Welding Simulation Method, Device and Electronic Equipment

Abstract

The present application provides a welding simulation method, apparatus and electronic device. The method includes: obtaining a base material model, a groove model and a target droplet model, where the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by performing a preset machining operation on the weldable part of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding torch model by a preset distance; determining a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model and the groove model, where the set of moving distances is used to indicate the distances required for the target droplet model to move during the falling process; moving the target droplet model to the corresponding simulation welding position according to the set of moving distances, thereby improving the simulation degree of the simulation welding.

Description

Technical Field

[0001] This application relates to the field of computer simulation technology, and particularly to a welding simulation method, apparatus, and electronic device. Background Art

[0002] Welding is a manufacturing process and technology for joining metals or other thermoplastics such as plastics by heating, high temperature, or high pressure. To ensure the accuracy during actual welding, simulation / simulation welding is usually carried out before actual welding.

[0003] In the related art, when simulating the welding process, the commonly adopted method is to first cover a weld material texture map on a rectangular 3D model to represent the weld; then during the welding process, the length of the 3D model continuously increases as the welding torch moves, so as to simulate the process of the weld continuously growing. However, for the weld generated in this way, the weld ripples in the weld are not composed of a real 3D model, but originate from the texture in the weld material texture map. This method is equivalent to using a planar picture texture instead of a three-dimensional model texture, thus resulting in a low welding simulation degree.

[0004] In view of the problem of low simulation degree of the existing welding simulation method, no effective technical solution has been proposed yet. Summary of the Invention

[0005] Embodiments of this application provide a welding simulation method, apparatus, and electronic device to at least solve the problem of low simulation degree of the existing welding simulation method.

[0006] According to one aspect of the embodiments of this application, a welding simulation method is provided, including: obtaining a base material model, a groove model, and a target droplet model, where the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by performing a preset processing operation on the weldable part of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding torch model by a preset distance; determining a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model, where the set of moving distances is used to indicate the distances that the target droplet model needs to move during the falling process; moving the target droplet model to the corresponding simulation welding position according to the set of moving distances.

[0007] According to another aspect of the embodiments of the present application, a welding simulation device is further provided, including: an acquisition unit, configured to acquire a base material model, a groove model, and a target droplet model, where the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by subjecting the weldable part of the base material to a preset machining operation, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding torch model by a preset distance; a determination unit, configured to determine a set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model, where the set of movement distances is used to indicate the distances that the target droplet model needs to move during the falling process; and a movement unit, configured to move the target droplet model to the corresponding simulation welding position according to the set of movement distances.

[0008] Optionally, the above determination unit includes: a first acquisition subunit, configured to acquire the droplet order corresponding to the target droplet model, where the droplet order is used to indicate the order of the target droplet model in the simulation welding process; a first determination subunit, configured to, when the droplet order indicates that the target droplet model is the first target droplet model in the simulation process, determine the set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model; and when the droplet order indicates that the target droplet model is a non-first target droplet model in the simulation process, acquire a reference droplet model, where the reference droplet model is the previous droplet model of the target droplet model; and a second determination subunit, configured to determine the set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, the groove model, and the reference droplet model.

[0009] Optionally, the above second determination subunit includes: a first acquisition module, configured to acquire a first cutting sub-model corresponding to the target droplet model, and acquire a first vertex set corresponding to the first cutting sub-model according to the first cutting sub-model, where the first cutting sub-model is a sub-model close to the base material model obtained by evenly dividing the target droplet model along the cross-section parallel to the base material model; a control module, configured to control each first vertex in the first vertex set to emit a ray along the molten pool falling direction, to obtain a first vertex ray corresponding to each first vertex, where each first vertex ray is an invisible ray; and a first determination module, configured to determine the movement distance corresponding to each first vertex according to the target droplet model, the base material model, the groove model, the reference droplet model, and a plurality of first vertex rays, to obtain the set of movement distances.

[0010] Optionally, the above-mentioned moving unit includes: a third determination subunit, configured to determine a reference moving distance set corresponding to the second vertex set according to the moving distance set, where the second vertex set is the vertex set corresponding to the second cutting sub-model, and the second cutting sub-model is a sub-model far from the base material model obtained by evenly dividing the target droplet model along the cross-section parallel to the base material model; a moving subunit, configured to move the first cutting sub-model to the simulation welding position corresponding to the first cutting sub-model according to the moving distance set, and move the second cutting sub-model to the simulation welding position corresponding to the second cutting sub-model according to the reference moving distance set.

[0011] Optionally, the above-mentioned first determination module includes: a first determination sub-module, configured to determine any one of the multiple first vertex rays as the current ray; a second determination sub-module, configured to determine the touch point corresponding to the current ray when the current ray touches any one of the base material model, the groove model, and the reference droplet model; a third determination sub-module, configured to determine the moving distance corresponding to the current vertex according to the touch point and the current vertex corresponding to the current ray; a fourth determination sub-module, configured to determine any one of the multiple first vertex rays other than the current ray as the current ray.

[0012] Optionally, the above-mentioned acquisition unit includes: a second acquisition subunit, configured to acquire the pose information of the welding torch model and the welding torch head corresponding to the welding torch model; a first control subunit, configured to control the welding torch head to generate an initial droplet model according to the pose information when controlling the simulation start of the welding torch model; a second control subunit, configured to control the volume of the initial droplet model to gradually increase and highlight it before the initial droplet model leaves the welding torch head; a third control subunit, configured to control the volume of the initial droplet model to stop growing and solidify to obtain the target droplet model after the initial droplet model leaves the welding torch head and is at a preset distance from the welding torch head.

[0013] Optionally, the above-mentioned first acquisition subunit includes: a second acquisition module, configured to acquire the initial welding position of the simulation welding and the first boundary pose information and the second boundary pose information of the base material model, where the first boundary pose information is the pose information of the end of the base material model close to the initial welding position, and the second boundary pose information is the pose information of the end of the base material model far from the initial welding position; a second determination module, configured to determine whether the target droplet model is the droplet order of the first or non-first target droplet model according to the initial welding position, the first boundary pose information, and the pose information; a third determination module, configured to determine whether the target droplet model is the droplet order of the last target droplet model according to the second boundary pose information and the pose information.

[0014] Optionally, the above welding simulation device further includes: a target determination unit, configured to determine a simulation welding interface according to the second boundary pose information when the droplet order indicates that the target droplet model is the last target droplet model in the simulation process; control the growth volume and solidification shape of the initial droplet model according to the base material model, the groove model, the reference droplet model, and the simulation welding interface, and determine a set of moving distances corresponding to the target droplet model; finally, use the moving unit to move the target droplet model to the simulation welding position corresponding to the target droplet model according to the set of moving distances.

[0015] According to another aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing computer instructions for causing a computer to execute the above welding simulation method.

[0016] According to another aspect of the embodiments of the present application, there is also provided an electronic device including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to cause the at least one processor to execute the above welding simulation method.

[0017] Compared with the prior art, the technical solution provided by the embodiments of the present application may include the following beneficial effects:

[0018] By the above welding simulation method, the problem of low simulation degree of the existing welding simulation method is solved, and the simulation degree of the simulation welding is improved. Description of the Drawings

[0019] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0020] Figure 1 is a schematic diagram of the hardware environment of an optional welding simulation method according to an embodiment of the present invention;

[0021] Figure 2 is a flowchart of an optional welding simulation method according to an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of an optional welding simulation method according to an embodiment of the present invention;

[0023] Figure 4Schematic diagram of another alternative welding simulation method according to an embodiment of the present invention;

[0024] Figure 5 Schematic diagram of yet another alternative welding simulation method according to an embodiment of the present invention;

[0025] Figure 6 Schematic structural diagram of an alternative welding simulation device according to an embodiment of the present invention;

[0026] Figure 7 Schematic structural diagram of an alternative electronic device according to an embodiment of the present invention. Detailed implementation manners

[0027] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0029] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0030] In order to solve the problem of low simulation degree of the existing welding simulation method, the embodiments of the present application provide a welding simulation method with high simulation degree. As an alternative implementation manner, the above-mentioned welding simulation method can be but is not limited to being applied to, for example, Figure 1 the welding simulation system composed of the terminal device 102 and the server 104 as shown. As shown in Figure 1As shown in the figure, the terminal device 102 is connected to the server 104 through the network 110. The above-mentioned network 110 may include but is not limited to: wired networks and wireless networks. Among them, the wired network includes: local area networks, metropolitan area networks, and wide area networks, and the wireless network includes: Bluetooth, WIFI, and other networks that implement wireless communication. The above-mentioned terminal device 102 may include but is not limited to at least one of the following: mobile phones (such as Android mobile phones, iOS mobile phones, etc.), laptop computers, tablet computers, handheld computers, MIDs (Mobile Internet Devices), PADs, desktop computers, smart TVs, etc.

[0031] The above-mentioned terminal device 102 is also provided with a display 106, a processor 108, and a memory 112. The display 106 can be used to display the process and effect of simulated welding. The processor 108 can be used to process the points in the model, and the memory 112 can be used to store various models and data involved in this application.

[0032] The above-mentioned server 104 can be a single server, or a server cluster composed of multiple servers, or a cloud server. The above-mentioned server 104 includes a database 114 and a processing engine 116. Among them, the above-mentioned database 114 can be used to store various models and data involved in this application, and the above-mentioned processing engine 116 is used to process the vertex data corresponding to the above various models.

[0033] According to one aspect of the embodiments of the present invention, the above-mentioned welding simulation system can also perform the following steps: First, the terminal device 102 executes S102 and sends a welding simulation request to the server 104 through the network 110; then, the server 104 executes S104 to S108: obtain a base material model, a groove model, and a target droplet model. The base material model is the model corresponding to the material to be welded, the groove model is the groove obtained by performing a preset processing operation on the part to be welded of the base material, and the target droplet model is the molten pool droplet model formed after the molten pool droplet leaves the welding torch model by a preset distance; determine a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model, where the set of moving distances is used to indicate the distances required for the target droplet model to move during the falling process; move the target droplet model to the simulation welding position corresponding to the target droplet model according to the set of moving distances.

[0034] In the above embodiments of the present invention, by using the above-mentioned welding simulation method, the problem of low simulation degree of the existing welding simulation method is solved, and the simulation degree of simulated welding is improved.

[0035] The above is only an example, and no limitation is made thereto in this embodiment.

[0036] As an alternative implementation, please refer toFigure 2 , which shows a flowchart of a welding simulation method provided by an embodiment of the present application. The execution subject of each step of this method can be the terminal device and the server introduced above. In the following method embodiments, for the convenience of description, only the execution subject of each step is introduced as "computer device". This method may include at least one of the following steps (S202 to S206):

[0037] S202, obtain a base material model, a groove model, and a target droplet model. The base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by performing a preset processing operation on the weldable part of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding torch model by a preset distance;

[0038] S204, determine a set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model, where the set of moving distances is used to indicate the distances required for the target droplet model to move during the falling process;

[0039] S206, move the target droplet model to the simulation welding position corresponding to the target droplet model according to the set of moving distances.

[0040] It should be noted that the base material model, the groove model, the target droplet model, and the subsequent reference droplet model involved in the present application, such as those in S202 above, are all three-dimensional models. The set of moving distances in S204 can be, but is not limited to, understood as having a moving distance for each vertex corresponding to the target droplet model. And the multiple moving distances in the set of moving distances in the present application indicate the moving distances of multiple first vertices in the first cutting sub-model (described in detail below) during the falling process, and each first vertex corresponds to a moving distance. That is, the set of moving distances refers to the set of moving distances of the vertices in the droplet model, which is used to control each vertex of the droplet model to move independently, so that when the droplet model drips onto a complex shape, the shape of the droplet itself changes, so as to perfectly fit the complex shape it drips onto. The process of obtaining the model in S202 can be an operation of modeling the molten pool generated during the welding process by using an MR intelligent welding robot product.

[0041] Through the above implementation manner of the present application, by using the above welding simulation method, the problem of low simulation degree of the existing welding simulation method is solved, and the simulation degree of simulation welding is improved.

[0042] As an optional implementation manner, the above determining the set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model includes:

[0043] S1. Obtain the droplet order corresponding to the target droplet model, where the droplet order is used to indicate the sequence of the target droplet model in the simulation welding process;

[0044] S2. When the droplet order indicates that the target droplet model is the first target droplet model in the simulation process, determine the set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model;

[0045] S3. When the droplet order indicates that the target droplet model is a non-first target droplet model in the simulation process, obtain a reference droplet model, where the reference droplet model is the previous droplet model of the target droplet model;

[0046] S4. Determine the set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, the groove model, and the reference droplet model.

[0047] It should be noted that the order indicated by the droplet order in S1 above includes the first target droplet model, the last droplet model (i.e., the last droplet model), and the non-first droplet model (i.e., the droplet model that is neither the first nor the last).

[0048] It can be understood that the method in S2 above further includes: S2-1 Obtain the boundary surface of the base material model, the welding voltage value and the welding current value corresponding to the welding torch; S2-2, Determine the shape of the target droplet model according to the boundary surface, the base material model, the groove model, the welding voltage value, and the welding current value; S2-3, Divide the target droplet model evenly along the cross-section parallel to the base material model to obtain the following first divided sub-model and second divided sub-model; S2-4, Determine the movement distance corresponding to each first vertex according to the first vertex set corresponding to the first divided sub-model, the boundary surface, the base material model, and the groove model to obtain the set of movement distances. The operation in S2-4 can be understood, but is not limited to: controlling each first vertex to emit a ray along the direction of the molten pool drop to obtain the first vertex ray corresponding to each first vertex, and according to the starting point of each first vertex ray, the distance between the starting point and the contact point of each first vertex ray with the boundary surface, or the base material model, or the groove model (the point where the first vertex ray first contacts any one of the boundary surface, the base material model, and the groove model is the contact point), that is, the movement distance corresponding to each first vertex can be determined, so as to obtain the set of movement distances. It should be noted that controlling the welding voltage value and the welding current value can control the uniform welding, and regardless of whether the target droplet model is the first droplet model, the non-first droplet model, or the last droplet model, in the current welding process, the welding voltage value and the welding current value remain fixed, so as to control the uniform welding of the current welding process.

[0049] The boundary surface in the above S2-1 can be, but is not limited to, understood as the boundary surface obtained when the boundary between the base material model and the groove model is at the initial welding position. This boundary surface is the plane where the boundary between the base material model and the groove model lies (such as Figure 5 the boundary surface 510 shown). If the initial welding position is not the boundary between the base material model and the groove model, then the boundary surface does not need to be considered, and only the base material model and the groove model need to be considered.

[0050] The determining of the set of moving distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model in the above S4 includes: S4-1, obtaining a first cutting sub-model corresponding to the target droplet model, and obtaining a first vertex set corresponding to the first cutting sub-model according to the first cutting sub-model, where the first cutting sub-model is a sub-model close to the base material model obtained by evenly dividing the target droplet model along the cross-section parallel to the base material model; S4-2, controlling each first vertex in the first vertex set to emit a ray along the molten pool falling direction, obtaining a first vertex ray corresponding to each first vertex, where each first vertex ray is an invisible ray; S4-3, determining the moving distance corresponding to each first vertex according to the target droplet model, the base material model, the groove model, the reference droplet model, and a plurality of first vertex rays, and obtaining the set of moving distances.

[0051] The above-mentioned average division in S4-1 can be, but is not limited to, understood as evenly dividing the target droplet model according to the shape of the target droplet model to obtain a sub-model close to the base material model (i.e., the first cutting sub-model) and a sub-model far from the base material model (i.e., the second cutting sub-model). Both the first cutting sub-model and the second cutting sub-model include a plurality of vertices. By the method in the above S4-2, in the first vertex set corresponding to the first cutting sub-model, the vertex ray corresponding to each first vertex (i.e., the first vertex ray) is determined. Then, by the method in the above S4-3, according to the distance between the starting point of each first vertex ray and the contact point between each starting point corresponding first vertex ray and the base material model, or the groove model, or the reference droplet model below it (the point where the first vertex ray first contacts any one of the boundary surface, the base material model, and the groove model is the contact point), the moving distance corresponding to each first vertex can be determined, thereby obtaining the set of moving distances.

[0052] S4-3 specifically includes: S4-3-1, determining any one of the multiple first vertex rays as the current ray; S4-3-2, in the case where the current ray touches any one of the base material model, groove model, and reference droplet model (that is, the current ray first touches any one of the multiple models such as the base material model, groove model, and reference droplet model, then the touch point is the touch point corresponding to the current vertex ray. In addition to the base material model, groove model, and reference droplet model, the multiple models also include the above-mentioned boundary surface and the following simulated welding surface interface, and the simulated welding surface interface is the surface of the welding end boundary of the base material model or groove model), determining the touch point corresponding to the current ray; S4-3-3, determining the moving distance corresponding to the current vertex according to the touch point and the current vertex corresponding to the current ray; S4-3-4, determining any one of the multiple first vertex rays other than the current ray as the current ray.

[0053] Through the above implementation manner of the present application, by adopting the method of determining the set of moving distances corresponding to the target droplet model, each point in the target droplet model can be quickly placed at its corresponding positioned point, so as to achieve the effect of accurately simulating the dripping of the target droplet model and improve the simulation performance.

[0054] As an optional implementation manner, obtaining the target droplet model includes:

[0055] S1, obtaining the torch model and the pose information of the torch head corresponding to the torch model;

[0056] S2, when controlling the torch model to start simulation, controlling the torch head to generate an initial droplet model according to the pose information;

[0057] S3, before the initial droplet model leaves the torch head, controlling the volume of the initial droplet model to gradually increase and highlighting it;

[0058] S4, when the initial droplet model leaves the torch head and is at a preset distance from the torch head, controlling the volume of the initial droplet model to stop growing and solidify to obtain the target droplet model.

[0059] The above S1 also includes obtaining the welding voltage value and the welding current value. The process in S2 that follows can, but is not limited to, controlling the welding torch head to generate an initial droplet model based on the pose information, the welding voltage value, and the welding current value. After starting to generate the initial droplet model and before the initial droplet model leaves the welding torch head, control the volume of the initial droplet model to gradually increase and highlight it. When the initial droplet model leaves the welding torch head and is at a preset distance from the welding torch head (it can also be at the moment before contacting the base material model or the groove model), control the volume of the initial droplet model to stop growing and solidify. The initial droplet model then becomes a target droplet model with a fixed shape and a fixed volume. That is, when the welding torch point completely leaves the molten pool, control the volume of the molten pool droplet to gradually increase, showing a continuously growing state and having a highlighting effect. When the welding torch point is at a certain distance from the currently fallen molten pool, control the volume of the initial droplet model to stop growing and solidify, and the highlighting effect gradually fades.

[0060] As Figure 3 shown, just after the initial droplet model generated by the welding torch 302 through the welding wire, welding voltage, and welding current it is equipped with leaves the welding torch head, the initial state of the molten pool droplet formed is as Figure 3 shown. This initial state can be any shape, it can be an irregular shape like the initial state of the molten pool droplet as Figure 3 shown, or it can be a circle like Figure 4 shown, or it can also be an ellipse, etc. Before the molten pool droplet in this initial state falls onto the base material model 304 (the groove model is not shown), when each molten pool droplet is generated, it will detect the shape of the existing model in the falling direction of the molten pool. After detecting the shape of the object model (including the base material model 304 and the groove model not shown) below the welding torch point, the molten pool droplet changes its form, thereby generating a target droplet model to simulate the situation after the liquid drops. Among the molten pool models that have already fallen onto the base material model 304 before the target droplet model, the model closest to the target droplet model is the reference droplet model.

[0061] Through the above implementation manner of the present application, by adopting a fixed process of generating the target droplet model, controlling the vertices in the molten pool model grid, and highly simulating the generation, growth, superposition, and solidification processes of the molten pool. Therefore, the formation of each welding ripple in the weld (the metal joint part formed after welding, which is filled and melted and joined by welding materials such as welding rods and welding wires, that is, the metal joint part formed when each generated target droplet model falls onto the base material model and the groove model) is obtained by the solidification of the 3D molten pool model, more truly restoring the generation process of the weld, and thus can simulate the entire process from the beginning of seeing the generation of the target droplet model at the welding torch point, further improving the accuracy of the entire simulation process of the simulated welding.

[0062] As an alternative implementation, obtaining the droplet order corresponding to the target droplet model includes:

[0063] S1. Obtain the initial welding position of the simulated welding and the first boundary pose information and the second boundary pose information of the base material model, where the first boundary pose information is the pose information of the end of the base material model close to the initial welding position, and the second boundary pose information is the pose information of the end of the base material model far from the initial welding position;

[0064] S2. Determine whether the target droplet model is the droplet order of the first or non-first target droplet model according to the initial welding position, the first boundary pose information and the pose information;

[0065] S3. Determine whether the target droplet model is the droplet order of the last target droplet model according to the second boundary pose information and the pose information.

[0066] The first target droplet model in the above S2 can be, but is not limited to, understood as the first droplet model generated during the welding process. The non-first target droplet model can be, but is not limited to, understood as the droplet model that is neither the first nor the last generated during the welding process, that is, the droplet model located between the first and the last.

[0067] The operation in the above S2 can be, but is not limited to, understood as determining whether the target droplet model is the first or non-first target droplet model according to the pose information at the boundary of the base material model, the initial welding position and the pose information of the welding torch point. Specifically, when the distance between the initial welding position and the first boundary pose information is less than or equal to the first preset distance, it is determined that the target droplet model is the first target droplet model; when the distance between the initial welding position and the first boundary pose information is greater than the first preset distance, and the distance between the initial welding position and the pose information of the welding torch point is less than or equal to the second preset distance, it is determined that the target droplet model is a non-first target droplet model; when the distance between the initial welding position and the first boundary pose information is greater than the first preset distance, and the distance between the initial welding position and the pose information of the welding torch point is greater than the second preset distance, it is determined that the target droplet model is a non-first target droplet model.

[0068] The operation in the above S3 can be, but is not limited to, understood as determining whether the target droplet model is the last droplet model (i.e., the above-mentioned last droplet model) according to the distance between the second boundary pose information and the pose information of the welding torch head when it is determined that the target droplet model is a non-first target droplet model.

[0069] After the above S3, it also includes: S4, when the droplet order indicates that the target droplet model is the last target droplet model in the simulation process, determining the simulated welding boundary surface according to the second boundary posture information; controlling the growth volume and solidification shape of the initial droplet model according to the base material model, groove model, reference droplet model and simulated welding boundary surface, and determining the moving distance set corresponding to the target droplet model; S5, moving the target droplet model to the simulated welding position corresponding to the target droplet model according to the moving distance set.

[0070] The above S5 specifically includes: determining a reference moving distance set corresponding to the second vertex set based on the moving distance set, wherein the second vertex set is a vertex set corresponding to the second cutting sub-model, and the second cutting sub-model is a sub-model away from the base material model obtained by evenly dividing the target droplet model according to a cross-section parallel to the base material model; moving the first cutting sub-model to the simulated welding position corresponding to the first cutting sub-model based on the moving distance set, and moving the second cutting sub-model to the simulated welding position corresponding to the second cutting sub-model based on the reference moving distance set.

[0071] During the welding process, a 3D model is created for each molten pool droplet, which is then dropped along the arc direction. Before it drops and contacts the weld, the shape details of all 3D models that the droplet may cover (including the parent material, groove, and previously solidified molten pool, i.e., the reference droplet model) are checked in advance. Based on this, the position of each vertex in the droplet model is controlled and adjusted accordingly. This ensures that the target droplet model drops correctly onto the existing model (including the parent material, groove, and previously solidified molten pool, i.e., the reference droplet model). The multiple first vertices in the first vertex set are the vertices of the triangles in the first cutting sub-model, and the multiple second vertices in the second vertex set are the vertices of the triangles in the second cutting sub-model.

[0072] The specific inspection and adjustment methods are as follows: Each 3D model (such as the target droplet model, the first cutting sub-model, the second cutting sub-model, the reference droplet model, etc.) is composed of multiple triangular planes, and a triangle has three vertices. Therefore, by changing the positions of all the triangular vertices of the molten pool model (initial droplet model), the shape of the molten pool can be changed, thereby forming the target droplet model. Assume that the initial shape of the molten pool droplet model is an oblate sphere similar to a Go piece, and each bottom vertex corresponds to a top vertex. At the initial stage of the generation of the molten pool droplet, the program controls to start from each vertex at the bottom of the molten pool model (that is, at this time, the initial droplet model is also evenly divided according to the cross-section parallel to the base material model, obtaining the first initial segmentation sub-model and the second initial segmentation sub-model. The first initial segmentation sub-model is the sub-model close to the base material model, and the second initial segmentation sub-model is the sub-model far from the base material model. And each vertex at the bottom is the vertex in the second initial segmentation sub-model), and emit rays along the falling direction of the molten pool (the rays are invisible and are internal functions of the 3D engine). When the rays touch the base material model, or the groove model, or the previously generated and solidified molten pool model (i.e., the reference droplet model), the shape of the molten pool droplet is changed, thereby obtaining the target droplet model.

[0073] After that, the target droplet model can be evenly divided. The specific average division process can be to divide it according to the cross-section parallel to the base material model, obtaining the first cutting sub-model and the second cutting sub-model. Then, control each first vertex in the first cutting sub-model to send a ray downward to determine the moving distance corresponding to each first vertex (that is, when the first vertex ray corresponding to the first vertex touches the base material model, or the groove model, or the previously generated and solidified molten pool model (i.e., the reference droplet model), record the distance passed by each first vertex ray, and this distance is the distance that the current first vertex needs to move during the falling process), thereby determining the moving distance set. Then, according to the moving distance set, both the first cutting sub-model and the second cutting sub-model can be moved to the corresponding positions. Specifically, according to the moving distance corresponding to each first vertex, each first vertex is moved to the corresponding simulation welding position, and according to the moving distance corresponding to each first vertex, the second vertex corresponding to each first vertex is moved to its corresponding simulation welding position. That is, the moving distance required for the second vertex (which can be, but is not limited to, understood as the top vertex of the target droplet model) corresponding to the first vertex (which can be, but is not limited to, understood as the bottom vertex of the target droplet model) is equal to the moving distance required for the first vertex. Performing the above operations on all pairs of vertices in the molten pool droplet model (that is, each first vertex and its corresponding second vertex are a pair of paired vertices) can simulate the deformation process when the molten pool droplet falls onto complex objects (including the base material model, the groove model, and the previously solidified molten pool (i.e., the reference droplet model)). The above operations are all automatically completed by the computer in a very short time.

[0074] The above cross-section can be, but is not limited to, understood as a plane parallel to the upper surface and / or the lower surface of the base material model. For example, when the base material model is placed flat on a carrier parallel to the ground (as shown in Figure 3 ), the cross-section is a plane parallel to the ground. Another example is that when there is an inclination angle between the base material model and the ground, the cross-section is parallel to the base material model, that is, there is an inclination angle between the cross-section and the ground that is the same as the above inclination angle, etc. That is, the specific inclination angle of the cross-section relative to the ground depends on the placement method of the base material model during welding. In addition to being parallel to the ground as shown in Figure 3 (i.e., flat welding), the placement methods of the base material model also include horizontal welding, vertical welding, overhead welding, and inclined welding, etc. Horizontal welding is: the groove model 504 as shown in Figure 5 or the groove to be welded, which is also parallel to the ground. However, one of the two boundaries of the base material model where the groove model 504 is located is in contact with the carrier surface. The difference between flat welding and horizontal welding in this application is that in flat welding, the lower surface of the base material model is in contact with the carrier surface, and in horizontal welding, both the lower surface and the upper surface of the base material model are perpendicular to the carrier surface, and one of the two surfaces of the base material model far from the groove model 504 is in contact with the carrier surface; vertical welding is that both the upper and lower surfaces of the groove model 504 and the base material model 504 are perpendicular to the carrier surface (i.e., the boundary surface 510 or the simulated welding boundary surface 514 as shown in Figure 5 is parallel to the carrier surface or in the same plane as the carrier surface); overhead welding is that the base material model and the groove model are above the welding torch (opposite to the flat welding direction, where the base material model and the groove model are below the welding torch); inclined welding is that there is a certain inclination angle between the groove model 504 and the carrier surface (such as an inclination of 45 degrees). It should be noted that the above carrier surface can be, but is not limited to, understood as the upper surface of the carrier of the base material model 502.

[0075] The above simulated welding boundary surface is the end boundary surface after welding. This simulated welding boundary surface can be the end boundary surface of the base material model and the groove model (such as the simulated welding boundary surface 514 as shown in Figure 5 ), or it can be the end boundary surface of non-base material model and non-groove model. In this case, the welding end point is not the end boundary of the base material model and the groove model (that is, the welding end point is the end boundary surface of non-base material model and non-groove model, such as the simulated welding boundary surface 512 as shown in Figure 5 ).

[0076] The above control of the growth volume and solidification shape can be, but is not limited to, understood as determining the height of the initial droplet model's growth volume and solidification shape according to the height of the reference droplet model, and the control of the growth volume can be, but is not limited to, understood as controlling the initial droplet model to grow to the target volume according to the target volume between the reference target droplet model and the base material model, the groove model, and the simulated welding boundary surface at this height.

[0077] Through the above embodiments of the present application, while ensuring the welding simulation effect, the welding simulation effect formed by the welding simulation can be made more balanced and complete.

[0078] The following takes Figure 5 as an example to elaborate on the above welding simulation method in detail:

[0079] First, obtain the base material model 502, groove model 504, reference droplet model 506, and target droplet model 508 as shown in Figure 5 ; then, the droplet order of the target droplet model 508 can be determined, that is, to determine whether the target droplet model is the first droplet model formed after the start of welding (i.e., the above-mentioned first droplet model), whether the target droplet model is the last droplet model formed after the start of welding (i.e., the above-mentioned last droplet model), and whether the target droplet model is a non-first (i.e., neither the first nor the last) droplet model formed after the start of welding. The specific determination process is to determine the droplet order corresponding to the target droplet model based on the initial welding position, the pose information of the welding torch point, the first boundary pose information, the second boundary pose information, etc. When the droplet order indicates that the target droplet model is the first droplet model, control the volume and shape of the target droplet model 508 according to the boundary surface 510, the base material model 502, the groove model 504, the welding voltage value, the welding current value, etc.; when the droplet order indicates that the target droplet model is a non-first droplet model, control the volume and shape of the target droplet model 508 according to the base material model 502, the groove model 504, the reference droplet model 506, the welding voltage value, and the welding current value; when the droplet order indicates that the target droplet model is the last droplet model, control the volume and shape of the target droplet model 508 according to the base material model 502, the groove model 504, the reference droplet model 506, the welding voltage value, the welding current value, the simulation welding boundary surface 512 or the simulation welding boundary surface 514.

[0080] After determining the shape and volume of the target droplet model 508, the target droplet model can be moved to the corresponding simulation welding position of the target droplet model by using the above method for determining the set of moving distances.

[0081] Through the above welding simulation method of the present application, not only the simulation degree of the simulation welding is improved, but also the visual effect of the entire simulation welding process can be ensured, thereby ensuring that the welding simulation effect is more balanced and complete.

[0082] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0083] According to another aspect of the embodiments of the present invention, there is also provided a welding simulation device for implementing the above welding simulation method, as Figure 6 shown. The device includes:

[0084] An acquisition unit 602, configured to acquire a base material model, a groove model, and a target droplet model. The base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by performing a preset processing operation on the part to be welded of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding torch model by a preset distance;

[0085] A determination unit 604, configured to determine a set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model, where the set of movement distances is used to indicate the distances required for the target droplet model to move during the falling process;

[0086] A movement unit 606, configured to move the target droplet model to the simulation welding position corresponding to the target droplet model according to the set of movement distances.

[0087] The specific manners of the operations performed by each unit in the above device embodiment have been described in detail in the embodiment related to the method, and will not be elaborated here.

[0088] According to yet another aspect of the embodiments of the present invention, there is also provided an electronic device for implementing the above welding simulation method. The electronic device may be a Figure 7 terminal device or a server as shown. In this embodiment, the electronic device is taken as an example of a terminal device for illustration. As Figure 7 shown, the electronic device includes: at least one processor 704; and a memory 702 communicatively connected to the at least one processor 704; wherein, the memory 702 stores a computer program executable by the at least one processor 704, and the computer program is executed by the at least one processor 704 so that the at least one processor 704 executes the steps in any one of the above welding simulation method embodiments.

[0089] Optionally, in this embodiment, the above electronic device may be at least one network device among multiple network devices in a computer network.

[0090] Optionally, in this embodiment, the above-mentioned processor may be configured to execute each step in the above-mentioned welding simulation method through a computer program.

[0091] Optionally, those of ordinary skill in the art can understand that Figure 7 the structure shown is only schematic, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a handheld computer, and a mobile Internet device (MID), a PAD and other terminal devices. Figure 7 It does not limit the structure of the above-mentioned electronic device. For example, the electronic device may further include more or fewer components (such as a network interface, etc.) than those shown in Figure 7 and have a different configuration from that shown in Figure 7 .

[0092] Among them, the memory 702 can be used to store software programs and modules, such as the program instructions / modules corresponding to the welding simulation method and device in the embodiments of the present invention. The processor 704 executes various functional applications and data processing by running the software programs and modules stored in the memory 702, that is, the above-mentioned welding simulation method is implemented. The memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, a flash memory, or other non-volatile solid-state memories. In some instances, the memory 702 may further include a memory remotely provided relative to the processor 704, and these remote memories may be connected to the terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof. Specifically, the memory 702 may be but is not limited to used to store various models and data involved in the present application. As an example, as Figure 7 shown, the above-mentioned memory 702 may include but is not limited to the acquisition unit 602, the determination unit 604, and the movement unit 606 in the above-mentioned welding simulation device. In addition, it may also include but is not limited to other module units in the above-mentioned welding simulation device, which will not be elaborated in this example.

[0093] Optionally, the above-mentioned transmission device 706 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wired network and a wireless network. In one instance, the transmission device 706 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and a router through a network cable so as to communicate with the Internet or a local area network. In one instance, the transmission device 706 is a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.

[0094] In addition, the above-mentioned electronic device further includes: a display 708, and a connection bus 710 for connecting each module component in the above-mentioned electronic device.

[0095] In other embodiments, the above-mentioned terminal device or server may be a node in a distributed system. Among them, the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the multiple nodes in a form of network communication. Among them, the nodes may form a peer-to-peer (P2P) network, and any form of computing device, such as an electronic device like a server or a terminal, can become a node in the blockchain system by joining the peer-to-peer network.

[0096] According to one aspect of the present application, there is provided a computer program product, which includes computer programs / instructions, and the computer programs / instructions contain program codes for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it executes various functions provided in the embodiments of the present application.

[0097] The serial numbers of the above-mentioned embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0098] According to one aspect of the present application, there is provided a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned welding simulation method.

[0099] Optionally, in the present embodiment, the above-mentioned computer-readable storage medium may be set to store a computer program for executing the above-mentioned welding simulation method.

[0100] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned method embodiments, it can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it may include the processes in the above-mentioned method embodiments. Among them, the storage medium may be a magnetic disk, an optical disc, a read-only memory (ROM), a random access memory (RAM), a flash memory (FM), a hard disk drive (HDD), or a solid-state drive (SSD), etc.; the storage medium may also include a combination of the above-mentioned types of memories.

[0101] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage media. Based on such understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in the storage media and includes several instructions for causing one or more computer devices (which can be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods in the various embodiments of the present invention.

[0102] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0103] In the several embodiments provided by the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the above division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0104] The units described above as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] In addition, the functional units in the various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0106] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A welding simulation method, characterized in that, Including: Obtain a base material model, a groove model, and a target droplet model. The base material model is the model corresponding to the material to be welded. The groove model is a groove obtained by performing a preset machining operation on the part of the base material to be welded. The target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding torch model by a preset distance; Obtain the droplet sequence corresponding to the target droplet model, where the droplet sequence is used to indicate the order of the target droplet model in the simulation welding process; When the droplet sequence indicates that the target droplet model is the first target droplet model in the simulation process, determine the set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model; When the droplet sequence indicates that the target droplet model is a non-first target droplet model in the simulation process, obtain a reference droplet model, where the reference droplet model is the previous droplet model of the target droplet model; Determine the set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, the groove model, and the reference droplet model, including: Obtain a first cutting sub-model corresponding to the target droplet model, and obtain a first vertex set corresponding to the first cutting sub-model according to the first cutting sub-model. The first cutting sub-model is a sub-model close to the base material model obtained by evenly dividing the target droplet model parallel to the cross-section of the base material model; Control each first vertex in the first vertex set to emit a ray along the molten pool falling direction to obtain a first vertex ray corresponding to each first vertex, where each first vertex ray is an invisible ray; Determine the movement distance corresponding to each first vertex according to the target droplet model, the base material model, the groove model, the reference droplet model, and multiple first vertex rays to obtain the set of movement distances, where the set of movement distances is used to indicate the distance required for the target droplet model to move during the falling process; Move the target droplet model to the corresponding simulation welding position according to the set of movement distances.

2. The method according to claim 1, wherein Moving the target droplet model to the corresponding simulation welding position according to the set of movement distances includes: Determine a reference movement distance set corresponding to a second vertex set according to the set of movement distances, where the second vertex set is the vertex set corresponding to a second cutting sub-model, and the second cutting sub-model is a sub-model far from the base material model obtained by evenly dividing the target droplet model parallel to the cross-section of the base material model; Move the first cutting sub-model to the corresponding simulation welding position according to the set of movement distances, and move the second cutting sub-model to the corresponding simulation welding position according to the reference movement distance set.

3. The method according to claim 1, wherein Determine the moving distance corresponding to each of the first vertices according to the target droplet model, the base material model, the groove model, the reference droplet model, and the plurality of first vertex rays, and obtain the set of moving distances, including: Determine any one of the first vertex rays among the plurality of first vertex rays as the current ray; When the current ray touches any one of the base material model, the groove model, and the reference droplet model, determine the touch point corresponding to the current ray; Determine the moving distance corresponding to the current vertex according to the touch point and the current vertex corresponding to the current ray; Determine any one of the first vertex rays other than the current ray among the plurality of first vertex rays as the current ray.

4. The method according to claim 1, characterized in that, Obtain the target droplet model, including: Obtain the welding torch model and the pose information of the welding torch head corresponding to the welding torch model; When controlling the simulation start of the welding torch model, according to the pose information, control the welding torch head to generate an initial droplet model; Before the initial droplet model leaves the welding torch head, control the volume of the initial droplet model to gradually increase and highlight it; When the initial droplet model leaves the welding torch head and is at a preset distance from the welding torch head, control the volume of the initial droplet model to stop growing and solidify to obtain the target droplet model.

5. The method according to claim 4, characterized in that, Obtain the droplet order corresponding to the target droplet model, including: Obtain the initial welding position of the simulated welding and the first boundary pose information and the second boundary pose information of the base material model, where the first boundary pose information is the pose information of the end of the base material model close to the initial welding position, and the second boundary pose information is the pose information of the end of the base material model far from the initial welding position; Determine whether the target droplet model is the droplet order of the first or non-first target droplet model according to the initial welding position, the first boundary pose information, and the pose information; Determine whether the target droplet model is the droplet order of the last target droplet model according to the second boundary pose information and the pose information.

6. The method according to claim 5, characterized in that Further include: When the droplet order indicates that the target droplet model is the last target droplet model in the simulation process, determine the simulated welding boundary surface according to the second boundary pose information; Control the growth volume and solidification shape of the initial droplet model according to the base material model, the groove model, the reference droplet model, and the simulated welding boundary surface, and determine the set of moving distances corresponding to the target droplet model; Move the target droplet model to the simulated welding position corresponding to the target droplet model according to the set of moving distances.

7. A welding simulation device, characterized in that, Include: An acquisition unit for acquiring a base material model, a groove model, and a target droplet model, where the base material model is a model corresponding to the material to be welded, the groove model is a groove obtained by performing a preset processing operation on the weldable part of the base material, and the target droplet model is a molten pool droplet model formed after the molten pool droplet leaves the welding torch model by a preset distance; A determination unit is configured to obtain a droplet order corresponding to the target droplet model, where the droplet order is used to indicate the order of the target droplet model in the simulation welding process; in the case where the droplet order indicates that the target droplet model is the first target droplet model in the simulation process, determine a set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, and the groove model; in the case where the droplet order indicates that the target droplet model is a non-first target droplet model in the simulation process, obtain a reference droplet model, where the reference droplet model is the previous droplet model of the target droplet model; determine a set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, the groove model, and the reference droplet model, where the set of movement distances is used to indicate the distances that the target droplet model needs to move during the falling process. Determining the set of movement distances corresponding to the target droplet model according to the target droplet model, the base material model, the groove model, and the reference droplet model includes: obtaining a first cutting sub-model corresponding to the target droplet model, and obtaining a first vertex set corresponding to the first cutting sub-model according to the first cutting sub-model, where the first cutting sub-model is a sub-model close to the base material model obtained by evenly dividing the target droplet model along a cross-section parallel to the base material model; controlling each first vertex in the first vertex set to emit a ray along the molten pool falling direction, obtaining a first vertex ray corresponding to each first vertex, where each first vertex ray is an invisible ray; determining the movement distance corresponding to each first vertex according to the target droplet model, the base material model, the groove model, the reference droplet model, and a plurality of the first vertex rays, and obtaining the set of movement distances. A movement unit is configured to move the target droplet model to the simulation welding position corresponding to the target droplet model according to the set of movement distances.

8. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; where the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the welding simulation method according to any one of claims 1-6.

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