Weld joint reinforcement value determining method, workpiece polishing method, device and system

Abstract

The invention provides a weld reinforcement value determining method and a workpiece polishing method, device and system, and relates to the technical field of engineering machinery, the weld reinforcement value determining method comprises the following steps: acquiring a plane point cloud of the surface of a weld of a workpiece; fitting the plane point cloud to obtain a first line representing the morphology change of the surface of the welding seam; and according to the first line, the weld reinforcement value of the workpiece is determined.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a method for determining a weld excess height value, a method for grinding a workpiece, a device and a system. Background Art

[0002] The junction between the surface of the weld and the parent material is the weld toe. The weld reinforcement refers to the height of the part of the weld metal on the line connecting the two weld toes that exceeds the surface of the parent material. If the weld reinforcement value is too large, irregular protrusions will appear on the surface of the weld, resulting in an uneven surface transition of the workpiece, and when the weld is subjected to external stress, the weld toe will become a stress concentration area, increasing the stress concentration of the weld, which can easily lead to tensile fracture or deformation of the welded part. Therefore, in order to meet the appearance and quality requirements of engineering machinery products, after welding, it is usually necessary to know the weld reinforcement value of the workpiece to guide the subsequent processes (such as weld grinding).

[0003] In the related art, a plug gauge, a feeler gauge or other measuring tool is usually used to measure the surface of the weld to determine the weld excess height value of the workpiece. Summary of the invention

[0004] In the method of the related art, the accuracy of the determined weld excess height value is low.

[0005] In order to solve the above problems, the embodiments of the present disclosure propose the following solutions.

[0006] According to one aspect of an embodiment of the present disclosure, a method for determining a weld excess height value is provided, comprising: obtaining a plane point cloud of a surface of a weld of a workpiece; fitting the plane point cloud to obtain a first line characterizing a morphological change of the surface of the weld; and determining the weld excess height value of the workpiece based on the first line.

[0007] In some embodiments, fitting the plane point cloud to obtain a first line characterizing the surface morphological changes of the weld includes: fitting the multiple point cloud points in the plane point cloud according to their three-dimensional coordinates in a three-dimensional coordinate system to obtain the first line; wherein the first coordinate axis in the three-dimensional coordinate system is parallel to the extension direction of the weld.

[0008] In some embodiments, the second coordinate axis in the three-dimensional coordinate system is perpendicular to the surface of the weld; determining the weld excess height value of the workpiece based on the first line includes: determining the maximum coordinate value of the first line on the second coordinate axis as the weld excess height value.

[0009] In some embodiments, the origin of the three-dimensional coordinate system is a point cloud point in the plane point cloud.

[0010] In some embodiments, the surface of the workpiece includes the surface of the weld and other surfaces except the surface of the weld, and obtaining the plane point cloud of the surface of the weld of the workpiece includes: obtaining the original point cloud of the surface of the workpiece; removing the point clouds of the other surfaces in the original point cloud to obtain the plane point cloud.

[0011] According to another aspect of an embodiment of the present disclosure, a method for grinding a workpiece is provided, comprising: grinding the surface of a weld of the workpiece according to a weld excess value of the workpiece; wherein the weld excess value is determined by using the method for determining the weld excess value described in any one of the above embodiments.

[0012] In some embodiments, the method further includes: fitting a point cloud of a first area on the surface of the workpiece to obtain a second line characterizing the morphological change of the first area, the first area being located on one side of the weld, and a line whose distance from the weld is a first offset is located in the first area; determining first height information of the first area based on the second line; wherein, according to the weld excess height value of the workpiece, grinding the surface of the weld of the workpiece includes: grinding the surface of the weld based on the weld excess height value and the first height information.

[0013] In some embodiments, the first height information includes a difference between a maximum height value and a minimum height value of the second line in a direction perpendicular to the surface of the weld.

[0014] In some embodiments, the method further includes: fitting a second point cloud of a second area on the surface of the workpiece to obtain a third line characterizing the morphological change of the second area, the second area being located on the other side of the weld, and another line whose distance from the weld is a second offset is located in the second area; determining second height information of the second area based on the third line; wherein, grinding the surface of the weld of the workpiece based on the weld residual height value includes: grinding the surface of the weld based on the weld residual height value, the first height information and the second height information.

[0015] In some embodiments, the second height information includes a difference between a maximum height value and a minimum height value of the third line in a direction perpendicular to the surface of the weld.

[0016] In some embodiments, the second offset is equal to the first offset.

[0017] In some embodiments, at least one of the second offset and the first offset is determined based on the weld reinforcement value.

[0018] In some embodiments, at least one of the second offset and the first offset is positively correlated with the weld reinforcement value.

[0019] According to another aspect of an embodiment of the present disclosure, a device for determining a weld excess height value is provided, comprising: a module configured to execute the method for determining a weld excess height value described in any one of the above embodiments.

[0020] According to another aspect of an embodiment of the present disclosure, a device for determining a weld excess height value is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute a method for determining a weld excess height value described in any one of the above embodiments based on instructions stored in the memory.

[0021] According to another aspect of the embodiments of the present disclosure, there is provided a workpiece grinding device, comprising: a module configured to execute the workpiece grinding method described in any one of the above embodiments.

[0022] According to another aspect of an embodiment of the present disclosure, there is provided a workpiece grinding device, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the workpiece grinding method described in any one of the above embodiments based on instructions stored in the memory.

[0023] According to another aspect of the embodiments of the present disclosure, there is provided a workpiece grinding system, comprising: the workpiece grinding device according to any one of the above embodiments; and the workpiece.

[0024] According to another aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, comprising computer program instructions, wherein when the computer program instructions are executed by a processor, the method described in any one of the above embodiments is implemented.

[0025] In the disclosed embodiment, a plane point cloud of the surface of the weld of the workpiece is obtained, the plane point cloud is fitted to obtain a first line representing the morphological change of the surface of the weld, and the weld reinforcement value of the workpiece is determined based on the first line. In this way, since the plane point cloud of the surface of the weld obtained can reflect the actual deformation of the surface of the weld, and the first line obtained based on the plane point cloud can represent the actual morphological change of the surface of the weld, the weld reinforcement value determined based on the first line is more accurate than the weld reinforcement value determined by directly measuring the surface of the weld using a measuring tool, thereby improving the accuracy of the determined weld reinforcement value.

[0026] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 It is a flowchart of a method for determining a weld excess height value according to some embodiments of the present disclosure.

[0029] Figure 2 is a schematic diagram of a two-dimensional image according to some embodiments of the present disclosure.

[0030] Figure 3 is a schematic diagram of a point cloud according to some embodiments of the present disclosure.

[0031] Figure 4 is a schematic diagram of a point cloud according to some other embodiments of the present disclosure.

[0032] Figure 5 It is a schematic flow chart of a method for grinding a workpiece according to some embodiments of the present disclosure.

[0033] Figure 6 Schematic diagrams of point clouds according to some further embodiments of the present disclosure.

[0034] Figure 7 It is a structural schematic diagram of a device for determining a weld residual height value according to some embodiments of the present disclosure.

[0035] Figure 8 It is a schematic structural diagram of a workpiece grinding device according to some embodiments of the present disclosure.

[0036] Fig. 9 is a schematic diagram of the structure of an electronic device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0038] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0039] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0040] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0041] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] According to one aspect of an embodiment of the present disclosure, a method for determining a weld excess height value is provided.

[0044] Figure 1 It is a flowchart of a method for determining a weld excess height value according to some embodiments of the present disclosure.

[0045] In step 102 , a planar point cloud of the surface of a weld of a workpiece is obtained.

[0046] It should be understood that the surface of the weld is a portion of the surface of the workpiece, and the plane point cloud of the surface of the weld is a portion of the point cloud of the entire surface of the workpiece.

[0047] In some embodiments, any one of binocular vision cameras, handheld scanners, and Kinect cameras can be used to obtain a plane point cloud of the surface of the weld of the workpiece by photographing or scanning. For example, a binocular vision camera can be mounted on a device such as a six-axis robot or a truss robot, and the device can be used to drive the camera to collect point clouds. For another example, a manual handheld scanner can be used to scan the surface of the workpiece to obtain a plane point cloud of the surface of the weld.

[0048] In some embodiments, a point cloud of the entire surface of the workpiece may be obtained, and the point cloud of the entire surface may be processed to obtain a plane point cloud of the surface of the weld, which will be further described below.

[0049] In step 104 , the plane point cloud is fitted to obtain a first line representing the topographical change of the surface of the weld.

[0050] In some embodiments, a least square method may be used to perform curve fitting on a plurality of point cloud points in a plane point cloud to obtain a first line (also referred to as a weld center line).

[0051] In step 106, the weld excess height value of the workpiece is determined according to the first line.

[0052] In some embodiments, the weld excess height value of the workpiece may be determined based on the height values ​​of a plurality of points on the first line.

[0053] In the above embodiment, a plane point cloud of the surface of the weld of the workpiece is obtained, the plane point cloud is fitted to obtain a first line representing the topographic change of the surface of the weld, and the weld reinforcement value of the workpiece is determined based on the first line. In this way, since the plane point cloud of the surface of the weld obtained can reflect the actual deformation of the surface of the weld, and the first line obtained based on the plane point cloud can represent the actual topographic change of the surface of the weld, the weld reinforcement value determined based on the first line is more accurate than the weld reinforcement value determined by directly measuring the surface of the weld using a measuring tool, thereby improving the accuracy of the determined weld reinforcement value.

[0054] Furthermore, the method provided by the embodiments of the present disclosure can also achieve accurate measurement of the degree of local deformation of workpieces of longer lengths that occur during the production process, thereby solving the problem in the related art that the degree of local deformation of workpieces of longer lengths cannot be measured due to reasons such as the limited range of the measuring tool.

[0055] In addition, under the method provided by the embodiment of the present disclosure, for any workpiece in any production site, a point cloud of the surface of the weld of the workpiece can be obtained by non-contact measurement (such as taking pictures or scanning), and then the weld residual height value can be determined based on the obtained point cloud. There is no need to set up different measurement systems according to different workpiece types and production sites. On the basis of improving the accuracy of the determined weld residual height value, the cost of determining the weld residual height value is reduced.

[0056] In some embodiments, multiple point cloud points in the plane point cloud can be fitted according to their three-dimensional coordinates in the three-dimensional coordinate system to obtain a first line. Here, the first coordinate axis in the three-dimensional coordinate system is parallel to the extension direction of the weld.

[0057] For example, any two coordinate axes in the three-dimensional coordinate system are perpendicular, the first coordinate axis may be the X axis, the second coordinate axis may be the Z axis, and the third coordinate axis may be the Y axis. The extension direction of the weld is parallel to the X axis.

[0058] In this way, the amount of calculation required for the subsequent determination of the weld excess height value is reduced, and on the basis of improving the accuracy of the determined weld excess height value, the efficiency of determining the weld excess height value is improved.

[0059] In some embodiments, the first coordinate axis in the three-dimensional coordinate system is parallel to the extension direction of the weld, and the second coordinate axis in the three-dimensional coordinate system can be perpendicular to the surface of the weld. In this case, the weld residual height value of the workpiece can be determined based on the coordinate values ​​of multiple points on the first line on the second coordinate axis. For example, the maximum coordinate value of the first line on the second coordinate axis can be determined as the weld residual height value.

[0060] As some implementations, in response to user operations, the fitted first line together with the three-dimensional coordinate system can be exported as a file in iges format or step format, and the file can be imported into three-dimensional design software (such as UG or Proe software) to obtain a two-dimensional image including the first line, the first coordinate axis and the second coordinate axis. Based on the two-dimensional image, the maximum coordinate value of the first line on the second coordinate axis can be determined.

[0061] Figure 2 is a schematic diagram of a two-dimensional image according to some embodiments of the present disclosure.

[0062] like Figure 2 As shown, L' represents the length of the weld, the first coordinate axis is the X axis, which is parallel to the extension direction of the weld (also called the length direction of the weld), and the second coordinate axis is the Z axis. The maximum value (n≥2) of the coordinate values ​​Z1 to Zn of the n points of the first line Q1 on the Z axis is determined as the weld excess height value.

[0063] In this way, it is only necessary to determine the maximum coordinate value on the first line on the second coordinate axis to obtain the weld excess height value of the workpiece. On the basis of improving the accuracy of the determined weld excess height value, it further helps to reduce the amount of calculation required for subsequent determination of the weld excess height value, thereby further improving the efficiency of determining the weld excess height value.

[0064] In some embodiments, the first coordinate axis in the three-dimensional coordinate system overlaps with the weld. In this way, the coordinate values ​​on the second coordinate axis on the first line directly reflect the heights of different positions on the weld surface, and the weld excess height value of the workpiece can be determined without performing additional transformation calculations. On the basis of improving the accuracy of the determined weld excess height value, it further helps to reduce the amount of calculation required for subsequent determination of the weld excess height value, thereby further improving the efficiency of determining the weld excess height value.

[0065] In some embodiments, the origin of the three-dimensional coordinate system is a point cloud point in the plane point cloud. In this way, establishing a three-dimensional coordinate system with the actual point cloud point as the origin helps to improve the accuracy of fitting multiple point cloud points in the plane point cloud, thereby further improving the accuracy of the determined weld excess height value.

[0066] In some embodiments, the overall point cloud obtained after photographing or scanning the surface of the workpiece may include an original point cloud of the surface of the workpiece and an environmental point cloud of the environment in which the workpiece is located. In this case, the original point cloud of the surface of the workpiece can be obtained by removing the environmental point cloud from the overall point cloud.

[0067] Figure 3 is a schematic diagram of a point cloud according to some embodiments of the present disclosure. Figure 3 The overall point cloud 300 obtained by scanning the surface of the workpiece with a handheld scanner is shown.

[0068] Figure 4 is a schematic diagram of a point cloud according to some other embodiments of the present disclosure.

[0069] like Figure 4 As shown, A1 and A2 are the environmental point clouds of the environment on one side of the workpiece (i.e., side A), and B1 is the environmental point cloud of the environment on the other side of the workpiece (i.e., side B). By removing the environmental point clouds A1, A2, and B1 in the overall point cloud 300, the original point cloud of the surface of the workpiece can be obtained.

[0070] In some embodiments, the surface of the workpiece may include the surface of the weld and other surfaces except the surface of the weld. In these embodiments, after obtaining the original point cloud of the surface of the workpiece, the point clouds of other surfaces in the original point cloud may be removed to obtain the plane point cloud of the surface of the weld. For example, in response to user operation, the original point cloud of the surface of the workpiece may be imported into point cloud processing software (such as Control X software or Geomagic Qualify software) to identify the point clouds of other surfaces, and the point clouds of other surfaces in the original point cloud may be deleted to obtain the plane point cloud of the surface of the weld.

[0071] In this way, only the plane point cloud of the weld surface needs to be fitted to obtain the first line of characterization of the surface morphology changes of the weld, which not only reduces the interference of point clouds of other surfaces on the fitting process, but also reduces the amount of calculation in the fitting process, thereby further improving the accuracy of the determined weld excess height value and the efficiency of determining the weld excess height value.

[0072] According to another aspect of the embodiment of the present disclosure, a method for grinding a workpiece is provided, comprising: grinding the surface of the weld of the workpiece according to the weld excess value of the workpiece, wherein the weld excess value of the workpiece is determined by the method for determining the weld excess value in any one of the above embodiments, and the specific process can be referred to in the above Figure 1 The description in the relevant embodiments of the present invention.

[0073] It should be noted that weld grinding is an important process in the workpiece processing. By grinding the surface of the weld, welding residues and oxides can be removed, the weld height can be reduced, and the weld surface can be smoother.

[0074] Therefore, based on the weld excess height value determined by the method in any of the above embodiments, the surface of the weld of the workpiece is polished, thereby reducing the possibility of problems such as uneven polishing and damage to the base material caused by inaccurate weld excess height value during the polishing process, thereby improving the accuracy of weld polishing.

[0075] Figure 5 It is a schematic flow chart of a method for grinding a workpiece according to some embodiments of the present disclosure.

[0076] In step 502 , a point cloud of a first region of the surface of a workpiece is fitted to obtain a second line representing a topographic change of the first region.

[0077] Here, the first region is located at one side of the weld, and a line that is at a first offset distance from the weld is located in the first region.

[0078] Figure 6 is a schematic diagram of a point cloud according to some further embodiments of the present disclosure.

[0079] like Figure 6 As shown, Figure 6 The point cloud of the surface of the workpiece is shown. The first region S1 is located on one side of the weld L1, and a line L2 whose distance from the weld L1 is a first offset ΔL is located in the first region S1.

[0080] It should be understood that the method of fitting the point cloud of the first area is similar to the method of fitting the plane point cloud mentioned above. For example, the least squares method can be used for fitting. The specific implementation method can be found in the description of the above-mentioned related embodiments, which will not be repeated here.

[0081] In step 504, first height information of the first area is determined according to the second line.

[0082] In some embodiments, the first height information of the first region may be determined based on a height value of the second line in a direction perpendicular to the surface of the weld.

[0083] It should be understood that the first height information of the first region reflects the deformation degree of the first region.

[0084] In step 506, the surface of the weld is polished according to the weld residual height value and the first height information.

[0085] For example, the grinding process parameters may be determined according to the weld residual height value, and the grinding process parameters may be adjusted according to the first height information, so that the surface of the weld may be ground according to the adjusted process parameters.

[0086] In the above embodiment, the point cloud of the first area on the surface of the workpiece located on one side of the weld is fitted to obtain a second line characterizing the morphological change of the first area, and the first height information of the first area is determined based on the second line, and the surface of the weld is polished based on the weld residual height value and the first height information. In this way, considering that one side of the weld may also deform to a certain extent during the welding process, by further determining the first height information reflecting the degree of deformation of the first area located on one side of the weld, and polishing the surface of the weld based on the weld residual height value and the first height information, the accuracy of weld polishing can be further improved.

[0087] In some embodiments, the line located in the first region and having a distance from the weld by the first offset has the same length as the weld, thereby improving the accuracy of the second line obtained by fitting the point cloud of the first region, thereby improving the accuracy of the determined first height information, and further improving the accuracy of weld grinding.

[0088] In some embodiments, the first height information can be determined based on the maximum height value and the minimum height value of the second line in the direction perpendicular to the surface of the weld. For example, the first height information can include the difference between the maximum height value and the minimum height value of the second line in the direction perpendicular to the surface of the weld. It should be understood that the first height information can be determined similarly to the method of determining the weld residual height value in the aforementioned related embodiments. For example, the difference between the maximum height value and the minimum height value of the second line in the direction perpendicular to the surface of the weld can be determined based on the difference between the maximum coordinate value and the minimum coordinate value of the second line on the aforementioned second coordinate axis. For specific instructions, please refer to the instructions in the aforementioned related embodiments, which will not be repeated here.

[0089] In this way, the first height information can more accurately reflect the deformation of the first area, thereby further improving the accuracy of grinding the workpiece.

[0090] In some embodiments, the second point cloud of the second area on the surface of the workpiece may also be fitted to obtain a third line characterizing the morphological change of the second area, and the second height information of the second area may be determined based on the third line. Here, the second area is located on the other side of the weld, and another line whose distance from the weld is the second offset is located in the second area. It should be understood that the method of fitting the point cloud of the second area is similar to the method of fitting the plane point cloud described above. For example, the least squares method may be used for fitting. The specific implementation method may refer to the description in the related embodiments described above, and will not be repeated here.

[0091] In these embodiments, the surface of the weld may be polished according to the weld excess height value, the first height information, and the second height information.

[0092] For example, the grinding process parameters may be determined according to the weld residual height value, and the grinding process parameters may be adjusted according to the first height information and the second height information, so that the surface of the weld may be ground according to the adjusted process parameters.

[0093] In this way, taking into account that both sides of the weld may undergo a certain degree of deformation during the welding process, on the basis of determining the first height information, the second height information reflecting the degree of deformation of the second area located on the other side of the weld is further determined, and the surface of the weld is further polished in combination with the second height information, thereby further improving the accuracy of weld polishing.

[0094] In some embodiments, the first offset and the second offset are equal. Figure 6 The first offset and the second offset are both ΔL, the second region S2 is located on the other side of the weld L1, and the line L3 whose distance from the weld L1 is the second offset ΔL is located in the second region S2.

[0095] In some embodiments, at least one of the first offset and the second offset may be determined based on a weld bead height value of the workpiece. For example, the first offset and the second offset may both be determined based on a weld bead height value of the workpiece.

[0096] As some implementations, different deformation ranges may correspond to different offsets. The corresponding offset may be determined according to the deformation range in which the weld reinforcement value is located. For example, the weld reinforcement value of the workpiece is 6 mm, which is within the deformation range of 5-10 mm. The offset corresponding to the range is ΔL=5 mm, so the first offset and the second offset may be set to 5 mm.

[0097] In this way, the accuracy of the determined first offset and the second offset is improved, thereby improving the accuracy of the determined first height information and the second height information, thereby further improving the accuracy of weld grinding.

[0098] In some embodiments, at least one of the first offset and the second offset is positively correlated with the weld bead height value of the workpiece. For example, the first offset and the second offset may both be positively correlated with the weld bead height value of the workpiece. In this way, the accuracy of the determined first offset and the second offset is further improved, thereby further improving the accuracy of weld grinding.

[0099] In some embodiments, the line located in the second region and having a distance from the weld by the second offset is the same length as the weld. In this way, the accuracy of the third line obtained by fitting the point cloud of the second region is improved, thereby improving the accuracy of the determined second height information, and further improving the accuracy of weld grinding.

[0100] In some embodiments, the second height information can be determined based on the maximum height value and the minimum height value of the third line in the direction perpendicular to the surface of the weld. For example, the second height information can include the difference between the maximum height value and the minimum height value of the third line in the direction perpendicular to the surface of the weld. It should be understood that the second height information can be determined similarly to the method of determining the weld residual height value in the aforementioned related embodiments. For specific descriptions, please refer to the description in the aforementioned related embodiments, which will not be repeated here.

[0101] In this way, the second height information can more accurately reflect the deformation of the second area, thereby further improving the accuracy of grinding the workpiece.

[0102] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0103] The present disclosure also provides a device for determining a weld excess height value, comprising: a device configured to perform the above Figures 1 to 4 A module for determining the weld excess height value shown in any one of the embodiments.

[0104] Figure 7 It is a structural schematic diagram of a device for determining a weld residual height value according to some embodiments of the present disclosure.

[0105] like Figure 7 As shown, the device 700 for determining the weld excess height value includes an acquisition module 701 , a fitting module 702 and a determination module 703 .

[0106] The acquisition module 701 may be configured to acquire a planar point cloud of a surface of a weld of a workpiece.

[0107] The fitting module 702 may be configured to fit the plane point cloud to obtain a first line representing the topographical change of the surface of the weld.

[0108] The determination module 703 may be configured to determine a weld excess height value of the workpiece according to the first line.

[0109] In some embodiments, the device 700 for determining the weld height value may further include executing the above Figures 1 to 4 The other modules of other steps in the method for determining the weld excess height value shown in are not repeated here.

[0110] The present disclosure also provides a workpiece grinding device, comprising: a device configured to perform Figures 5 and 6 A module for a method for grinding a workpiece as shown in any one of the embodiments.

[0111] Figure 8 It is a schematic structural diagram of a workpiece grinding device according to some embodiments of the present disclosure.

[0112] like Figure 8 As shown, the workpiece grinding device 800 includes a grinding module 801 .

[0113] The grinding module 801 may be configured to grind the surface of the weld of the workpiece according to the weld excess value of the workpiece. Here, the weld excess value of the workpiece may be determined by using the device for determining the weld excess value of any of the aforementioned embodiments.

[0114] In some embodiments, the workpiece grinding device 800 may also include a method for performing the above Figures 5 and 6 The other modules of other steps in the workpiece grinding method shown in are not described in detail here.

[0115] In some embodiments, the workpiece grinding device 800 may include a device for determining a weld bead height value of any of the above embodiments. In other embodiments, the device for determining a weld bead height value of any of the above embodiments may send the determined weld bead height value to the workpiece grinding device 800.

[0116] Fig. 9 is a schematic diagram of the structure of an electronic device according to some embodiments of the present disclosure.

[0117] like Fig. 9 As shown, the electronic device 900 includes a memory 901 and a processor 902 coupled to the memory 901 , and the processor 902 is configured to execute the method of any one of the aforementioned embodiments based on the instructions stored in the memory 901 .

[0118] The memory 901 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs.

[0119] The electronic device 900 may also include an input / output interface 903, a network interface 904, a storage interface 905, etc. These interfaces 903, 904, 905, and the memory 901 and the processor 902 may be connected, for example, via a bus 906. The input / output interface 903 provides a connection interface for input / output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 904 provides a connection interface for various networked devices. The storage interface 905 provides a connection interface for external storage devices such as an SD card and a USB flash drive.

[0120] In some embodiments, the electronic device 900 can be used as a device for determining a weld seam excess height value. In this case, the processor 902 is configured to execute a method for determining a weld seam excess height value of any of the above embodiments based on instructions stored in the memory 901 .

[0121] In some other embodiments, the electronic device 900 may be used as a workpiece grinding device. In this case, the processor 902 is configured to execute the workpiece grinding method of any of the above embodiments based on the instructions stored in the memory 901 .

[0122] The present disclosure also provides a workpiece grinding system, including a workpiece grinding device (e.g., workpiece grinding device 800) of any of the above embodiments and a workpiece. The workpiece may be, for example, a main beam or a reinforcing plate (also called a reinforcement plate) in a port machinery crane (e.g., a container reach crane (also called a reach stacker)).

[0123] The embodiments of the present disclosure further provide a computer-readable storage medium, comprising computer program instructions, which implement the method of any one of the above embodiments when executed by a processor.

[0124] The embodiments of the present disclosure further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor, the method of any one of the above embodiments is implemented.

[0125] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0126] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions specified in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0128] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0130] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for determining a weld excess height value, comprising: Obtaining a plane point cloud of the surface of the weld of the workpiece; Fitting the plane point cloud to obtain a first line representing a topographic change of the surface of the weld; According to the first line, a weld excess height value of the workpiece is determined.

2. The method according to claim 1, wherein: Fitting the plane point cloud to obtain a first line characterizing the topographic change of the surface of the weld includes: Fitting the plurality of point cloud points in the plane point cloud according to the three-dimensional coordinates of the plurality of point cloud points in the three-dimensional coordinate system to obtain the first line; Wherein, the first coordinate axis in the three-dimensional coordinate system is parallel to the extension direction of the weld.

3. The method according to claim 2, wherein: The second coordinate axis in the three-dimensional coordinate system is perpendicular to the surface of the weld; Determining the weld reinforcement value of the workpiece according to the first line includes: The maximum coordinate value of the first line on the second coordinate axis is determined as the weld residual height value.

4. The method according to claim 2 or 3, wherein: The origin of the three-dimensional coordinate system is a point cloud point in the plane point cloud.

5. The method according to claim 1, wherein: The surface of the workpiece includes the surface of the weld and other surfaces except the surface of the weld, and obtaining a plane point cloud of the surface of the weld of the workpiece includes: Acquire an original point cloud of the surface of the workpiece; The point clouds of the other surfaces in the original point cloud are removed to obtain the plane point cloud.

6. A method for grinding a workpiece, comprising: Grinding the surface of the weld of the workpiece according to the weld excess height value of the workpiece; Wherein, the weld excess height value is determined by the method described in any one of claims 1-5.

7. The method according to claim 6, further comprising: Fitting a point cloud of a first region on the surface of the workpiece to obtain a second line characterizing a topographic change of the first region, wherein the first region is located on one side of the weld, and a line whose distance from the weld is a first offset is located in the first region; determining first height information of the first area according to the second line; Wherein, grinding the surface of the weld of the workpiece according to the weld excess height value of the workpiece includes: The surface of the weld is polished according to the weld residual height value and the first height information.

8. The method according to claim 7, wherein: The first height information includes a difference between a maximum height value and a minimum height value of the second line in a direction perpendicular to a surface of the weld.

9. The method according to claim 7 or 8, further comprising: Fitting a second point cloud of a second region on the surface of the workpiece to obtain a third line characterizing a morphological change of the second region, wherein the second region is located on the other side of the weld, and another line whose distance from the weld is a second offset is located in the second region; determining second height information of the second area according to the third line; Wherein, grinding the surface of the weld of the workpiece according to the weld excess height value of the workpiece includes: The surface of the weld is polished according to the weld excess height value, the first height information and the second height information.

10. The method according to claim 9, wherein: The second height information includes a difference between a maximum height value and a minimum height value of the third line in a direction perpendicular to the surface of the weld.

11. The method according to claim 9, wherein: The second offset is equal to the first offset.

12. The method according to claim 9, wherein: At least one of the second offset and the first offset is determined based on the weld reinforcement value.

13. The method according to claim 12, wherein: At least one of the second offset and the first offset is positively correlated with the weld reinforcement value.

14. A device for determining a weld excess height value, comprising: A module configured to execute the method according to any one of claims 1 to 5.

15. A device for determining a weld excess height value, comprising: Memory; as well as A processor coupled to the memory is configured to execute the method according to any one of claims 1 to 5 based on instructions stored in the memory.

16. A workpiece grinding device, comprising: A module configured to execute the method according to any one of claims 6 to 13.

17. A workpiece grinding device, comprising: Memory; as well as A processor coupled to the memory is configured to execute the method of any one of claims 6 to 13 based on instructions stored in the memory.

18. A workpiece grinding system, comprising: The workpiece grinding device according to claim 16 or 17; as well as The workpiece.

19. A computer-readable storage medium comprising computer program instructions, wherein: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 13 is implemented.

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