Welding path planning method, electronic equipment and computer readable storage medium

Abstract

The invention discloses a welding path planning method, electronic equipment and a computer readable storage medium, and the method comprises the following steps: obtaining position information corresponding to a plurality of welding seams, and dividing all the welding seams into independent welding seams and a welding seam set based on the position information; the welding seam set comprises at least two intersecting and continuous welding seams; obtaining a mark point on the weld joint, and offsetting the mark point based on the welding parameter corresponding to the weld joint to obtain an offset point corresponding to the mark point; the mark points at least comprise end points of the weld joints; generating an offset path corresponding to the independent welding seam on the basis of a connecting line of all offset points corresponding to the independent welding seam, determining an offset intersection point corresponding to every two continuous welding seams in the welding seam set after offset by using all offset points corresponding to the welding seam set, and generating an offset path corresponding to the welding seam set on the basis of the offset points and the offset intersection points corresponding to the welding seam set; and based on the offset paths corresponding to all the welding seams, a welding planning path matched with the robot is generated. According to the scheme, the welding efficiency can be improved.

Description

Technical Field

[0001] This application relates to the technical field of robotic welding, and particularly to a welding path planning method, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the application of robots in welding work, the labor input has been greatly saved. However, the mainstream method of using robots for welding still requires teaching, where the operator plans the welding path, which has a high usage threshold and low efficiency. In addition, existing teaching-free welding mainly relies on collecting real-time images and complex image analysis, which also greatly affects the welding efficiency. In view of this, how to improve the welding efficiency has become an urgent problem to be solved. Summary of the Invention

[0003] The main technical problem to be solved by this application is to provide a welding path planning method, an electronic device, and a computer-readable storage medium that can improve the welding efficiency.

[0004] To solve the above technical problem, in the first aspect of this application, a welding path planning method is provided, including: obtaining the position information corresponding to multiple welds, and dividing all the welds into independent welds and weld sets based on the position information; wherein, the weld set includes at least two intersecting and continuous welds; obtaining the marked points on the welds, and offsetting the marked points based on the welding parameters corresponding to the welds to obtain the offset points corresponding to the marked points; wherein, the marked points at least include the endpoints of the welds; generating an offset path corresponding to the independent weld based on the connection line of all the offset points corresponding to the independent weld, using all the offset points corresponding to the weld set to determine the offset intersection points corresponding to every two continuous welds after offsetting in the weld set, and generating an offset path corresponding to the weld set based on the offset points and offset intersection points corresponding to the weld set; generating a welding planning path matched by the robot based on the offset paths corresponding to all the welds.

[0005] To solve the above technical problem, in the second aspect of this application, an electronic device is provided. The electronic device includes: a memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method described in the first aspect above.

[0006] To solve the above technical problem, in the third aspect of this application, a computer-readable storage medium is provided, on which program data is stored, and when the program data is executed by a processor, the method described in the first aspect above is implemented.

[0007] In the above solution, the position information corresponding to multiple welds is obtained, and all the welds are divided based on the position information to obtain independent welds that exist alone and weld sets composed of at least two intersecting and continuous welds. Marking points on the welds are obtained, and the marking points are offset based on the welding parameters corresponding to the welds, so as to simulate the position of the robot end relative to the marking points during welding, and offset points corresponding to the marking points are obtained. Among them, the marking points at least include the endpoints of the welds to ensure that the connection lines of all the offset points corresponding to the welds are consistent with the length of the welds. Based on the connection lines between all the offset points corresponding to the independent welds, an offset path corresponding to the independent weld alone is generated. By using all the offset points corresponding to the weld set, the offset intersection points corresponding to every two consecutive welds in the weld set after offset are determined, so as to efficiently determine the offset intersection points through the positional relationship of the offset points. Based on the offset points and offset intersection points corresponding to the weld set, an offset path corresponding to multiple welds in the weld set is generated, so as to reduce the probability of distortion of continuous welds during welding when welding according to the offset path. Based on the offset paths corresponding to all the welds, an overall path is pre-planned for the robot to perform welding, thereby avoiding teaching and complex image analysis. Combining the specific limiting conditions of welding, the path can be pre-planned by analyzing the offset points and offset intersection points, and a welding planning path matching the robot is generated to improve the welding efficiency. Description of the Drawings

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them: Figure 1 is a schematic flowchart of an implementation manner of the welding path planning method of the present application; Figure 2 is a schematic application scenario diagram of an implementation manner of obtaining offset points of the present application; Figure 3 is a schematic application scenario diagram of another implementation manner of obtaining offset points of the present application; Figure 4 is a schematic flowchart of another implementation manner of the welding path planning method of the present application; Figure 5 is a schematic application scenario diagram of an implementation manner of the welding path planning method of the present application; Figure 6 is a schematic application scenario diagram of an implementation manner of offsetting the marking points based on the welding parameters of the present application; Figure 7 is a schematic structural diagram of an implementation manner of an electronic device of the present application; Figure 8It is a schematic structural diagram of an embodiment of the computer-readable storage medium of the present application. Specific Embodiments

[0009] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments, and adaptive combinations can be made between different embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0010] The terms "system" and "network" are often used interchangeably in this article. The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after. In addition, "multiple" in this article means two or more than two.

[0011] The welding path planning method provided by the present application is used to plan a welding path for a robot, and its corresponding execution entity is a processing unit capable of data processing, and this processing unit is integrated in the robot or independent of the robot and interacts with the robot.

[0012] Please refer to Figure 1 , Figure 1 It is a schematic flowchart of an embodiment of the welding path planning method of the present application, and this method includes: S101: Obtain the position information corresponding to multiple welds, and divide all welds into independent welds and weld sets based on the position information; wherein, the weld set includes at least two intersecting and continuous welds.

[0013] Specifically, obtain the position information corresponding to multiple welds, and divide all welds based on the position information to obtain independent welds that exist alone and weld sets composed of at least two intersecting and continuous welds.

[0014] It should be noted that the position information corresponding to the weld can be determined from an image including the weld, wherein the image including the weld can be collected by the robot. Alternatively, the position information corresponding to the weld can be obtained after being detected by a sensor for detecting the gap.

[0015] In some implementation scenarios, the position information of each weld includes the plane where the weld is located and the weld direction on the plane. The welds are classified according to different planes, and the welds whose directions on each plane do not intersect with other welds are obtained as independent welds, and the welds that intersect and are continuous with other welds on each plane are obtained as weld sets.

[0016] In some implementation scenarios, the position information of each weld seam includes the coordinates of the weld seam in the world coordinate system. Classify the weld seams based on the coordinate changes of the weld seams to obtain vertical weld seams and flat weld seams. Determine the flat weld seams that exist independently based on the coordinates corresponding to the weld seams. Take all the vertical weld seams and the independently existing flat weld seams as independent weld seams, and take the intersecting and continuous flat weld seams as a weld seam set.

[0017] S102: Obtain the marked points on the weld seam, and offset the marked points based on the welding parameters corresponding to the weld seam to obtain the offset points corresponding to the marked points; wherein, the marked points at least include the endpoints of the weld seam.

[0018] Specifically, obtain the marked points on the weld seam, and offset the marked points based on the welding parameters corresponding to the weld seam, so as to simulate the position of the robot end relative to the marked points during welding, and obtain the offset points corresponding to the marked points. Among them, the marked points at least include the endpoints of the weld seam to ensure that the connection line of all the offset points corresponding to the weld seam is consistent with the length of the weld seam.

[0019] It should be noted that the marked points on the weld seam can only select the two endpoints of the weld seam, or can select the two endpoints and some points between them.

[0020] In some implementation scenarios, obtain the marked points on the weld seam, determine the connection method required for the weld seam and the welding parameters matching the connection method. Among them, the connection method is matched with the material and position of the welding surface corresponding to the weld seam to ensure the welding efficiency, and offset the marked points based on the welding parameters corresponding to the weld seam to obtain the offset points corresponding to the marked points.

[0021] In some implementation scenarios, obtain the marked points on the weld seam, determine the offset direction corresponding to the weld seam. Among them, the offset direction is matched with the size of the robot and the size of the welding surface corresponding to the weld seam to ensure that the robot can operate normally, and offset the marked points based on the offset direction and welding parameters corresponding to the weld seam to obtain the offset points corresponding to the marked points.

[0022] For the convenience of explanation, please refer to Figure 2 , Figure 2 is a schematic diagram of the application scenario of an implementation method for obtaining offset points in this application. Taking two intersecting weld seams as an example, the marked points of one weld seam include two endpoints A and B, and the marked points of the other weld seam include two endpoints B and C. When it is inconvenient to operate on the inner side of the two weld seams, select the connection method of the outer corner, and the offset direction is the outer side. The marked point A is offset to the outer side based on the welding parameters to obtain the offset point A', the marked point C is offset to the outer side based on the welding parameters to obtain the offset point C', and the marked point B is offset to the outer side based on the welding parameters to obtain the offset points B1' and B2'.

[0023] For the convenience of explanation, please refer toFigure 3 , Figure 3 is a schematic diagram of an application scenario for another embodiment of obtaining the offset point in this application. Taking two intersecting welds as an example, the marked points of one weld include two endpoints A and B, and the marked points of the other weld include two endpoints B and C. When operations can be performed inside the two welds, the connection method of the included inner angle is selected, and the offset direction is the memory. The marked point A is offset inward based on the welding parameters to obtain the offset point A', the marked point C is offset inward based on the welding parameters to obtain the offset point C', and the marked point B is offset inward based on the welding parameters to obtain the offset points B1' and B2'.

[0024] It can be understood that based on Figure 2 and Figure 3 it can be known that when the connection method is the outer included angle, the connection lines between the offset points corresponding to the marked points have an intersection point on the extension line. When the connection method is the inner included angle, the connection lines between the offset points corresponding to the marked points have corresponding intersection points. Among them, the intersection point is marked as B' in the figure.

[0025] S103: Generate an offset path corresponding to the independent weld based on the connection lines of all offset points corresponding to the independent weld. Use all offset points corresponding to the weld set to determine the offset intersection points corresponding to every two consecutive welds in the weld set after offset. Based on the offset points and offset intersection points corresponding to the weld set, generate an offset path corresponding to the weld set.

[0026] Specifically, generate an offset path corresponding to the independent weld based on the connection lines between all offset points corresponding to the independent weld. Use all offset points corresponding to the weld set to determine the offset intersection points corresponding to every two consecutive welds in the weld set after offset, so as to efficiently determine the offset intersection points through the positional relationship of the offset points.

[0027] Furthermore, generate an offset path corresponding to multiple welds in the weld set based on the offset points and offset intersection points corresponding to the weld set, so as to reduce the probability of distortion of consecutive welds during welding when welding according to the offset path.

[0028] In some implementation scenarios, use the connection lines fitted from all offset points corresponding to the independent weld. Generate an offset path corresponding to the independent weld based on the connection lines of all offset points corresponding to the independent weld. Use the connection lines fitted from all offset points corresponding to the weld set to determine the connection lines of the offset points corresponding to each two intersecting welds respectively, take the intersection point of the connection lines as the offset intersection point, determine the starting point from the offset points corresponding to the weld set, and sequentially connect some offset points and all offset intersection points starting from the starting point to obtain an offset path consistent with the directions of all welds in the weld set.

[0029] In some implementation scenarios, all offset points corresponding to an independent weld are sequentially connected to obtain a connection line, and based on the connection line of all offset points corresponding to the independent weld, an offset path corresponding to the independent weld is generated. For each weld in the weld set, all offset points corresponding to the weld are sequentially connected to obtain a connection line, and two connection lines corresponding to every two intersecting welds in the weld set are determined. When the two connection lines have an intersection point, the intersection point of the connection lines is used as the offset intersection point. When the two connection lines do not have an intersection point, the intersection point of the extension lines of the connection lines is used as the offset intersection point. Based on the offset points and offset intersection points corresponding to the weld set, a contour composed of continuous connection lines is determined, and an offset path corresponding to the weld set is obtained.

[0030] S104: Generate a welding planning path matched by the robot based on the offset paths corresponding to all welds.

[0031] Specifically, based on the offset paths corresponding to all welds, a global path is pre-planned for the robot to perform welding.

[0032] In some implementation scenarios, based on the plane where the weld is located, according to the offset paths corresponding to the welds on each plane, paths matched with the plane are planned within each plane, and based on the paths matched with all planes, a welding planning path matched by the robot is generated.

[0033] In some implementation scenarios, paths are uniformly planned for all vertical welds to obtain paths matched with the vertical welds, paths are uniformly planned for all flat welds to obtain paths matched with the flat welds, and based on the paths matched with the vertical welds and the flat welds respectively, a welding planning path matched by the robot is generated.

[0034] It can be understood that during the process of pre-planning the welding planning path, teaching and complex image analysis are avoided. By combining specific limiting conditions of welding, the path can be pre-planned by analyzing the offset points and offset intersection points, and a welding planning path matched by the robot is generated, thereby improving the welding efficiency.

[0035] In the above solution, the position information corresponding to multiple welds is obtained, and all the welds are divided based on the position information to obtain independent welds that exist alone and weld sets composed of at least two intersecting and continuous welds. Marking points on the welds are obtained, and the marking points are offset based on the welding parameters corresponding to the welds, so as to simulate the position of the robot end relative to the marking points during welding, and offset points corresponding to the marking points are obtained. Among them, the marking points at least include the endpoints of the welds to ensure that the connection line of all the offset points corresponding to the welds is consistent with the length of the weld. Based on the connection lines between all the offset points corresponding to the independent welds, an offset path corresponding to the independent weld alone is generated. By using all the offset points corresponding to the weld set, the offset intersections corresponding to every two continuous welds in the weld set after offset are determined, so as to efficiently determine the offset intersections through the positional relationship of the offset points. Based on the offset points and offset intersections corresponding to the weld set, an offset path corresponding to multiple welds in the weld set is generated, so as to reduce the probability of distortion of continuous welds during welding when welding according to the offset path. Based on the offset paths corresponding to all the welds, an overall path is pre-planned for the robot to perform welding, thereby avoiding teaching and complex image analysis. Combining the specific limiting conditions of welding, the path can be pre-planned by analyzing the offset points and offset intersections, and a welding planning path matching the robot is generated to improve the welding efficiency.

[0036] Please refer to Figure 4 , Figure 4 which is a schematic flow chart of another implementation manner of the welding path planning method of the present application. The method includes: S201: Obtain the position information corresponding to multiple welds, and determine the flat welds and vertical welds among all the welds based on the position information.

[0037] Specifically, obtain the position information corresponding to multiple welds, and divide all the welds based on the position information to obtain flat welds and vertical welds. Thus, considering that the voltage and current are different when welding vertical welds and flat welds, and in actual welding, vertical welds and flat welds are generally not welded continuously, the three-dimensional contour composed of all flat welds and vertical welds is disassembled into a two-dimensional contour, so as to facilitate path planning according to the actual welding situation.

[0038] S202: Take all vertical welds and flat welds that exist independently as independent welds, and take the intersecting and continuous flat welds as a weld set.

[0039] Specifically, the robot is equipped with a welding torch. After the end position of the welding torch undergoes translational longitudinal movement, it is equivalent to an equal-distance translation of the unwelded welds. If it is a single weld, it has no impact. However, in actual welding, most are multiple continuous welds. At this time, if the weld position is offset again, the welds are extremely prone to distortion.

[0040] It can be understood that since the vertical weld is a single weld, when calculating the offset of the vertical weld, it can be directly moved without distortion. When offsetting multiple continuous flat welds, the change in the weld profile needs to be considered. Therefore, all vertical welds and independently existing flat welds are obtained to get independent welds, and intersecting and continuous flat welds are obtained to get a weld set.

[0041] Please refer to Figure 5 , Figure 5 which is a schematic diagram of the application scenario of an embodiment of the welding path planning method of the present application. After obtaining the position information corresponding to all welds, the welds are divided into vertical welds and flat welds based on the position information. Among them, all vertical welds and independently existing flat welds are used as independent welds, and intersecting and continuous flat welds form a weld set. The offset path corresponding to the weld set needs to consider the change in the weld profile to avoid distortion during actual welding.

[0042] S203: Obtain the marking points on the weld, and offset the marking points based on the welding parameters corresponding to the weld to obtain the offset points corresponding to the marking points; where the marking points at least include the end points of the weld.

[0043] Specifically, obtain the marking points on the weld, where the marking points at least include the two end points of the weld, and offset the marking points based on the welding parameters corresponding to the weld to obtain the offset points corresponding to the marking points.

[0044] It should be noted that the robot is equipped with a welding torch, and the welding parameters include the transverse movement of the torch tip, the longitudinal movement of the torch tip, the travel angle, the working angle, and the stickout length that match the welding torch. Among them, the welding parameters determine the end position of the welding torch relative to the marking point and the welding torch posture when the welding torch actually performs welding.

[0045] In some implementation scenarios, obtaining the marking points on the weld and offsetting the marking points based on the welding parameters corresponding to the weld to obtain the offset points corresponding to the marking points includes: obtaining the marking points on the weld, determining the position of the welding torch when the torch tip is facing the marking point based on the transverse movement of the torch tip and the longitudinal movement of the torch tip; determining the welding torch posture when the welding torch is at the welding torch position based on the travel angle and the working angle; determining the translation distance when the welding torch is in the welding torch posture based on the stickout length; where the torch tip of the welding torch is far from the marking point after moving the welding torch according to the translation distance; determining the offset point corresponding to the marking point after offset based on the welding torch position, the welding torch posture, and the translation distance.

[0046] Specifically, please refer to Figure 6 , Figure 6 which is a schematic diagram of the application scenario of an embodiment of offsetting the marking points based on the welding parameters of the present application. Among them, Figure 6 simply shows two welding surfaces with two mutually perpendicular planes, and the weld is in Figure 6It corresponds to the intersection of two surfaces. Obtain the marked points on the weld seam. Among them, the weld seam corresponds to two welding surfaces. Moving along the normal vector of one plane is the transverse movement of the welding torch, and moving along the normal vector of the other plane is the longitudinal movement of the welding torch. Based on the transverse movement of the torch tip and the longitudinal movement of the torch tip, determine the position of the torch tip of the welding torch when it faces the marked point, that is, Figure 6 the initial position of the welding torch in

[0047] Furthermore, perform rotation in the translated state. The rotation is based on the welding torch being perpendicular to the weld seam and parallel to the angular bisector of the two welding surfaces. On this basis, rotating around the y-axis of the tool coordinate system is the working angle offset, and rotating around the x-axis of the tool coordinate system is the travel angle offset. Based on the travel angle and the working angle, determine the adjusted welding torch attitude of the welding torch, that is, Figure 6 the position of the welding torch after rotation in Figure 6 Among them, the x-axis and the z-axis are as shown in the figure, and the y-axis is perpendicular to the plane shown in the figure. Based on the stickout length, move the welding torch in the welding torch attitude to determine the translation distance, so that after moving the welding torch by the translation distance, the torch tip of the welding torch is far from the marked point, that is,

[0048] It can be understood that based on the calculated welding torch position, welding torch attitude and translation distance, geometric model reconstruction can be carried out to determine the offset point corresponding to the marked point.

[0049] It should be noted that determining the translation distance when the welding torch is in the welding torch attitude based on the stickout length includes: obtaining the preset set stickout length of the welding torch and the actual stickout length between the welding wire at the torch tip of the welding torch and the welding torch body; among them, the actual stickout length is less than the set stickout length; based on the axis direction, set stickout length and actual stickout length when the welding torch is in the welding torch attitude, determine the translation distance when the welding torch is in the welding torch attitude.

[0050] Specifically, please refer to Figure 6 again to obtain the preset set stickout length of the welding torch and the actual stickout length determined during the calibration of the tool coordinate system, and determine the axis direction when the welding torch is in the welding torch attitude. As Figure 6 shown in, translate along the negative z-axis direction, and the translation distance is the set stickout length minus the actual stickout length, so as to ensure that an accurate translation distance can be obtained in the axis direction and improve the accuracy of the offset point.

[0051] S204: Generate the offset path corresponding to the independent weld seam based on the connection line of all offset points corresponding to the independent weld seam. Use all offset points corresponding to the weld seam set to determine the offset intersection points corresponding to every two consecutive weld seams in the weld seam set after offset. Based on the offset points and offset intersection points corresponding to the weld seam set, generate the offset path corresponding to the weld seam set.

[0052] Specifically, based on the connection lines between all the offset points corresponding to the independent welds, an offset path corresponding to the independent weld is generated. By using all the offset points corresponding to the weld set, the offset intersection points corresponding to each two consecutive welds in the weld set after offset are determined. Thus, the offset intersection points are efficiently determined based on the positional relationship of the offset points. Based on the offset points and offset intersection points corresponding to the weld set, an offset path corresponding to multiple welds in the weld set is generated.

[0053] In some implementation scenarios, by using all the offset points corresponding to the weld set, the offset intersection points corresponding to each two consecutive welds in the weld set after offset are determined. Based on the offset points and offset intersection points corresponding to the weld set, generating the offset path corresponding to the weld set includes: based on all the offset points corresponding to each weld in the weld set, determining the connection method adopted at the connection of each two consecutive welds in the weld set; based on the connection method and the connection lines of all the offset points corresponding to the corresponding welds, determining the offset intersection points corresponding to each connection in the weld set; connecting some of the offset points in the weld set and the offset intersection points in sequence to generate the offset path corresponding to the weld set.

[0054] Specifically, please refer to Figure 5 again. Based on all the offset points corresponding to each weld in the weld set, the connection lines between the offset points corresponding to the weld are determined. Based on the positional relationship between the connection lines corresponding to each two welds, the connection method adopted at the connection of each two consecutive welds is determined.

[0055] Furthermore, based on the connection method and the connection lines of all the offset points corresponding to the corresponding welds, an offset intersection point matching the connection method is planned for each connection. Connecting some of the offset points in the weld set and the offset intersection points in sequence to generate the offset path corresponding to the weld set, that is, the offset path corresponding to the weld set composed of flat welds as in Figure 5 .

[0056] It should be noted that the connection methods include outside corner and inside corner. Based on the connection method and the connection lines of all the offset points corresponding to the corresponding welds, determining the offset intersection points corresponding to each connection in the weld set includes: traversing each connection in the weld set in sequence; in response to the connection method being outside corner, obtaining the connection lines of all the offset points corresponding to the corresponding weld, and taking the intersection point of the extension line of the connection line as the offset intersection point corresponding to the connection; in response to the connection method being inside corner, obtaining the connection lines of all the offset points corresponding to the corresponding weld, and taking the intersection point of the connection line as the offset intersection point corresponding to the connection.

[0057] Specifically, traverse each joint in the weld seam set in sequence, and determine whether the connection method used at the joint is an external corner or an internal corner. When the connection method is an external corner, obtain the connection line of all offset points corresponding to the corresponding weld seam, extend the connection line to obtain the extension line of the connection line, and obtain the intersection points corresponding to the continuous extension lines to obtain the accurate offset intersection points at the joint. When the connection method is an internal corner, obtain the connection line of all offset points corresponding to the corresponding weld seam, and obtain the intersection points corresponding to the connection line to obtain the accurate offset intersection points at the joint, so that the offset intersection points match the connection method.

[0058] It can be understood that when multiple weld seams in the weld seam set are connected in a head-to-tail circular shape, since there is no operating space inside, each offset intersection point is obtained by calculating the intersection points of the extension lines of the connection lines.

[0059] S205: Generate a welding planning path that matches when the robot welds flat welds based on the offset paths corresponding to all flat welds, and generate a welding planning path that matches when the robot welds vertical welds based on the offset paths corresponding to all vertical welds.

[0060] Specifically, according to the type of weld seam, generate a welding planning path that matches when the robot welds flat welds based on the offset paths corresponding to all flat welds, and generate a welding planning path that matches when the robot welds vertical welds based on the offset paths corresponding to all vertical welds. Thus, considering the different voltages and currents when welding vertical welds and flat welds, and the actual welding situation where vertical welds and flat welds are generally not welded continuously, corresponding welding planning paths are planned for different types of weld seams to improve the accuracy of the welding planning path.

[0061] In some implementation scenarios, generating a welding planning path that matches when the robot welds flat welds based on the offset paths corresponding to all flat welds, and generating a welding planning path that matches when the robot welds vertical welds based on the offset paths corresponding to all vertical welds includes: obtaining the welding surface positions corresponding to the welding surfaces matched by all flat welds, and generating a welding planning path that matches when the robot welds flat welds based on the offset paths corresponding to all flat welds and the welding surface positions corresponding to the welding surfaces; and obtaining the welding surface positions corresponding to the welding surfaces matched by all vertical welds, and generating a welding planning path that matches when the robot welds vertical welds based on the offset paths corresponding to all vertical welds and the welding surface positions corresponding to the welding surfaces.

[0062] Specifically, obtain the welding surface positions corresponding to the welding surfaces matched by all flat welds, and synthesize the offset paths corresponding to the flat welds and the welding surface positions to generate a welding planning path that matches when the robot welds flat welds, so that the robot can avoid different welding surfaces, generate a welding planning path with higher accuracy, and improve the welding efficiency.

[0063] Similarly, obtain the welding surface positions corresponding to all fillet weld matching welding surfaces. Integrate the offset path and welding surface position corresponding to the fillet weld to generate a welding planning path for the robot to weld the fillet weld, so that the robot can avoid different welding surfaces, generate a welding planning path with higher accuracy, and improve the welding efficiency.

[0064] Optionally, the starting point of the welding planning path can be selected from the plane with the most flat welds in the three-dimensional space. First, plan the welding planning path corresponding to the flat weld to ensure the strength of the main body after welding, and then plan the welding planning path corresponding to the fillet weld.

[0065] It should be noted that the welds shown for easy illustration in this application are all straight lines. For arc welds, based on the idea of calculus, after dividing the arc, the method provided in this application can still be used for path planning.

[0066] Please refer to Figure 7 , Figure 7 FIG. is a schematic structural diagram of an embodiment of an electronic device of the present application. The electronic device 30 includes a memory 301 and a processor 302 that are coupled to each other. Among them, the memory 301 stores program data (not shown in the figure), and the processor 302 calls the program data to implement the method in any of the above embodiments. For the description of related content, please refer to the detailed description of the method embodiments above, and details will not be repeated here.

[0067] Please refer to Figure 8 , Figure 8 FIG. is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present application. The computer-readable storage medium 40 stores program data 400, and when the program data 400 is executed by a processor, it implements the method in any of the above embodiments. For the description of related content, please refer to the detailed description of the method embodiments above, and details will not be repeated here.

[0068] It should be noted that the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0069] In addition, in each embodiment of the present application, the functional units can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0070] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0071] The above are only the embodiments of this application, and do not limit the protection scope of this application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be included in the protection scope of this application by the same token.

Claims

1. A welding path planning method, characterized in that: The method comprises: Acquire position information corresponding to a plurality of welds, and divide all the welds into independent welds and a weld set based on the position information; wherein the weld set includes at least two intersecting and continuous welds; Acquire a marking point on the weld, and offset the marking point based on a welding parameter corresponding to the weld to obtain an offset point corresponding to the marking point; wherein the marking point includes at least an end point of the weld; Based on the connection lines of all the offset points corresponding to the independent welds, an offset path corresponding to the independent welds is generated, all the offset points corresponding to the weld set are used to determine the offset intersection points corresponding to every two consecutive welds in the weld set after offsetting, and based on the offset points and offset intersection points corresponding to the weld set, an offset path corresponding to the weld set is generated; Based on the offset paths corresponding to all the welds, a welding planning path matched by the robot is generated.

2. The welding path planning method according to claim 1, characterized in that: The obtaining of position information corresponding to the plurality of welds, and dividing all the welds into independent welds and weld sets based on the position information, comprises: Acquire position information corresponding to a plurality of welds, and determine horizontal welds and vertical welds among all the welds based on the position information; All the vertical welds and the independently existing flat welds are regarded as the independent welds, and the intersecting and continuous flat welds are regarded as the weld set.

3. The welding path planning method according to claim 2, characterized in that: The generating of a robot-matched welding planning path based on the offset paths corresponding to all the welds comprises: Based on the offset paths corresponding to all the flat welds, a welding planning path that matches when the robot welds the flat welds is generated; based on the offset paths corresponding to all the vertical welds, a welding planning path that matches when the robot welds the vertical welds is generated.

4. The welding path planning method according to claim 3, characterized in that: The generating, based on the offset paths corresponding to all the flat welds, a welding planning path that matches when the robot welds the flat welds, and based on the offset paths corresponding to all the vertical welds, a welding planning path that matches when the robot welds the vertical welds, includes: Obtaining welding surface positions corresponding to welding surfaces matching all the flat welds, and generating a welding planning path matching when the robot welds the flat welds based on the offset paths corresponding to all the flat welds and the welding surface positions corresponding to the welding surfaces; and, The welding surface positions corresponding to the welding surfaces matching all the vertical welds are obtained, and based on the offset paths corresponding to all the vertical welds and the welding surface positions corresponding to the welding surfaces, a welding planning path matching when the robot welds the vertical welds is generated.

5. The welding path planning method according to claim 1, characterized in that: The robot is provided with a welding gun, and the welding parameters include the lateral movement of the gun tip, the longitudinal movement of the gun tip, the travel angle, the working angle and the dry extension length matched by the welding gun; The step of obtaining a marking point on the weld, and offsetting the marking point based on a welding parameter corresponding to the weld to obtain an offset point corresponding to the marking point includes: Obtaining a marking point on the weld, and determining a welding gun position when the welding gun tip faces the marking point based on the lateral movement of the gun tip and the longitudinal movement of the gun tip; Based on the travel angle and the working angle, determining a welding gun posture when the welding gun is located at the welding gun position; Based on the dry extension length, determining the translation distance of the welding gun when it is in the welding gun posture; wherein after the welding gun is moved according to the translation distance, the tip of the welding gun is away from the marking point; Based on the welding gun position, the welding gun posture and the translation distance, an offset point corresponding to the offset of the marking point is determined.

6. The welding path planning method according to claim 5, characterized in that: The step of determining the translation distance of the welding gun when the welding gun is in the welding gun posture based on the dry extension length includes: Obtaining a preset extension length of the welding gun and an actual extension length of the welding wire at the gun tip of the welding gun and the welding gun body; wherein the actual extension length is less than the set extension length; The translation distance of the welding gun when it is in the welding gun posture is determined based on the axial direction of the welding gun when it is in the welding gun posture, the set stick-out length, and the actual stick-out length.

7. The welding path planning method according to claim 1, characterized in that: The method of using all the offset points corresponding to the weld set to determine the offset intersection points corresponding to each two consecutive welds in the weld set after offsetting, and generating the offset path corresponding to the weld set based on the offset points and offset intersection points corresponding to the weld set, comprises: Determining a connection method used at a connection point between each two consecutive welds in the weld set based on all offset points corresponding to each weld in the weld set; Determine the offset intersection point corresponding to each connection in the weld set based on the connection mode and the connection lines of all the offset points corresponding to the corresponding welds; Some of the offset points in the weld set are sequentially connected with the offset intersection points to generate an offset path corresponding to the weld set.

8. The welding path planning method according to claim 7, characterized in that: The connection mode includes an outer angle and an inner angle, and the offset intersection point corresponding to each connection in the weld set is determined based on the connection mode and the connecting line of all offset points corresponding to the corresponding weld, including: Traversing each of the connections in the weld set in sequence; In response to the connection mode being an external angle, obtaining a connection line of all offset points corresponding to the corresponding weld, and taking an intersection point corresponding to an extended line of the connection line as an offset intersection point corresponding to the connection; In response to the connection mode being an inner angle, a connection line of all offset points corresponding to the corresponding weld is obtained, and an intersection point corresponding to the connection line is used as an offset intersection point corresponding to the connection.

9. An electronic device, characterized in that: include: A memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having program data stored thereon, characterized in that: When the program data is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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