Ship anchor chain welding track generation method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of welding, and provides a ship anchor chain welding track generation method and device, electronic equipment and a storage medium. The method comprises the steps that firstly, an original point cloud at a to-be-welded anchor chain ring in a ship anchor chain is collected and preprocessed to obtain a target point cloud; obtaining a first point cloud, a second point cloud and a third point cloud based on the target point cloud; according to the first point cloud, the second point cloud and the third point cloud, first welding point position information and second welding point position information are obtained; then actual pose information of the anchor chain ring to be welded is calculated, and first welding pose information and second welding pose information are calculated in combination with the reference pose information and the reference welding pose information; and finally, a first welding track is obtained based on the first welding point position information and the first welding posture information, and a second welding track is obtained based on the second welding point position information and the second welding posture information, so that the welding track of the to-be-welded anchor chain ring is obtained. And therefore, the welding quality and accuracy of the ship anchor chain are improved.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a method, a device, an electronic device and a storage medium for generating a welding trajectory of a ship anchor chain. Background Art

[0002] The anchor chain is a chain that connects the ship and the anchor, usually made of iron-like metal. In the production process of the anchor chain, the anchor chain ring is usually welded, that is, the ring body and the stop column in the anchor chain ring are welded. At present, the welding method of the anchor chain is usually to fix the anchor chain on the welding device, and then set the welding trajectory by manual operation or use visual technology to identify the welding trajectory for welding. The manual operation method is likely to cause the welding trajectory to deviate from the preset path, which will affect the welding quality. Although the method of using visual technology to identify the welding trajectory is better than manual operation, due to the poor consistency of the placement of the anchor chain, this method will also affect the accuracy of welding. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a method, device, electronic device and storage medium for generating a welding trajectory of a ship anchor chain.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present invention provides a method for generating a welding trajectory of a ship anchor chain, which is applied to an electronic device, wherein the electronic device pre-stores reference position information of an anchor chain ring and matching reference welding posture information, and the method comprises:

[0006] Collecting the original point cloud of the anchor chain ring to be welded in the ship anchor chain, and preprocessing the original point cloud to obtain the target point cloud;

[0007] Based on the target point cloud, a first point cloud, a second point cloud and a third point cloud are obtained; the first point cloud represents a first welding portion of a ring body in the anchor chain ring to be welded close to one end of the stop column; the second point cloud represents a second welding portion of a ring body in the anchor chain ring to be welded close to the other end of the stop column; the third point cloud represents the stop column in the anchor chain ring to be welded;

[0008] Obtaining first welding point information according to the first point cloud and the third point cloud, and obtaining second welding point information according to the second point cloud and the third point cloud;

[0009] Calculating actual position and posture information of the anchor chain ring to be welded according to the target point cloud, and calculating first welding posture information and second welding posture information according to the actual position and posture information, the reference position and posture information and the reference welding posture information;

[0010] A first welding trajectory is obtained based on the first welding point information and the first welding posture information, and a second welding trajectory is obtained based on the second welding point information and the second welding posture information, and the first welding trajectory and the second welding trajectory are used together as the welding trajectory of the anchor chain ring to be welded.

[0011] In an optional implementation manner, the step of obtaining a first point cloud, a second point cloud, and a third point cloud based on the target point cloud includes:

[0012] Calculate the normal vector of the plane where each point in the target point cloud is located, and obtain the normal vector corresponding to each point;

[0013] Based on the normal vector corresponding to each point, the target point cloud is segmented to obtain three pending point clouds;

[0014] The three pending point clouds are classified to obtain the first point cloud, the second point cloud and the third point cloud.

[0015] In an optional implementation manner, the step of segmenting the target point cloud based on the normal vector corresponding to each point to obtain three pending point clouds includes:

[0016] Taking each point in the target point cloud as a point to be processed in turn;

[0017] According to the position of the point to be processed, each adjacent point of the point to be processed is obtained from the target point cloud; the distance between the adjacent point and the point to be processed belongs to a preset distance range;

[0018] For each of the adjacent points, a normal vector angle between a normal vector corresponding to the adjacent point and a normal vector corresponding to the point to be processed is calculated, and when the normal vector angle does not exceed a preset angle threshold, the adjacent point and the point to be processed are classified into the same initial point cloud;

[0019] Traversing each point in the target point cloud to obtain a plurality of initial point clouds; the normal vector angle between any two points in the initial point cloud whose distances fall within the distance range does not exceed the angle threshold;

[0020] If the number of all initial point clouds is equal to three, each of the initial point clouds is used as the pending point cloud to obtain the three pending point clouds;

[0021] If the number of all initial point clouds exceeds three, the three initial point clouds containing the most points are respectively used as the pending point clouds to obtain the three pending point clouds.

[0022] In an optional implementation manner, the step of classifying the three pending point clouds to obtain the first point cloud, the second point cloud, and the third point cloud includes:

[0023] Performing principal component analysis on each of the pending point clouds to obtain a principal vector of each of the pending point clouds; the principal vector represents an extension direction of the pending point cloud;

[0024] Determining the positional relationship of the three undetermined point clouds according to the main vectors of the three undetermined point clouds;

[0025] Determine a first point cloud, a second point cloud, and a third point cloud among the three pending point clouds according to the positional relationship and the acquisition position of the original point cloud;

[0026] The first point cloud is parallel to the second point cloud, the third point cloud is perpendicular to both the first point cloud and the second point cloud, and the first point cloud is closer to the acquisition position than the second point cloud.

[0027] In an optional embodiment, the step of obtaining first welding point information according to the first point cloud and the third point cloud, and obtaining second welding point information according to the second point cloud and the third point cloud includes:

[0028] Using the first point cloud and the second point cloud as point clouds to be processed in sequence;

[0029] Selecting a plurality of points near welding positions from all points of the point cloud to be processed and all points of the third point cloud to obtain an initial welding point set;

[0030] The initial welding point set is sampled and homogenized in an orderly manner to obtain a target welding point sequence, and the target welding point sequence is used as the welding point information corresponding to the point cloud to be processed, so as to obtain first welding point information corresponding to the first point cloud and second welding point information corresponding to the second point cloud.

[0031] In an optional embodiment, the step of selecting a plurality of points near the welding positions from all points of the point cloud to be processed and all points of the third point cloud to obtain an initial welding point set includes:

[0032] For each point in the to-be-processed point cloud, determine the shortest distance between the point and the third point cloud, and when the shortest distance is less than or equal to a preset weld width, use the point as a welding point;

[0033] For each point in the third point cloud, determine the shortest distance between the point and the point cloud to be processed, and when the shortest distance is less than or equal to the weld width, use the point as a welding point;

[0034] The set consisting of all welding points is taken as the initial welding point set.

[0035] In an optional embodiment, the step of performing orderly sampling and homogenization processing on the initial welding point set to obtain a target welding point sequence includes:

[0036] Sorting based on the position of each welding point in the initial welding point set to obtain an initial welding point sequence;

[0037] According to preset division parameters, the initial welding point sequence is divided into a plurality of subsequences, and a welding point is randomly selected from each subsequence to obtain a candidate welding point sequence;

[0038] According to a preset interval parameter, the positions of welding points in the candidate welding point sequence are adjusted to obtain the target welding point sequence; the distance between any two adjacent welding points in the target welding point sequence is equal to the interval parameter.

[0039] In a second aspect, the present invention provides a welding trajectory generating device for a ship anchor chain, which is applied to an electronic device, wherein the electronic device pre-stores reference position information of an anchor chain ring and matching reference welding posture information, and the device comprises:

[0040] A preprocessing module, used for collecting the original point cloud of the anchor chain ring to be welded in the ship anchor chain, and preprocessing the original point cloud to obtain the target point cloud;

[0041] A calculation module, for obtaining a first point cloud, a second point cloud and a third point cloud based on the target point cloud; the first point cloud represents a first welding portion of a ring body in the anchor chain ring to be welded close to one end of the stop column; the second point cloud represents a second welding portion of a ring body in the anchor chain ring to be welded close to the other end of the stop column; the third point cloud represents the stop column in the anchor chain ring to be welded;

[0042] Obtaining first welding point information according to the first point cloud and the third point cloud, and obtaining second welding point information according to the second point cloud and the third point cloud;

[0043] Calculating actual position and posture information of the anchor chain ring to be welded according to the target point cloud, and calculating first welding posture information and second welding posture information according to the actual position and posture information, the reference position and posture information and the reference welding posture information;

[0044] A generating module is used to obtain a first welding trajectory based on the first welding point information and the first welding posture information, and to obtain a second welding trajectory based on the second welding point information and the second welding posture information, and to use the first welding trajectory and the second welding trajectory together as the welding trajectory of the anchor chain ring to be welded.

[0045] In a third aspect, the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method for generating a welding trajectory of a ship anchor chain described in any one of the aforementioned embodiments is implemented.

[0046] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for generating a welding trajectory of a ship anchor chain as described in any one of the aforementioned embodiments.

[0047] The present invention provides a method, device, electronic device and storage medium for generating a welding trajectory of a ship anchor chain. The method comprises: firstly collecting the original point cloud at the anchor chain ring to be welded, and pre-processing it to obtain a target point cloud; then obtaining a first point cloud, a second point cloud and a third point cloud based on the target point cloud; and obtaining first welding point information according to the first point cloud and the third point cloud, and obtaining second welding point information according to the second point cloud and the third point cloud; then calculating the actual posture information of the anchor chain ring to be welded according to the target point cloud, and calculating the first welding posture information and the second welding posture information according to the actual posture information, the reference posture information and the reference welding posture information; finally, obtaining the first welding trajectory based on the first welding point information and the first welding posture information, and obtaining the second welding trajectory based on the second welding point information and the second welding posture information, and using the first welding trajectory and the second welding trajectory together as the welding trajectory of the anchor chain ring to be welded. The welding point information is determined by the point clouds of the two welding parts and the stop column in the anchor chain ring, and the welding posture information is determined in combination with the actual posture information, the reference posture information and the reference welding posture information. This enables automatic calculation of accurate welding positions, reduces the impact of poor consistency in the placement of the ship's anchor chain on welding, and improves welding quality and accuracy.

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 A block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0051] Figure 2 One of the schematic diagrams of a ship anchor chain provided by an embodiment of the present invention is shown;

[0052] Figure 3 A second schematic diagram of a ship anchor chain provided by an embodiment of the present invention is shown;

[0053] Figure 4 A schematic flow chart of a method for generating a welding trajectory of a ship anchor chain provided by an embodiment of the present invention is shown;

[0054] Figure 5 A schematic diagram of a first welding portion, a second welding portion and a stop post in an anchor chain ring provided by an embodiment of the present invention is shown;

[0055] Figure 6 One of the schematic diagrams showing the scanning area of ​​the anchor chain ring to be welded provided by the embodiment of the present invention;

[0056] Figure 7 A second schematic diagram showing a scanning area of ​​an anchor chain ring to be welded provided in an embodiment of the present invention;

[0057] Figure 8 The functional module diagram of the welding trajectory generating device of the ship anchor chain provided by the embodiment of the present invention is shown.

[0058] Icons: 100 - electronic device; 110 - processor; 120 - memory; 130 - communication module; 300 - welding trajectory generating device for ship anchor chain; 310 - preprocessing module; 330 - calculation module; 350 - generation module. DETAILED DESCRIPTION

[0059] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0060] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0061] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0062] See also Figure 1 , is a block diagram of an electronic device provided by an embodiment of the present invention. The electronic device 100 includes a processor 110, a memory 120, and a communication module 130, and each component is directly or indirectly electrically connected to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0063] The processor 110 is used to read / write data or programs stored in the memory 120 and execute corresponding functions. It can be a general-purpose processor, including a CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be a DSP digital signal processor, an ASIC application-specific integrated circuit, an FPGA off-the-shelf programmable gate array or other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components.

[0064] The memory 120 is used to store programs or data. The memory 120 can be a RAM (Random Access Memory), a ROM (Read Only Memory), a PROM (Programmable Read-Only Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electric Erasable Programmable Read-Only Memory), etc.

[0065] The communication module 130 is used to perform signaling or data communications with other devices.

[0066] Understandably, Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device 100. The electronic device 100 may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0067] The electronic device provided in the embodiment of the present invention may be a personal computer, a tablet computer, a netbook, a personal digital assistant, etc., which is not limited in the embodiment of the present invention.

[0068] The above-mentioned electronic device 100 will be used as an execution subject to execute each step in each method provided in the embodiment of the present invention and achieve corresponding technical effects.

[0069] Before introducing the specific steps, in order to facilitate understanding of the present invention, the following provides schematic diagrams of ship anchor chains from two perspectives. Figure 2 and Figure 3 The ship anchor chain includes a plurality of anchor chain rings, and the anchor chain rings include a ring body and a stop column. The manufacturing process of the ship anchor chain requires welding the two joints between the ring body and the stop column in each anchor chain ring.

[0070] See also Figure 4 , is a flow chart of a method for generating a welding trajectory of a ship anchor chain provided in an embodiment of the present invention.

[0071] Step S202, collecting the original point cloud of the anchor chain ring to be welded in the ship anchor chain, and pre-processing the original point cloud to obtain the target point cloud.

[0072] In this embodiment, the electronic device is connected to the robot for communication, that is, the electronic device will send the generated welding trajectory to the robot so that the robot can perform welding operations on the anchor chain rings in the ship's anchor chain. It is understandable that the placement posture of the anchor chain ring will affect the robot's welding posture. Therefore, the embodiment of the present invention will pre-establish a placement posture template for the anchor chain ring and a matching welding posture template. That is, the electronic device is used to control the robot to scan the placed anchor chain ring through a laser camera; then, the point cloud obtained by the scan is pre-processed and the principal component analysis is performed to obtain the posture information of the anchor chain ring, that is, the reference posture information; then, the robot is taught the welding posture to obtain the reference welding posture information that matches the reference posture information.

[0073] When welding a ship anchor chain, an electronic device can be used to control a robot to scan the anchor chain ring to be welded in the ship anchor chain through a laser camera to collect the original point cloud at the anchor chain ring to be welded, and the original point cloud can be preprocessed to obtain the target point cloud. For example, the original point cloud can be statistically filtered to remove the noise points to reduce noise interference; then the point cloud after the noise points are removed is downsampled according to the set density, which can reduce the calculation time and complexity and ensure the accuracy of the calculation; then the downsampled point cloud is smoothed using the least squares method to obtain smooth point cloud data, that is, the target point cloud.

[0074] Step S204, based on the target point cloud, obtain a first point cloud, a second point cloud and a third point cloud; the first point cloud represents a first welding portion of a ring body in the anchor chain ring to be welded close to one end of the stop column; the second point cloud represents a second welding portion of the ring body in the anchor chain ring to be welded close to the other end of the stop column; the third point cloud represents the stop column in the anchor chain ring to be welded.

[0075] Step S206, obtaining first welding point information according to the first point cloud and the third point cloud, and obtaining second welding point information according to the second point cloud and the third point cloud.

[0076] In this embodiment, point cloud segmentation and point cloud classification are performed based on the target point cloud, and a first point cloud representing the first welding part of the anchor chain ring to be welded near one end of the stop column, a second point cloud representing the second welding part of the anchor chain ring to be welded near the other end of the stop column, and a third point cloud representing the stop column in the anchor chain ring to be welded can be obtained. For ease of understanding, please refer to Figure 5 , which is a schematic diagram of a first welding portion, a second welding portion and a stop column in an anchor chain ring provided in an embodiment of the present invention.

[0077] Based on the first point cloud and the third point cloud, the welding point information of the connection between the first welding part and the column can be obtained, that is, the first welding point information can be obtained. And based on the second point cloud and the third point cloud, the welding point information of the connection between the second welding part and the column can be obtained, that is, the second welding point information can be obtained.

[0078] Step S208, calculating the actual posture information of the anchor chain link to be welded according to the target point cloud, and calculating the first welding posture information and the second welding posture information according to the actual posture information, the reference posture information and the reference welding posture information.

[0079] In this embodiment, the reference welding posture information includes first reference welding posture information and second reference welding posture information. The first reference welding posture information represents the reference welding posture at the junction of the first welding part and the stop column; the second reference welding posture information represents the reference welding posture at the junction of the second welding part and the stop column.

[0080] According to the obtained target point cloud, principal component analysis can be performed to obtain the actual posture information of the anchor chain ring to be welded. Then, according to the actual posture information and the reference posture information, the posture transformation relationship corresponding to the anchor chain ring to be welded is calculated. For example, the posture transformation relationship can be calculated by a preset formula such as T_trans=teach_T*T, where teach_T represents the reference posture information, T represents the actual posture information, and T_trans represents the posture transformation relationship.

[0081] Then, according to the posture transformation relationship, each first reference posture matrix in the first reference welding posture information is transformed, that is, the first welding posture information composed of multiple first welding posture matrices is obtained. And according to the posture transformation relationship, each second reference posture matrix in the second reference welding posture information is transformed, that is, the second welding posture information composed of multiple second welding posture matrices is obtained. Among them, the first welding posture information represents the actual welding posture at the junction of the first welding part and the stop column; the second reference welding posture information represents the actual welding posture at the junction of the second welding part and the stop column.

[0082] Step S210, based on the first welding point information and the first welding posture information, a first welding trajectory is obtained, and based on the second welding point information and the second welding posture information, a second welding trajectory is obtained, and the first welding trajectory and the second welding trajectory are used together as the welding trajectory of the anchor chain ring to be welded.

[0083] In this embodiment, the first welding point information is a first welding point sequence including a plurality of first welding points; the first welding posture information is a first welding posture sequence including a plurality of first welding posture matrices. Correspondingly, the second welding point information is a second welding point sequence including a plurality of second welding points; the second welding posture information is a second welding posture sequence including a plurality of second welding posture matrices.

[0084] It can be understood that the method of obtaining the first welding trajectory and the second welding trajectory is similar. For simplicity, the following is an example of obtaining the target welding trajectory. For example, when the total number of welding points in the target welding point sequence is equal to the total number of welding posture matrices in the target welding posture sequence, each welding point in the target welding point sequence is matched with the welding posture matrix at the corresponding position in the target welding posture sequence to obtain a sequence composed of multiple welding postures, that is, to obtain the target welding trajectory.

[0085] When the total number of welding points in the target welding point sequence is greater than the total number of welding posture matrices in the target welding posture sequence, the target welding posture sequence is interpolated to obtain an interpolated welding posture sequence equal to the total number of the target welding point sequence. Each welding point in the target welding point sequence is matched with the welding posture matrix at the corresponding position in the interpolated welding posture sequence to obtain a sequence composed of multiple welding postures, that is, the target welding trajectory.

[0086] When the total number of welding points in the target welding point sequence is less than the total number of welding posture matrices in the target welding posture sequence, multiple welding points are uniformly extracted from the target welding point sequence to obtain a welding point sequence after extraction that is equal to the total number of the target welding posture sequence, and each welding point in the extracted welding point sequence is matched with the welding posture matrix at the corresponding position in the target welding posture sequence to obtain a sequence composed of multiple welding postures, that is, to obtain the target welding trajectory.

[0087] When the target welding trajectory is the first welding trajectory, the target welding point sequence is the first welding point sequence, and the target welding posture sequence is the first welding posture sequence. When the target welding trajectory is the second welding trajectory, the target welding point sequence is the second welding point sequence, and the target welding posture sequence is the second welding posture sequence. Then the first welding trajectory and the second welding trajectory are used together as the welding trajectory of the anchor chain ring to be welded and sent to the robot, so that the robot welds the connection between the first welding part and the stop column in the anchor chain ring to be welded according to the first welding trajectory, and welds the connection between the second welding part and the stop column in the anchor chain ring to be welded according to the second welding trajectory.

[0088] It can be seen that based on the above steps, the original point cloud at the anchor chain ring to be welded is first collected, and the target point cloud is obtained by preprocessing; then based on the target point cloud, the first point cloud, the second point cloud and the third point cloud are obtained; and the first welding point information is obtained according to the first point cloud and the third point cloud, and the second welding point information is obtained according to the second point cloud and the third point cloud; then according to the target point cloud, the actual posture information of the anchor chain ring to be welded is calculated, and the first welding posture information and the second welding posture information are calculated according to the actual posture information, the reference posture information and the reference welding posture information; finally, based on the first welding point information and the first welding posture information, the first welding trajectory is obtained, and based on the second welding point information and the second welding posture information, the second welding trajectory is obtained, and the first welding trajectory and the second welding trajectory are used together as the welding trajectory of the anchor chain ring to be welded. The welding point information is determined by the point clouds of the two welding parts and the stop column in the anchor chain ring, and the welding posture information is determined by combining the actual posture information, the reference posture information and the reference welding posture information. This enables automatic calculation of accurate welding positions, reduces the impact of poor consistency in the placement of the ship's anchor chain on welding, and improves welding quality and accuracy.

[0089] Optionally, for step S204, an embodiment of the present invention provides a possible implementation method.

[0090] Step S204 - 1 , calculating the normal vector of the plane where each point in the target point cloud is located, and obtaining the normal vector corresponding to each point.

[0091] In this embodiment, for each point in the target point cloud, the normal vector of the plane where the point is located is calculated to obtain the normal vector corresponding to each point. The process of calculating the normal vector corresponding to a point can be: taking the point as the center, and obtaining each point within a set radius such as 3mm from the center, that is, obtaining each neighboring point of the point; and performing eigenvalue decomposition based on the position of the point and all its neighboring points, obtaining three eigenvalues ​​and their corresponding vectors, and taking the vector corresponding to the minimum eigenvalue as the normal vector of the plane where the point is located, that is, obtaining the normal vector corresponding to the point. It should be understood that the specific value of the radius can be set according to the actual situation, and the implementation of the present invention is not limited to this.

[0092] Step S204 - 3 , segmenting the target point cloud based on the normal vector corresponding to each point to obtain three pending point clouds.

[0093] Step S204 - 5 , classify the three pending point clouds to obtain a first point cloud, a second point cloud, and a third point cloud.

[0094] In this embodiment, the target point cloud is segmented based on the normal vector corresponding to each point in the obtained target point cloud, and three point clouds representing the first welding part, the second welding part and the stop column are obtained, that is, three pending point clouds are obtained. Then, the three pending point clouds are classified to determine the first point cloud representing the first welding part, the second point cloud representing the second welding part, and the third point cloud representing the stop column.

[0095] Optionally, for step S204-3, an embodiment of the present invention provides a possible implementation method.

[0096] Step S204-3-1, taking each point in the target point cloud as a point to be processed in turn.

[0097] It is understandable that each point in the target point cloud is processed in a similar manner. For the sake of simplicity, a point is taken as an example to be processed for explanation below.

[0098] Step S204-3-3, according to the position of the point to be processed, each adjacent point of the point to be processed is obtained from the target point cloud; the distance between the adjacent point and the point to be processed belongs to a preset distance range.

[0099] Step S204-3-5, for each adjacent point, calculate the normal vector angle between the normal vector corresponding to the adjacent point and the normal vector corresponding to the point to be processed, and if the normal vector angle does not exceed a preset angle threshold, classify the adjacent point and the point to be processed into the same initial point cloud.

[0100] Step S204-3-7, traverse each point in the target point cloud to obtain multiple initial point clouds; the normal vector angle between any two points in the initial point cloud whose distances are within the distance range does not exceed the angle threshold.

[0101] It is understandable that, since there is a certain inclination angle at the connection points between the first welding part and the second welding part and the stop column, it is possible to determine whether the two points are points on the same component based on the size of the normal vector angle between two adjacent points.

[0102] In this embodiment, according to the position of the point to be processed, each point whose distance from the point to be processed is within a preset distance range such as 0mm to 3mm is obtained from the target point cloud to obtain each adjacent point of the point to be processed. Then, it is determined whether each adjacent point and the point to be processed are points on the same component, that is, for each adjacent point, the normal vector angle between the normal vector corresponding to the adjacent point and the normal vector corresponding to the point to be processed is calculated, and the normal vector angle corresponding to the adjacent point is compared with a preset angle threshold.

[0103] If the angle between the normal vectors of the adjacent points exceeds the angle threshold, it means that the adjacent points and the point to be processed are not points on the same component, and the adjacent points and the point to be processed will not be classified as the same point cloud. If the angle between the normal vectors of the adjacent points does not exceed the angle threshold, it means that the adjacent points and the point to be processed are points on the same component, and the adjacent points and the point to be processed will be classified as the same point cloud.

[0104] Each point in the target point cloud is processed in a similar manner, that is, the target point cloud can be divided into multiple initial point clouds. Moreover, for each initial point cloud, the normal vector angle between any two points in the initial point cloud whose distances belong to the distance range does not exceed the angle threshold. It should be understood that the distance range and the angle threshold can be set according to actual conditions, and the embodiment of the present invention does not limit this.

[0105] Step S204-3-9A, if the number of all initial point clouds is equal to three, each initial point cloud is used as a pending point cloud to obtain three pending point clouds.

[0106] Step S204-3-9B, if the number of all initial point clouds exceeds three, the three initial point clouds containing the most points are respectively used as pending point clouds to obtain three pending point clouds.

[0107] It is understandable that the number of initial point clouds obtained based on the target point cloud segmentation is different based on the different scanning areas of the anchor chain ring to be welded. For example, if the scanning area of ​​the anchor chain ring to be welded only includes its ring body and the stop column, such as Figure 6 As shown, the number of initial point clouds obtained based on the segmentation of the target point cloud is three, so these three initial point clouds are all used as pending point clouds, that is, three pending point clouds are obtained.

[0108] If the scanning area of ​​the anchor chain ring to be welded includes both its ring body and stop column as well as the ring body of the adjacent anchor chain ring, such as Figure 7 As shown, the number of initial point clouds obtained based on the target point cloud segmentation will exceed three, so the three initial point clouds containing the most points are all used as pending point clouds, that is, three pending point clouds are obtained.

[0109] Optionally, for step S204-5, an embodiment of the present invention provides a possible implementation manner.

[0110] Step S204-5-1, perform principal component analysis on each pending point cloud to obtain the principal vector of each pending point cloud; the principal vector represents the extension direction of the pending point cloud.

[0111] Step S204-5-3, determining the positional relationship of the three pending point clouds based on the main vectors of the three pending point clouds.

[0112] Step S204-5-5, determine the first point cloud, the second point cloud and the third point cloud among the three pending point clouds based on the position relationship and the collection position of the original point cloud; wherein the first point cloud is parallel to the second point cloud, the third point cloud is perpendicular to both the first point cloud and the second point cloud, and the first point cloud is closer to the collection position than the second point cloud.

[0113] In this embodiment, based on each pending point cloud obtained, principal component analysis is performed on each pending point cloud, that is, the principal vector of each pending point cloud is obtained. For example, eigenvalue decomposition can be performed based on the positions of all points in the pending point cloud to obtain three eigenvalues ​​and their corresponding vectors, and the vector corresponding to the maximum eigenvalue is used as the principal vector of the pending point cloud. This principal vector represents the extension direction of the pending point cloud.

[0114] Then, according to the main vectors of the three pending point clouds, the positional relationship of the three pending point clouds is determined. Then, according to the positional relationship and the acquisition position of the original point cloud, the first point cloud, the second point cloud and the third point cloud among the three pending point clouds are determined. For example, the pending point cloud that is perpendicular to the other two pending point clouds in the positional relationship is taken as the third point cloud, Part3; then, among the remaining two pending point clouds, the pending point cloud that is closer to the location where the original point cloud was collected is taken as the first point cloud, Part1, and the other point cloud is taken as the second point cloud, Part2. In this way, the first point cloud representing the first welding part, Part1, the second point cloud representing the second welding, Part2, and the third point cloud representing the guard column, Part3, are obtained.

[0115] Optionally, for step S206, an embodiment of the present invention provides a possible implementation method.

[0116] Step S206 - 1 , taking the first point cloud and the second point cloud in turn as point clouds to be processed.

[0117] Step S206 - 3 , selecting a plurality of points near the welding positions from all points of the point cloud to be processed and all points of the third point cloud to obtain an initial welding point set.

[0118] Step S206-5, orderly sampling and homogenization processing are performed on the initial welding point set to obtain a target welding point sequence, and the target welding point sequence is used as the welding point information corresponding to the point cloud to be processed, so as to obtain the first welding point information corresponding to the first point cloud and the second welding point information corresponding to the second point cloud.

[0119] In this embodiment, the first point cloud and the second point cloud are sequentially used as the point cloud to be processed, and then the corresponding welding point information is obtained based on the point cloud to be processed and the third point cloud. That is, firstly, from all the points of the point cloud to be processed and all the points of the third point cloud, multiple points near the welding position are selected to obtain an initial welding point set.

[0120] Then, since the welding points in the initial welding point set are usually disordered and have uneven density, it is necessary to sample and homogenize the initial welding point set in an orderly manner to obtain the target welding point sequence, and use the target welding point sequence as the welding point information corresponding to the point cloud to be processed.

[0121] In a similar manner, the first point cloud and the third point cloud are processed to obtain the first welding point information, and the second point cloud and the third point cloud are processed to obtain the second welding point information.

[0122] Optionally, for step S206-3, an embodiment of the present invention provides a possible implementation method.

[0123] Step S206-3-1, for each point in the point cloud to be processed, determine the shortest distance between the point and the third point cloud, and when the shortest distance is less than or equal to the preset weld width, use the point as the welding point.

[0124] Step S206-3-3, for each point in the third point cloud, determine the shortest distance between the point and the point cloud to be processed, and when the shortest distance is less than or equal to the weld width, use the point as the welding point.

[0125] Step S206-3-5, taking the set consisting of all welding points as the initial welding point set.

[0126] In this embodiment, first, for each point in the point cloud to be processed, the distance between the point and each point in the third point cloud is calculated and the shortest distance is obtained, and then the shortest distance is compared with the preset weld width to determine whether the point is a point near the welding position. If the shortest distance exceeds the weld width, it means that the point is not a point near the welding position; if the shortest distance does not exceed the weld width, it means that the point is a point near the welding position, and the point is used as a welding point. In a similar manner, each point in the point cloud to be processed is processed, and multiple welding points can be obtained from the point cloud to be processed.

[0127] Then, for each point in the third point cloud, the distance between the point and each point in the point cloud to be processed is calculated and the shortest distance is obtained. Then, the shortest distance is compared with the preset weld width to determine whether the point is a point near the welding position. If the shortest distance exceeds the weld width, it means that the point is not a point near the welding position; if the shortest distance does not exceed the weld width, it means that the point is a point near the welding position, and the point is used as a welding point. In a similar manner, each point in the third point cloud is processed, and multiple welding points can be obtained from the third point cloud.

[0128] Finally, a set consisting of all welding points obtained from the point cloud to be processed and all welding points obtained from the third point cloud is used as an initial welding point set.

[0129] Optionally, for step S206-5, an embodiment of the present invention provides a possible implementation method.

[0130] Step S206-5-1, sorting based on the position of each welding point in the initial welding point set to obtain an initial welding point sequence.

[0131] Step S206-5-3, dividing the initial welding point sequence into multiple subsequences according to preset division parameters, and randomly selecting a welding point from each subsequence to obtain a candidate welding point sequence.

[0132] Step S206-5-5, adjusting the positions of the welding points in the candidate welding point sequence according to the preset interval parameter to obtain a target welding point sequence; the distance between any two adjacent welding points in the target welding point sequence is equal to the interval parameter.

[0133] In this embodiment, first, the position of each welding point in the obtained initial welding point set is sorted to obtain an initial welding point sequence. For example, the average value can be calculated based on the positions of all welding points in the initial welding point set to obtain the middle position; then the welding point in the initial welding point set that is farthest from the middle position is used as the first welding point; then the welding point in the initial welding point set that is closest to the first welding point is used as the second welding point, and each welding point in the initial welding point set is sorted in this way, so as to obtain an initial welding point sequence.

[0134] Then, the initial welding point sequence is divided into multiple subsequences according to preset division parameters, such as preset distance intervals, and a welding point is randomly selected from each subsequence to obtain a candidate welding point sequence. It can be understood that after orderly sampling the initial welding point sequence, the distances between two adjacent welding points in the obtained candidate welding point sequence are not much different, but these distances are not completely equal, that is, the distances between welding points are not uniform, so in order to improve the welding quality, the candidate welding point sequence will also be homogenized.

[0135] Finally, the first welding point in the candidate welding point sequence is taken as the point to be processed, and the distance between the point to be processed and the next welding point is calculated. If the distance between the two is not equal to the preset interval parameter, the position of the next welding point is adjusted, and the next welding point is taken as the new point to be processed, and the process of calculating the distance and adjusting the position is re-executed until each welding point in the candidate welding point sequence is traversed, and the target welding point sequence is obtained. The target welding point sequence obtained in this way can ensure that the distance between any two adjacent welding points is equal, thereby ensuring the consistency and uniformity of the weld and improving the welding quality.

[0136] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a welding trajectory generation device for a ship anchor chain is provided below. Figure 8 , is a functional module diagram of a welding trajectory generating device for a ship anchor chain provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the welding trajectory generating device 300 for a ship anchor chain provided in this embodiment are the same as those of the above embodiment. For the sake of brief description, for matters not mentioned in this embodiment, reference may be made to the corresponding contents in the above embodiment. The welding trajectory generating device 300 for a ship anchor chain includes:

[0137] The preprocessing module 310 is used to collect the original point cloud of the anchor chain ring to be welded in the ship anchor chain, and preprocess the original point cloud to obtain the target point cloud.

[0138] The calculation module 330 is used to obtain a first point cloud, a second point cloud and a third point cloud based on the target point cloud; the first point cloud represents a first welding portion of a ring body in an anchor chain ring to be welded close to one end of a stop column; the second point cloud represents a second welding portion of a ring body in an anchor chain ring to be welded close to the other end of a stop column; the third point cloud represents the stop column in the anchor chain ring to be welded; first welding point position information is obtained according to the first point cloud and the third point cloud, and second welding point position information is obtained according to the second point cloud and the third point cloud; actual posture information of the anchor chain ring to be welded is calculated according to the target point cloud, and first welding posture information and second welding posture information are calculated according to the actual posture information, reference posture information and reference welding posture information.

[0139] The generating module 350 is used to obtain a first welding trajectory based on the first welding point information and the first welding posture information, and to obtain a second welding trajectory based on the second welding point information and the second welding posture information, and to use the first welding trajectory and the second welding trajectory together as the welding trajectory of the anchor chain ring to be welded.

[0140] Optionally, the calculation module 330 is also used to: calculate the normal vector of the plane where each point in the target point cloud is located to obtain the normal vector corresponding to each point; segment the target point cloud based on the normal vector corresponding to each point to obtain three pending point clouds; classify the three pending point clouds to obtain a first point cloud, a second point cloud and a third point cloud.

[0141] Optionally, the calculation module 330 is also used to: take each point in the target point cloud as a point to be processed in turn; obtain each adjacent point of the point to be processed from the target point cloud according to the position of the point to be processed; the distance between the adjacent point and the point to be processed belongs to a preset distance range; for each adjacent point, calculate the normal vector angle between the normal vector corresponding to the adjacent point and the normal vector corresponding to the point to be processed, and when the normal vector angle does not exceed a preset angle threshold, classify the adjacent point and the point to be processed as the same initial point cloud; traverse each point in the target point cloud to obtain multiple initial point clouds; the normal vector angle between any two points in the initial point cloud whose distances belong to the distance range does not exceed the angle threshold; if the number of all initial point clouds is equal to three, each initial point cloud is used as a pending point cloud to obtain three pending point clouds; if the number of all initial point clouds exceeds three, the three initial point clouds containing the most points are used as pending point clouds to obtain three pending point clouds.

[0142] Optionally, the calculation module 330 is also used to: perform principal component analysis on each pending point cloud to obtain the principal vector of each pending point cloud; the principal vector represents the extension direction of the pending point cloud; determine the positional relationship of the three pending point clouds based on the principal vectors of the three pending point clouds; determine the first point cloud, the second point cloud and the third point cloud among the three pending point clouds based on the positional relationship and the collection position of the original point cloud; wherein the first point cloud is parallel to the second point cloud, the third point cloud is perpendicular to both the first point cloud and the second point cloud, and the first point cloud is closer to the collection position than the second point cloud.

[0143] Optionally, the computing module 330 is also used to: use the first point cloud and the second point cloud as point clouds to be processed in sequence; select points near multiple welding positions from all points in the point cloud to be processed and all points in the third point cloud to obtain an initial welding point set; perform orderly sampling and homogenization processing on the initial welding point set to obtain a target welding point sequence, and use it as the welding point information corresponding to the point cloud to be processed, to obtain first welding point information corresponding to the first point cloud and second welding point information corresponding to the second point cloud.

[0144] Optionally, the calculation module 330 is also used to: for each point in the point cloud to be processed, determine the shortest distance between the point and the third point cloud, and when the shortest distance is less than or equal to the preset weld width, use the point as a welding point; for each point in the third point cloud, determine the shortest distance between the point and the point cloud to be processed, and when the shortest distance is less than or equal to the weld width, use the point as a welding point; and use the set consisting of all welding points as the initial welding point set.

[0145] Optionally, the calculation module 330 is also used to: sort based on the position of each welding point in the initial welding point set to obtain an initial welding point sequence; divide the initial welding point sequence into multiple subsequences according to a preset division parameter, and randomly select a welding point from each subsequence to obtain a candidate welding point sequence; adjust the position of the welding point in the candidate welding point sequence according to a preset interval parameter to obtain a target welding point sequence; the distance between any two adjacent welding points in the target welding point sequence is equal to the interval parameter.

[0146] An embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method for generating a welding trajectory of a ship anchor chain disclosed in an embodiment of the present invention is implemented.

[0147] The embodiment of the present invention further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for generating a welding trajectory of a ship anchor chain disclosed in the embodiment of the present invention is implemented.

[0148] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0149] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0150] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0151] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for generating a welding trajectory of a ship anchor chain, characterized in that: Applied to an electronic device, the electronic device pre-stores reference position information of an anchor chain ring and matching reference welding posture information, the method comprising: Collecting the original point cloud of the anchor chain ring to be welded in the ship anchor chain, and preprocessing the original point cloud to obtain the target point cloud; Based on the target point cloud, a first point cloud, a second point cloud and a third point cloud are obtained; the first point cloud represents a first welding portion of a ring body in the anchor chain ring to be welded close to one end of the stop column; the second point cloud represents a second welding portion of a ring body in the anchor chain ring to be welded close to the other end of the stop column; the third point cloud represents the stop column in the anchor chain ring to be welded; Obtaining first welding point information according to the first point cloud and the third point cloud, and obtaining second welding point information according to the second point cloud and the third point cloud; Calculating actual position and posture information of the anchor chain ring to be welded according to the target point cloud, and calculating first welding posture information and second welding posture information according to the actual position and posture information, the reference position and posture information and the reference welding posture information; A first welding trajectory is obtained based on the first welding point information and the first welding posture information, and a second welding trajectory is obtained based on the second welding point information and the second welding posture information, and the first welding trajectory and the second welding trajectory are used together as the welding trajectory of the anchor chain ring to be welded.

2. The method according to claim 1, characterized in that The step of obtaining a first point cloud, a second point cloud and a third point cloud based on the target point cloud comprises: Calculate the normal vector of the plane where each point in the target point cloud is located, and obtain the normal vector corresponding to each point; Based on the normal vector corresponding to each point, the target point cloud is segmented to obtain three pending point clouds; The three pending point clouds are classified to obtain the first point cloud, the second point cloud and the third point cloud.

3. The method according to claim 2, characterized in that The step of segmenting the target point cloud based on the normal vector corresponding to each point to obtain three pending point clouds includes: Taking each point in the target point cloud as a point to be processed in turn; According to the position of the point to be processed, each adjacent point of the point to be processed is obtained from the target point cloud; the distance between the adjacent point and the point to be processed belongs to a preset distance range; For each of the adjacent points, a normal vector angle between a normal vector corresponding to the adjacent point and a normal vector corresponding to the point to be processed is calculated, and when the normal vector angle does not exceed a preset angle threshold, the adjacent point and the point to be processed are classified into the same initial point cloud; Traversing each point in the target point cloud to obtain a plurality of initial point clouds; the normal vector angle between any two points in the initial point cloud whose distances fall within the distance range does not exceed the angle threshold; If the number of all initial point clouds is equal to three, each of the initial point clouds is used as the pending point cloud to obtain the three pending point clouds; If the number of all initial point clouds exceeds three, the three initial point clouds containing the most points are respectively used as the pending point clouds to obtain the three pending point clouds.

4. The method according to claim 2, characterized in that: The step of classifying the three pending point clouds to obtain the first point cloud, the second point cloud and the third point cloud comprises: Performing principal component analysis on each of the pending point clouds to obtain a principal vector of each of the pending point clouds; the principal vector represents an extension direction of the pending point cloud; Determining the positional relationship of the three undetermined point clouds according to the main vectors of the three undetermined point clouds; Determine a first point cloud, a second point cloud, and a third point cloud among the three pending point clouds according to the positional relationship and the acquisition position of the original point cloud; The first point cloud is parallel to the second point cloud, the third point cloud is perpendicular to both the first point cloud and the second point cloud, and the first point cloud is closer to the acquisition position than the second point cloud.

5. The method according to claim 1, characterized in that The step of obtaining first welding point information according to the first point cloud and the third point cloud, and obtaining second welding point information according to the second point cloud and the third point cloud, comprises: Using the first point cloud and the second point cloud as point clouds to be processed in sequence; Selecting a plurality of points near welding positions from all points of the point cloud to be processed and all points of the third point cloud to obtain an initial welding point set; The initial welding point set is sampled and homogenized in an orderly manner to obtain a target welding point sequence, and the target welding point sequence is used as the welding point information corresponding to the point cloud to be processed, so as to obtain first welding point information corresponding to the first point cloud and second welding point information corresponding to the second point cloud.

6. The method according to claim 5, characterized in that The step of selecting a plurality of points near welding positions from all points of the point cloud to be processed and all points of the third point cloud to obtain an initial welding point set comprises: For each point in the to-be-processed point cloud, determine the shortest distance between the point and the third point cloud, and when the shortest distance is less than or equal to a preset weld width, use the point as a welding point; For each point in the third point cloud, determine the shortest distance between the point and the point cloud to be processed, and when the shortest distance is less than or equal to the weld width, use the point as a welding point; The set consisting of all welding points is taken as the initial welding point set.

7. The method according to claim 5, characterized in that The step of performing orderly sampling and homogenization processing on the initial welding point set to obtain a target welding point sequence comprises: Sorting based on the position of each welding point in the initial welding point set to obtain an initial welding point sequence; According to preset division parameters, the initial welding point sequence is divided into a plurality of subsequences, and a welding point is randomly selected from each subsequence to obtain a candidate welding point sequence; According to a preset interval parameter, the positions of welding points in the candidate welding point sequence are adjusted to obtain the target welding point sequence; the distance between any two adjacent welding points in the target welding point sequence is equal to the interval parameter.

8. A welding trajectory generating device for a ship anchor chain, characterized in that: Applied to electronic equipment, the electronic equipment pre-stores reference position information of the anchor chain ring and matching reference welding posture information, the device comprises: A preprocessing module, used for collecting the original point cloud of the anchor chain ring to be welded in the ship anchor chain, and preprocessing the original point cloud to obtain the target point cloud; A calculation module, for obtaining a first point cloud, a second point cloud and a third point cloud based on the target point cloud; the first point cloud represents a first welding portion of a ring body in the anchor chain ring to be welded close to one end of the stop column; the second point cloud represents a second welding portion of a ring body in the anchor chain ring to be welded close to the other end of the stop column; the third point cloud represents the stop column in the anchor chain ring to be welded; Obtaining first welding point information according to the first point cloud and the third point cloud, and obtaining second welding point information according to the second point cloud and the third point cloud; Calculating actual position and posture information of the anchor chain ring to be welded according to the target point cloud, and calculating first welding posture information and second welding posture information according to the actual position and posture information, the reference position and posture information and the reference welding posture information; A generating module is used to obtain a first welding trajectory based on the first welding point information and the first welding posture information, and to obtain a second welding trajectory based on the second welding point information and the second welding posture information, and to use the first welding trajectory and the second welding trajectory together as the welding trajectory of the anchor chain ring to be welded.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method for generating a welding trajectory of a ship anchor chain according to any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the method for generating a welding trajectory of a ship anchor chain according to any one of claims 1 to 7 is implemented.

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