Method, device, electronic device and storage medium for generating welding trajectory of ship anchor chain

Abstract

The present invention relates to the field of welding technology and provides a method, device, electronic device, and storage medium for generating a welding trajectory for a ship anchor chain. The method comprises: first, collecting an original point cloud at a to-be-welded anchor chain link in the ship anchor chain and preprocessing 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 position information and second welding point position information based on the first point cloud, the second point cloud, and the third point cloud; then, calculating the actual position information of the to-be-welded anchor chain link and, in combination with reference position information and reference welding posture information, calculating first welding posture information and second welding posture information; finally, obtaining a first welding trajectory based on the first welding point position information and the first welding posture information, and obtaining a second welding trajectory based on the second welding point position information and the second welding posture information, thereby obtaining the welding trajectory of the to-be-welded anchor chain link. This improves the welding quality and accuracy of the ship anchor chain.

Description

Technical Field

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

[0002] Anchor chains are chains that connect the ship and the anchor, and are typically made of ferrous metal. During the production process, the anchor chain links typically undergo welding, specifically welding the rings to the stoppers. Currently, anchor chains are typically welded by attaching the chain to a welding device and then manually setting the welding trajectory or using visual technology to identify the welding trajectory. Manual operation can easily cause the welding trajectory to deviate from the preset path, which can affect welding quality. While using visual technology to identify the welding trajectory is superior to manual operation, the poor consistency of the anchor chain's placement can also affect welding accuracy. 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 the anchor chain link and matching reference welding posture information, and the method comprises:

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

[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 post; 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 post; and the third point cloud represents the stop post in the anchor chain ring to be welded;

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

[0009] Calculating actual position information of the anchor chain link 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 information, the reference position 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 link to be welded.

[0011] In an optional embodiment, 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 to obtain the normal vector corresponding to each point;

[0013] Segment the target point cloud based on the normal vector corresponding to each point 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 embodiment, 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 falls within a preset distance range;

[0018] For each of the adjacent points, calculating 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, classifying the adjacent point and the point to be processed as the same initial point cloud;

[0019] Traversing each point in the target point cloud to obtain a plurality of initial point clouds; wherein 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 total number of the 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 embodiment, 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] Determining 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 based on the first point cloud and the third point cloud, and obtaining second welding point information based on 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, which is used as the welding point information corresponding to the point cloud to be processed, and the first welding point information corresponding to the first point cloud and the second welding point information corresponding to the second point cloud are obtained.

[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, determining the shortest distance between the point and the third point cloud, and if the shortest distance is less than or equal to a preset weld width, taking the point as a welding position;

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

[0034] The set consisting of all welding points is used 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] 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;

[0038] The positions of the welding points in the candidate welding point sequence are adjusted according to a preset interval parameter 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 device 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 the anchor chain link and matching reference welding posture information, and the device comprises:

[0040] A preprocessing module is used to collect the original point cloud of the anchor chain link to be welded in the ship anchor chain, and preprocess the original point cloud to obtain the target point cloud;

[0041] a calculation module, configured 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 the anchor chain link to be welded, close to one end of the stop post; the second point cloud represents a second welding portion of the ring body in the anchor chain link to be welded, close to the other end of the stop post; and the third point cloud represents the stop post in the anchor chain link to be welded;

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

[0043] Calculating actual position information of the anchor chain link 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 information, the reference position information and the reference welding posture information;

[0044] A generating module is configured 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 link 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 according to any one of the aforementioned embodiments.

[0047] The present invention provides a method, device, electronic device, and storage medium for generating a welding trajectory for a ship anchor chain. The method comprises: first, collecting an original point cloud of an anchor chain link to be welded and preprocessing it to obtain a target point cloud; then, based on the target point cloud, obtaining a first point cloud, a second point cloud, and a third point cloud; and obtaining first welding point information based on the first point cloud and the third point cloud, and obtaining second welding point information based on the second point cloud and the third point cloud; then, calculating actual position information of the anchor chain link to be welded based on the target point cloud, and calculating first welding posture information and second welding posture information based on the actual position information, reference position information, and reference welding posture information; finally, obtaining a first welding trajectory based on the first welding point information and the first welding posture information, and obtaining a 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 link to be welded. The welding point information is determined using the point clouds of the two welding parts and the stop column in the anchor chain link, and the welding posture information is determined by combining the actual position information, the reference position information, and the reference welding posture information. This enables automatic calculation of accurate welding points, reduces the impact of poor consistency in the placement of ship anchor chains 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 following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any 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 FIG2 shows a second schematic diagram of a ship anchor chain provided by an embodiment of the present invention;

[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 showing 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 according to an embodiment of the present invention;

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

[0057] Figure 8 The figure shows a functional module diagram of a welding trajectory generating device for a ship anchor chain provided by an embodiment of the present invention.

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

[0059] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein 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 as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without 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 actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[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. Each of these components is electrically connected to one another, directly or indirectly, to enable data transmission or interaction. For example, these components may be electrically connected to one another via 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), an 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 gate or transistor logic devices, or discrete hardware components.

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

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

[0066] It is understandable that 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 than 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 by the embodiment of the present invention may be a personal computer, a tablet computer, a netbook, a personal digital assistant, etc., and the embodiment of the present invention is not limited thereto.

[0068] The electronic device 100 described above will be used as an execution subject to execute each step of each method provided in the embodiments 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 connecting parts of 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 by an embodiment of the present invention.

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

[0072] In this embodiment, the electronic device is in communication with the robot. Specifically, the electronic device transmits a generated welding trajectory to the robot, enabling the robot to weld the anchor chain links in the ship's anchor chain. As will be appreciated, the placement of the anchor chain links affects the robot's welding posture. Therefore, this embodiment of the present invention pre-creates a template for the placement of the anchor chain links and a matching welding posture template. Specifically, the electronic device controls the robot to scan the positioned anchor chain links using a laser camera. The resulting point cloud is then pre-processed and subjected to principal component analysis to obtain the anchor chain link's posture information, or reference posture information. The robot is then taught welding posture information to obtain reference welding posture information that matches the reference posture information.

[0073] When welding a ship's anchor chain, an electronic device can be used to control a robot to scan the anchor chain links to be welded using a laser camera. This captures the original point cloud at the anchor chain links to be welded, and the original point cloud is preprocessed to obtain a target point cloud. For example, the original point cloud can first be subjected to statistical outlier filtering to remove noise points and reduce noise interference. The noise-removed point cloud is then downsampled according to a set density, which reduces computation time and complexity while ensuring accuracy. The downsampled point cloud is then smoothed using the least squares method to obtain smooth point cloud data, i.e., the target point cloud.

[0074] Step S204: 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 the 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; and the third point cloud represents the stop column in the anchor chain ring to be welded.

[0075] Step S206 , obtaining first welding point information based on the first point cloud and the third point cloud, and obtaining second welding point information based on 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 portion of the anchor chain ring to be welded close to one end of the stop column, a second point cloud representing the second welding portion of the anchor chain ring to be welded close to 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 the first welding part, the second welding part and the stop column in the anchor chain ring provided by an embodiment of the present invention.

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

[0078] Step S208 , calculating actual position and posture information of the anchor chain link 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.

[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 portion and the guard post; the second reference welding posture information represents the reference welding posture at the junction of the second welding portion and the guard post.

[0080] Principal component analysis can be performed on the target point cloud to determine the actual pose information of the anchor chain link to be welded. Then, based on the actual pose information and the reference pose information, the pose transformation relationship corresponding to the anchor chain link to be welded can be calculated. For example, the pose transformation relationship can be calculated using a preset formula such as T_trans = teach_T * T, where teach_T represents the reference pose information, T represents the actual pose information, and T_trans represents the pose transformation relationship.

[0081] Then, based on the posture transformation relationship, a transformation operation is performed on each first reference posture matrix in the first reference welding posture information, thereby obtaining first welding posture information composed of multiple first welding posture matrices. Furthermore, based on the posture transformation relationship, a transformation operation is performed on each second reference posture matrix in the second reference welding posture information, thereby obtaining second welding posture information composed of multiple second welding posture matrices. The first welding posture information represents the actual welding posture at the junction of the first weld and the stop column, while the second reference welding posture information represents the actual welding posture at the junction of the second weld and the stop column.

[0082] Step S210: obtaining a first welding trajectory based on the first welding point information and the first welding posture information, and obtaining a 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 link to be welded.

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

[0084] It will be appreciated that the methods for obtaining the first and second welding trajectories are similar. For simplicity, the following description uses obtaining the target welding trajectory as an example. For example, when the total number of welding points in the target welding point sequence equals 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 consisting of multiple welding postures, thereby obtaining 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 then matched with the welding posture matrix at the corresponding position in the interpolated welding posture sequence to obtain a sequence consisting of multiple welding postures, thus obtaining 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 equal to the total number of the target welding posture sequence. 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, 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. The first welding trajectory and the second welding trajectory are then sent to the robot as the welding trajectory of the anchor chain link to be welded, so that the robot welds the connection between the first weld portion of the anchor chain link to be welded and the stop column according to the first welding trajectory, and welds the connection between the second weld portion of the anchor chain link to be welded and the stop column according to the second welding trajectory.

[0088] It can be seen that based on the above steps, the original point cloud of the anchor chain link to be welded is first collected and pre-processed to obtain the target point cloud; 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 based on the first point cloud and the third point cloud, and the second welding point information is obtained based on the second point cloud and the third point cloud; then, the actual posture information of the anchor chain link to be welded is calculated based on the target point cloud, and the first welding posture information and the second welding posture information are calculated based on the actual posture information, the reference posture information and the reference welding posture information; finally, the first welding trajectory is obtained based on the first welding point information and the first welding posture information, and the 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 link 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 link, 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 points, reduces the impact of poor consistency in the placement of ship anchor chains 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 in which 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 as follows: 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 to obtain three eigenvalues ​​and their corresponding vectors, and taking the vector corresponding to the minimum eigenvalue as the normal vector of the plane in which the point is located, that is, obtaining the normal vector corresponding to the point. It should be understood that the specific value of the set radius can be set according to actual conditions, and the implementation of the present invention is not limited to this.

[0092] Step S204 - 3 : Segment 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 target point cloud. This results in three point clouds representing the first weld, the second weld, and the guard post, i.e., three pending point clouds. These three pending point clouds are then classified to determine a first point cloud representing the first weld, a second point cloud representing the second weld, and a third point cloud representing the guard post.

[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, the following description will be given using one point as an example of a point to be processed.

[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 the 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 fall 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 between the first welding portion and the second welding portion and the stop column, it is possible to determine whether the two points are on the same component based on the size of the normal vector angle between the two adjacent points.

[0102] In this embodiment, based on the position of the point to be processed, each point within a preset distance range, such as 0mm to 3mm, from the target point cloud is obtained to obtain each adjacent point of the point to be processed. A determination is then made as to whether each adjacent point and the point to be processed are on the same component. Specifically, for each adjacent point, the 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 angle 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 point and the point to be processed are not on the same component, and the adjacent point and the point to be processed will not be classified into 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 point and the point to be processed are on the same component, and the adjacent point and the point to be processed will be classified into the same point cloud.

[0104] Each point in the target point cloud is processed in a similar manner, thereby segmenting the target point cloud into multiple initial point clouds. Furthermore, for each initial point cloud, the angle between the normal vectors of any two points within the distance range does not exceed the angle threshold. It should be understood that the distance range and angle threshold can be set based on actual circumstances and are not limited in this embodiment of the present invention.

[0105] Step S204-3-9A: If the total number of 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 total number of 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 depending on the scanning area 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 target point cloud segmentation 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 method.

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

[0111] Step S204-5-3: Determine the positional relationship of the three pending point clouds based on their principal vectors.

[0112] Step S204-5-5, based on the positional relationship and the acquisition position of the original point cloud, determine the first point cloud, the second point cloud and the third point cloud among the three pending point clouds; 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 acquisition position than the second point cloud.

[0113] In this embodiment, principal component analysis is performed on each pending point cloud to obtain the principal vector of each pending point cloud. 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. The vector corresponding to the largest eigenvalue is then used as the principal vector of the pending point cloud. This principal vector represents the extension direction of the pending point cloud.

[0114] Then, based on the main vectors of the three pending point clouds, the positional relationship of the three pending point clouds is determined. Then, based on 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 of 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 used 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 used as the first point cloud, Part1, and the other point cloud is used as the second point cloud, Part2. In this way, the first point cloud, Part1, representing the first weld, the second point cloud, Part2, representing the second weld, and the third point cloud, Part3, representing the guard column 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 as point clouds to be processed in sequence.

[0117] Step S206 - 3 : Select a plurality of points near the 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.

[0118] Step S206-5: 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.

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

[0120] Then, since the welding points in the initial welding point set are usually disordered and have uneven density, it is necessary to perform orderly sampling and homogenization on the initial welding point set 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, for each point in the point cloud to be processed, the distance between that point and each point in the third point cloud is calculated, and the shortest distance is obtained. This shortest distance is then compared with the preset weld seam width to determine whether the point is near the weld location. If the shortest distance exceeds the weld seam width, the point is not near the weld location. If the shortest distance does not exceed the weld seam width, the point is near the weld location and is then selected as the weld location. By similarly processing each point in the point cloud to be processed, multiple weld locations can be obtained from the point cloud to be processed.

[0127] Next, for each point in the third point cloud, the distance between that point and every point in the point cloud to be processed is calculated, and the shortest distance is obtained. This shortest distance is then compared with the preset weld seam width to determine whether the point is near the weld location. If the shortest distance exceeds the weld seam width, the point is not near the weld location; if the shortest distance does not exceed the weld seam width, the point is near the weld location and is selected as the weld location. Similarly, each point in the third point cloud is processed to obtain multiple weld locations 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 the initial welding point set based on the position of each welding point to obtain an initial welding point sequence.

[0131] Step S206-5-3: Divide the initial welding point sequence into multiple subsequences according to preset division parameters, and randomly select 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 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.

[0133] In this embodiment, the initial welding point set is first sorted based on the position of each welding point to obtain an initial welding point sequence. For example, the average position of all welding points in the initial welding point set can be calculated to obtain a middle position. The welding point in the initial welding point set that is farthest from the middle position is then selected as the first welding point. The welding point in the initial welding point set that is closest to the first welding point is then selected as the second welding point. This cycle is repeated until each welding point in the initial welding point set is sorted to obtain an initial welding point sequence.

[0134] The initial weld point sequence is then divided into multiple subsequences based on preset partitioning parameters, such as preset distance intervals. A weld point is randomly selected from each subsequence to obtain a candidate weld point sequence. It is understood that after orderly sampling the initial weld point sequence, the distances between adjacent weld points in the obtained candidate weld point sequence are relatively close, but these distances are not completely equal, meaning that the distances between weld points are not uniform. Therefore, to improve welding quality, the candidate weld point sequence is further homogenized.

[0135] Finally, the first weld point in the candidate weld point sequence is used as the weld point to be processed. The distance between this weld point and the next weld point is calculated. If the distance between the two weld points is not equal to the preset interval parameter, the position of the next weld point is adjusted. After the next weld point is used as the new weld point to be processed, the distance calculation and position adjustment process is repeated until every weld point in the candidate weld point sequence is traversed, thus obtaining the target weld point sequence. This target weld point sequence ensures that the distance between any two adjacent weld 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 block 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 principles 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-mentioned embodiments. For the sake of brevity, any details not mentioned in this embodiment may be referred to the corresponding contents of the above-mentioned embodiments. The welding trajectory generating device 300 for a ship anchor chain includes:

[0137] The pre-processing module 310 is used to collect the original point cloud of the anchor chain link to be welded in the ship anchor chain, and pre-process 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 the 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; first welding point position information is obtained based on the first point cloud and the third point cloud, and second welding point position information is obtained based on the second point cloud and the third point cloud; actual posture information of the anchor chain ring to be welded is calculated based on the target point cloud, and first welding posture information and second welding posture information are calculated based on 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 obtain a second welding trajectory based on the second welding point information and the second welding posture information, and use the first welding trajectory and the second welding trajectory together as the welding trajectory of the anchor chain link 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 into 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 in the three pending point clouds based on the positional relationship and the acquisition 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 acquisition position than the second point cloud.

[0143] Optionally, the computing module 330 is further used to: use the first point cloud and the second point cloud as point clouds to be processed in sequence; select multiple points near the 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, thereby obtaining 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 further configured to: sort the welding points 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 positions of the welding points 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. 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] An embodiment of the present invention further provides a storage medium storing a computer program. When the computer program is executed by a processor, the method for generating a welding trajectory of a ship anchor chain disclosed in an embodiment of the present invention is implemented.

[0148] In the 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 illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, 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, program segment, or part of the code, which 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 boxes can also occur in an order different from that 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, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or actions, or can be implemented using 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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method 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 foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection 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 link and matching reference welding posture information, the method comprising: Collecting original point clouds of anchor chain links to be welded in the ship anchor chain, and preprocessing the original point clouds to obtain target point clouds; 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 post; 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 post; and the third point cloud represents the stop post in the anchor chain ring to be welded; Obtaining first welding point information based on the first point cloud and the third point cloud, and obtaining second welding point information based on the second point cloud and the third point cloud; Calculating actual position information of the anchor chain link 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 information, the reference position 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 link 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 includes: 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; 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 falls within a preset distance range; For each of the adjacent points, calculating 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, classifying the adjacent point and the point to be processed as the same initial point cloud; Traversing each point in the target point cloud to obtain a plurality of initial point clouds; wherein 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 total number of the 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 includes: 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; Determining 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, wherein The step of obtaining first welding point information based on the first point cloud and the third point cloud, and obtaining second welding point information based on 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, which is used as the welding point information corresponding to the point cloud to be processed, and the first welding point information corresponding to the first point cloud and the second welding point information corresponding to the second point cloud are obtained.

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 includes: For each point in the to-be-processed point cloud, determining the shortest distance between the point and the third point cloud, and if the shortest distance is less than or equal to a preset weld width, taking the point as a welding position; For each point in the third point cloud, determining the shortest distance between the point and the point cloud to be processed, and if the shortest distance is less than or equal to the weld width, taking the point as the welding point; The set consisting of all welding points is used as the initial welding point set.

7. The method according to claim 5, characterized in that The step of sequentially sampling and homogenizing the initial welding point set to obtain a target welding point sequence includes: Sorting based on the position of each welding point in the initial welding point set to obtain an initial welding point sequence; 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; The positions of the welding points in the candidate welding point sequence are adjusted according to a preset interval parameter 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 device for generating welding trajectory of ship anchor chain, characterized in that: Applied to electronic equipment, the electronic equipment pre-stores reference position information of the anchor chain link and matching reference welding posture information, the device comprising: A preprocessing module is used to collect the original point cloud of the anchor chain link to be welded in the ship anchor chain, and preprocess the original point cloud to obtain the target point cloud; a calculation module, configured 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 the anchor chain link to be welded, close to one end of the stop post; the second point cloud represents a second welding portion of the ring body in the anchor chain link to be welded, close to the other end of the stop post; and the third point cloud represents the stop post in the anchor chain link to be welded; Obtaining first welding point information based on the first point cloud and the third point cloud, and obtaining second welding point information based on the second point cloud and the third point cloud; Calculating actual position information of the anchor chain link 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 information, the reference position information and the reference welding posture information; A generating module is configured 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 link 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, which, when executed by a processor, implements the method for generating a welding trajectory of a ship anchor chain according to any one of claims 1 to 7.

Images