial trajectory, the radius of the trajectory point is adjusted, including: The trajectory point radius is adjusted according to peak values ​​of the length deviations, the width deviations, and the rounded corner deviations.

5. The method according to any one of claims 1 to 4, characterized in that: Generating a welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius includes: Calibrate the defocus amount of the welding equipment drawing the initial trajectory according to the trajectory point radius; A welding trajectory of each material in the material batch is generated according to the initial trajectory and the defocus amount.

6. The method according to any one of claims 1 to 4, characterized in that: Also includes: According to the material batch to which the target material belongs, a welding trajectory of the target material is obtained.

7. The method according to claim 6, characterized in that Also includes: According to the material identification of the target material, the material batch to which the target material belongs is determined.

8. A trajectory generating device, characterized in that: The device comprises: An initial trajectory acquisition module, used to obtain an initial trajectory corresponding to any material batch according to the size data of the edge to be welded of each material in any material batch; A trajectory radius determination module, used for adjusting the trajectory point radius of the initial trajectory according to the size deviation between the edge to be welded of each material and the initial trajectory, until the trajectory point radius covers each size deviation; The welding trajectory generation module is used to generate the welding trajectory of each material in the material batch according to the initial trajectory and the trajectory point radius.

9. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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