Plane CAD welding seam analysis method, welding equipment and storage medium

Abstract

The invention discloses a plane CAD welding seam analysis method, welding equipment and a storage medium, and belongs to the technical field of welding seam analysis. In an automatic welding system, identification and path planning of welding seams are key technical difficulties, and a traditional teaching method is time-consuming and labor-consuming, and is difficult to adapt to rapidly changing production requirements when processing complex or variable welding tasks. In addition, the treatment of the special welding seam needs additional programming and adjustment, so that the technical difficulty and the production cost are increased. The invention aims to provide a plane CAD welding seam analysis method, welding equipment and a storage medium so as to automatically extract welding seam information from a CAD drawing, reduce manual teaching steps and improve the automation level and efficiency of a welding system. The invention discloses a plane CAD welding seam analysis method. S1, importing a CAD drawing; s2, linearly classifying and extracting welding seams; s3, packaging a welding seam structure; and S4, interface display and selection editing.

Description

Technical Field

[0001] This application relates to the technical field of weld seam analysis, and particularly to a planar CAD weld seam analysis method, welding equipment, and storage medium. Background Art

[0002] With the development of computer-aided design and computer-aided manufacturing technologies, the manufacturing industry's demand for automated welding technology has been increasing. Welding is a key link in metal processing, and its degree of automation directly affects product quality and production efficiency. However, most existing automated welding systems rely on manual teaching, that is, the operator manually guides the robot to move along a predetermined path to determine the welding trajectory. Although this method can ensure the accuracy of welding, it is inefficient and highly dependent on the operator, restricting the improvement of production efficiency.

[0003] In an automated welding system, the identification and path planning of weld seams are key technical difficulties. Traditional teaching methods are not only time-consuming and laborious, but also difficult to adapt to rapidly changing production requirements when dealing with complex or variable welding tasks. In addition, the processing of special weld seams requires additional programming and adjustment, increasing the technical difficulty and production cost. Therefore, developing a technical solution to reduce manual teaching and improve the level of welding automation is of great significance for enhancing the competitiveness of the manufacturing industry. Summary of the Invention

[0004] The purpose of this application is to provide a planar CAD weld seam analysis method, welding equipment, and storage medium to automatically extract weld seam information from CAD drawings, reduce the manual teaching steps, and improve the automation level and efficiency of the welding system.

[0005] To solve the above technical problems, this application provides a planar CAD weld seam analysis method, which is applied to welding equipment. The welding equipment includes a host computer and a welding robot. The welding robot includes a PLC and a vision guiding mechanism. The multi-segment weld seam trajectory combination guiding method includes: Step 1, import and parse a DXF format CAD drawing file using an open-source library; Step 2, read the group codes of all graphic elements in the CAD drawing file and the group values corresponding to the group codes, and set the attributes of the corresponding graphic elements through the group codes and group values. The attributes of the graphic elements include line style, layer, color, and line width; Distinguish the graphic elements according to the types of line styles. The types of line styles include straight lines, arcs, and circles. Define each line style as a custom weld seam data structure, and then convert all graphic elements into the custom weld seam data structures corresponding to their line styles, and attach attribute information to the custom weld seam data structures. The attribute information includes start coordinates, end coordinates, and color. Store the custom weld seam data structures with attached attribute information in a container graphic element pointer list; Convert the DXF_INSERT elements in the container graphic element pointer list into a custom structure, refill them into the container graphic element pointer list, and classify all elements in the container graphic element pointer list into a custom list, where the custom list includes a line list, an arc list, and a circle list; Step 3, construct an editable weld data set. The editable weld data includes several weld line data structure objects. The construction method of the weld line data structure object is to filter the valid line segment data in the container graphic element pointer list, create several custom weld structure data based on the valid line segment data, add editable weld attributes to the custom weld structure data, and encapsulate the custom weld structure data with the added editable weld attributes into the weld line data structure object; Step 4, set colors for graphic elements according to different types of the same attribute of the graphic elements, and perform rendering and display on the front-end interface. At the same time, ensure that each graphic element on the front-end interface corresponds one-to-one with the weld line data structure object in the editable weld data set to realize the association between the front-end interface display and the background data. After the user modifies the attributes of the weld on the front-end interface, the background data is updated synchronously.

[0006] Preferably, filtering the valid line segment data in the container graphic element pointer list includes removing the invalid line segments in the graphic element pointer list according to the input threshold parameter to obtain the valid line segment data, and the removed invalid line segments are the filtered line segments.

[0007] Preferably, setting colors for graphic elements according to different types of the same attribute of the graphic elements includes resetting the colors for graphic elements according to the line welding attributes of the graphic elements. The line segments are divided into welded line segments, non-welded line segments, and filtered line segments through the line welding attributes. The first color is set for the welded line segments, the second color is set for the non-welded line segments, and the third color is set for the filtered line segments. Any two of the first color, the second color, and the third color are different from each other.

[0008] Preferably, Step 4 further includes setting an intermediate transmission service data structure for transmitting service data in the service logic. After setting the attributes of the weld through the front-end interface, the service data is updated correspondingly.

[0009] Preferably, the planar CAD weld parsing method further includes: Step 5: Send the background data to the PLC, and at the same time obtain the calibration matrix through the three-point calibration method. The PLC analyzes the coordinate information in the background data and uses the calibration matrix to process the coordinate information to obtain the actual guiding path of the welding robot. The welding robot guides according to the actual guiding path. At the same time, the camera of the welding robot continuously acquires images and transmits the images to the host computer. The host computer processes the images to obtain actual welding data, and the actual welding data includes the coordinate data of the actual welding positioning points.

[0010] The present application also provides a welding device, including a host computer, a welding robot, a processor, and a memory. The host computer includes a user operation front-end interface. The welding robot includes a PLC and a vision guiding mechanism. The host computer can communicate with the PLC. The processor stores a computer program, and the processor calls the computer program in the memory to implement the planar CAD weld seam parsing method.

[0011] The present application also provides a storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are loaded and executed by a processor, the steps of the multi-segment weld seam trajectory combination guiding method are implemented.

[0012] One or more technical solutions provided in the present application have at least the following technical effects or advantages: The present application provides a method for automatically parsing weld seam information from CAD drawings. By using computer graphics processing technology, weld seam data is directly extracted from the drawings, avoiding the steps of manual teaching, improving the automation and intelligence level of the welding process. Therefore, the present application can improve welding efficiency, reduce production costs, and at the same time enhance the flexibility and adaptability of the welding system, meeting the requirements of modern manufacturing for efficient and precise welding technology. The present application also provides a welding device and a storage medium, which also have the above beneficial effects and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 is a brief flowchart of the planar CAD weld seam parsing method provided by the embodiments of the present application; Figure 2 is a physical diagram of the cabin door provided by the embodiments of the present application; Figure 3It is a schematic diagram of the CAD drawing file of the cabin door provided by the embodiment of the present application viewed with CAD software; Figure 4 It is a schematic diagram of the content of the DXF format CAD drawing file of the cabin door provided by the embodiment of the present application; Figure 5 Schematic diagram of the front-end interface display after extracting welds provided by the embodiment of the present application; Figure 6 Schematic diagram of the attribute operation of the weld in the front-end interface provided by the embodiment of the application. Detailed implementation manners

[0015] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings of the present application. Obviously, the described embodiments are only partial embodiments of the present application, rather than all 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 protected by the present application.

[0016] Please refer to and participate in Figure 1 , Figure 1 It is a brief flowchart of the planar CAD weld analysis method. The brief process of the planar CAD weld analysis method includes; S1: Import CAD drawings; S2: Classify and extract welds by line type; S3: Package the weld structure; S4: Interface display and selection for editing.

[0017] The planar CAD weld analysis method is applied to a welding device. The welding device includes a host computer and a welding robot. The welding robot includes a PLC and a vision guiding mechanism. The multi-segment weld trajectory combination guiding method includes: Step 1, use the dxflib open-source library to import and parse the DXF format CAD drawing file. In this embodiment, the cabin door is taken as an example. Please refer to and participate in Figures 2 to 4 , Figure 2 It is a physical diagram of the cabin door, Figure 3 It is a schematic diagram of the CAD drawing file of the cabin door viewed with CAD software, Figure 3 In it, the green line segments represent non-welded line segments, and the non-green line segments represent welded line segments, Figure 4 It is a schematic diagram of the content of the DXF format CAD drawing file of the cabin door. The input stream stream and the data structure object creationInterface are obtained through the DL_Dxf::in(std::istream&stream, DL_CreationInterface*creationInterface) library function; Among them, the input stream stream is the input stream of the path where the drawing file is located, and the data structure object creationInterface is the data structure object saved after parsing.

[0018] Step 2: Read the group code groupCode of all graphic elements in the CAD drawing file and the group value groupValue corresponding to the group code groupCode, and set the attributes of the corresponding graphic elements through the group code groupCode and the group value groupValue. The attributes of the graphic elements include line type, layer, color, and line width. Among them, the group code groupCode is a certain type of digital code specified by the DXF format, and the corresponding group value groupValue is the value taken by the group code groupCode in the CAD drawing file in DXF format. Reading the group code groupCode of all graphic elements in the CAD drawing file and the group value groupValue corresponding to the group code groupCode can specifically be to, according to the input stream stream obtained in Step 1, repeatedly call the readDxfGroups(stream, creationInterface) function until the input stream stream ends, so as to obtain the group code groupCode and the corresponding group value groupValue of each line in the CAD drawing file in DXF format. Setting the attributes of the corresponding graphic elements through the group code groupCode and the group value groupValue can specifically be to call the processDXFGroup(creationInterface, groupCode, groupValue) function to set the attributes of the corresponding graphic elements. The graphic elements specifically refer to the graphic elements of weld segments.

[0019] Distinguish the graphic elements according to the types of line types. The types of line types include straight lines, arcs, and circles. Define each line type as a custom weld data structure, then convert all graphic elements into the custom weld data structures corresponding to their line types, and attach attribute information to the custom weld data structures. The attribute information includes start coordinates, end coordinates, and color. Store the custom weld data structures with attached attribute information into the container primitive pointer list. Among them, the custom weld data structure includes a custom straight weld data structure, a custom arc weld data structure, and a custom circular weld data structure.

[0020] Convert the DXF_INSERT elements in the container primitive pointer list into custom structures and refill them into the container primitive pointer list, and classify and place all elements in the container primitive pointer list into custom lists. The custom lists include a straight line list, an arc list, and a circle list.

[0021] Step 3: Construct an editable weld dataset. The editable weld data includes several weld line data structure objects. The construction method of the weld line data structure object is to filter out the valid line segment data in the container graphic element pointer list, create several custom weld structure data based on the valid line segment data, add editable weld attributes to the custom weld structure data, and encapsulate the custom weld structure data with the added editable weld attributes into the weld line data structure object; Among them, filtering out the valid line segment data in the container graphic element pointer list specifically means removing the invalid line segments in the graphic element pointer list according to the input threshold parameter to obtain the valid line segment data. The removed invalid line segments are the filtered line segments. The range of the threshold is generally 0 - 500 mm, and in this embodiment, the threshold is set to 20 mm. In this embodiment, the custom weld structure data includes the first custom weld structure data mWeldLine, the second custom weld structure data mWeldArc, and the third custom weld structure data mWeldCircle. The editable weld attributes include the weaving mode and the weaving length, etc.

[0022] Step 4: Set colors for the graphic elements according to different types of the same attribute of the graphic elements, and render and display them on the front - end interface. At the same time, ensure that each graphic element on the front - end interface corresponds one - to - one with the weld line data structure object in the editable weld dataset to realize the association between the front - end interface display and the background data. After the user modifies the attributes related to the image display of the weld on the front - end interface, the background data is updated synchronously; Set the intermediate transmission service data structure for the transmission of service data in the business logic. After setting the attributes of the weld through the front - end interface, the service data is updated correspondingly.

[0023] Among them, the background data includes structural information such as the length, coordinates, color, and line type of the line segment. The structural information only contains the geometric information of the line segment itself. The background data can be directly or indirectly obtained from the weld line data structure object in the editable weld dataset. The service data includes data in the business logic, such as weld serial number, weaving length, auxiliary guiding length, and vertical weld height, etc. Setting colors for the graphic elements according to different types of the same attribute of the graphic elements can be to reset the colors of the graphic elements according to the line segment welding attributes of the graphic elements. The line segments are divided into welding line segments, non - welding line segments, and filtered line segments through the line segment welding attributes. The welding line segments and non - welding line segments are distinguished according to the color differences of the line segments in the CAD drawing file. The filtered line segments are distinguished by the input threshold. Set the first color for the welding line segments, the second color for the non - welding line segments, and the third color for the filtered line segments. Any two of the first color, the second color, and the third color are not the same; Please refer to Figure 5, in this embodiment, the first color is red, the second color is green, and the third color is set to white. However, Figure 5 does not involve filtering line segments; please refer to Figure 6 , Figure 6 is a schematic diagram of the attribute operation of the weld seam. The user can select the editable weld seam on the front-end interface to set the attributes. Figure 6 The window in is an attribute editing window that pops up after selecting the editable weld seam. When it comes to operations related to image display updates, such as weld seam combination and weld seam segmentation, the modified weld seam attributes belong to the attributes related to the image display of the weld seam.

[0024] Step 5: Send the background data to the PLC, and at the same time obtain the calibration matrix through the three-point calibration method. The PLC analyzes the coordinate information in the background data and uses the calibration matrix to process the coordinate information to obtain the actual guiding path of the welding robot. The welding robot guides according to the actual guiding path. At the same time, the camera of the welding robot continuously acquires images and transmits the images to the host computer. The host computer processes the images to obtain actual welding data, and the actual welding data includes the coordinate data of the actual welding positioning points.

[0025] Among them, during the guiding process of the welding robot, the camera of the welding robot continuously acquires images. The host computer processes the images using the positioning algorithm to obtain positioning points, and then processes them using the fitting algorithm to obtain actual welding data and transmits the actual welding data to the PLC; the guiding process and the processing algorithm are affected by the attribute information of the weld seam.

[0026] This application also provides a welding device, which includes a host computer, a welding robot, a processor, and a memory. The host computer includes a user operation front-end interface. The welding robot includes a PLC and a vision guiding mechanism. The host computer can communicate with the PLC. The processor stores a computer program. The processor calls the computer program in the memory to implement the steps of the above-mentioned planar CAD weld seam parsing method. Of course, the welding device can also include various network interfaces, power supplies and other components.

[0027] This application also provides a storage medium. The storage medium stores computer-executable instructions. When the computer-executable instructions are loaded and executed by the processor, the steps of the above-mentioned planar CAD weld seam parsing method are implemented. The storage medium can include: USB flash drive, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disc and other media that can store program codes.

[0028] It should also be noted that in this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

Claims

1. A planar CAD weld seam analysis method, characterized in that, Applied to a welding device, the welding device includes a host computer and a welding robot, and the welding robot includes a PLC and a vision guiding mechanism. The planar CAD weld seam parsing method includes: Step 1: Import and parse a DXF-format CAD drawing file using an open-source library; Step 2: Read the group codes of all graphic elements in the CAD drawing file and the group values corresponding to the group codes, and set the attributes of the corresponding graphic elements through the group codes and group values. The attributes of the graphic elements include line style, layer, color, and line width; Distinguish graphic elements according to the types of line styles. The types of line styles include straight lines, arcs, and circles. Define each line style as a custom weld seam data structure, and then convert all graphic elements into custom weld seam data structures corresponding to their line styles, and attach attribute information to the custom weld seam data structures. The attribute information includes start coordinates, end coordinates, and color. Store the custom weld seam data structures with attached attribute information in the container primitive pointer list; Convert the DXF_INSERT elements in the container primitive pointer list into custom structures and refill them into the container primitive pointer list, and classify and arrange all elements in the container primitive pointer list into custom lists. The custom lists include a straight line list, an arc list, and a circle list; Step 3: Construct an editable weld seam data set. The editable weld seam data includes several weld line data structure objects. The construction method of the weld line data structure object is to screen the valid line segment data in the container primitive pointer list, create several custom weld seam structure data based on the valid line segment data, add editable weld seam attributes to the custom weld seam structure data, and encapsulate the custom weld seam structure data with added editable weld seam attributes into the weld line data structure object; Step 4: Set colors for graphic elements according to different types of the same attribute of graphic elements, and perform rendering and display on the front-end interface. At the same time, ensure that each graphic element on the front-end interface corresponds one-to-one with the weld line data structure object in the editable weld seam data set to realize the association between the front-end interface display and the background data. After the user modifies the attributes of the weld seam on the front-end interface, the background data is updated synchronously.

2. The planar CAD weld seam analysis method according to claim 1, characterized in that Screening the valid line segment data in the container primitive pointer list includes eliminating the invalid line segments in the primitive pointer list according to the input threshold parameter to obtain the valid line segment data. The eliminated invalid line segments are the filtered line segments.

3. The planar CAD weld seam analysis method according to claim 2, characterized in that, Setting colors for graphic elements according to different types of the same attribute of graphic elements includes resetting the colors of graphic elements according to the line segment welding attributes of graphic elements. The line segments are divided into welding line segments, non-welding line segments, and filtered line segments through the line segment welding attributes. Set the first color for the welding line segments, the second color for the non-welding line segments, and the third color for the filtered line segments. Any two of the first color, the second color, and the third color are different.

4. The planar CAD weld seam analysis method according to claim 1, characterized in that Step 4 also includes setting an intermediate transmission service data structure for the transmission of service data in the service logic. After setting the attributes of the weld seam through the front-end interface, the service data is updated correspondingly.

5. The planar CAD weld seam analysis method according to claim 1, characterized in that, Also included: Step 5: Send the background data to the PLC, and at the same time obtain the calibration matrix through the three-point calibration method. The PLC analyzes the coordinate information in the background data and uses the calibration matrix to process the coordinate information to obtain the actual guiding path of the welding robot. The welding robot is guided according to the actual guiding path. At the same time, the camera of the welding robot continuously acquires images and transmits the images to the host computer. The host computer processes the images to obtain actual welding data, and the actual welding data includes the coordinate data of the actual welding positioning points.

6. A welding device, characterized in that, It includes a host computer, a welding robot, a processor, and a memory. The host computer includes a user operation front-end interface. The welding robot includes a PLC and a vision guiding mechanism. The host computer can communicate with the PLC. The processor stores a computer program, and the processor calls the computer program in the memory to implement the planar CAD weld seam parsing method according to any one of claims 1 to 5.

7. Storage medium, characterized in that, Computer-executable instructions are stored in the storage medium. When the computer-executable instructions are loaded and executed by the processor, the steps of the planar CAD weld seam parsing method according to any one of claims 1 to 5 are implemented.

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