Workpiece welding seam polishing system, workpiece welding seam polishing method and virtual device

Abstract

The invention provides a workpiece welding seam polishing system, a workpiece welding seam polishing method and a virtual device. The system comprises a 3D scanning camera, a processor and a polishing device. The 3D scanning camera is used for collecting workpiece parameter information of a to-be-polished workpiece in real time and sending the workpiece parameter information to the processor. The processor is used for acquiring a standard polishing path corresponding to the to-be-polished workpiece, receiving workpiece parameter information sent by the 3D scanning camera, correcting the standard polishing path based on the workpiece parameter information to obtain a corrected polishing path, and sending the corrected polishing path to the polishing device; wherein the standard polishing path is a polishing path of a standard workpiece corresponding to the to-be-polished workpiece, and the standard workpiece is the to-be-polished workpiece with theoretical workpiece parameters; and the polishing device is used for receiving the corrected polishing path issued by the processor and polishing the weld joint of the to-be-polished workpiece based on the corrected polishing path. Efficient and accurate polishing of workpiece welding seams is achieved, and the workpiece welding seam polishing effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of weld grinding, and in particular to a workpiece weld grinding system, a workpiece weld grinding method and a virtual device. Background Art

[0002] In the field of rail transit equipment manufacturing, the weld quality of train workpieces, such as bogies, directly affects the safety of the whole vehicle. As known from related technologies, at present, manual grinding is used to grind the welds of workpieces, which has problems such as low efficiency, large quality fluctuations, and poor working environment, and it is difficult to meet the strict requirements of modern trains for high-precision welds.

[0003] With the development of machine intelligence, machine automatic grinding is also used for grinding at present. However, the current machine automatic grinding method is only suitable for parts with very standard dimensions, and there are many limitations in practical applications. Due to the influence of various factors such as manufacturing errors of workpiece dimensions, positioning and clamping errors, and welding deformation, the actual grinding trajectory often deviates from the theoretical design trajectory, resulting in poor grinding effects.

[0004] Therefore, finding a workpiece weld grinding system that can effectively improve the grinding effect of workpiece welds has become a current research hotspot. Summary of the Invention

[0005] The present invention provides a workpiece weld grinding system, a workpiece weld grinding method and a virtual device, which realize efficient and precise grinding of workpiece welds and improve the grinding effect of workpiece welds.

[0006] The present invention provides a workpiece weld grinding system, the system includes a 3D scanning camera, a processor and a grinding device. Among them, the 3D scanning camera is used to collect workpiece parameter information of a workpiece to be ground in real time, and send the collected workpiece parameter information to the processor. The workpiece to be ground is a workpiece with a weld; the processor is used to obtain a standard grinding path corresponding to the workpiece to be ground, receive the workpiece parameter information sent by the 3D scanning camera, correct the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, and send the corrected grinding path to the grinding device; among them, the standard grinding path is the grinding path of a standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is a workpiece to be ground with theoretical workpiece parameters; the grinding device is used to receive the corrected grinding path sent by the processor, and grind the weld of the workpiece to be ground based on the corrected grinding path.

[0007] According to a workpiece weld grinding system provided by the present invention, the system further includes an actuating mechanism, wherein the actuating mechanism is used to clamp the 3D scanning camera and drive the 3D scanning camera to move to collect the workpiece parameter information of the workpiece to be ground in real time.

[0008] According to a workpiece weld grinding system provided by the present invention, the workpiece parameter information at least includes the position information of the workpiece to be ground; the processor corrects the standard grinding path based on the workpiece parameter information in the following manner to obtain a corrected grinding path: determine at least one reference point at the weld of the workpiece to be ground, and based on the reference point, determine a simulation reference point corresponding to the reference point in the standard workpiece corresponding to the workpiece to be ground; obtain the simulation coordinates of the simulation reference point; based on the position information of the workpiece to be ground, determine the actual coordinates of the reference point; based on the deviation between the simulation coordinates and the actual coordinates, determine the path deviation of the standard grinding path; based on the path deviation, correct the standard grinding path to obtain the corrected grinding path.

[0009] According to a workpiece weld grinding system provided by the present invention, the processor obtains the simulation coordinates of the simulation reference point in the following manner: obtain the standard point cloud data of the standard workpiece corresponding to the workpiece to be ground; based on the standard point cloud data, determine the simulation coordinates of the simulation reference point.

[0010] According to a workpiece weld grinding system provided by the present invention, the processor determines the actual coordinates of the reference point based on the position information of the workpiece to be ground in the following manner: based on the position information of the workpiece to be ground, determine the actual point cloud data of the workpiece to be ground; based on the actual point cloud data, determine the actual coordinates of the reference point.

[0011] According to a workpiece weld grinding system provided by the present invention, the 3D scanning camera is further configured to: during the process that the grinding device grinds the weld of the workpiece to be ground based on the corrected grinding path, collect in real time the plane point cloud data on both sides of the weld and the weld point cloud data of the workpiece to be ground, and send the plane point cloud data on both sides of the weld and the weld point cloud data to the processor; the processor is further configured to: receive the plane point cloud data on both sides of the weld and the weld point cloud data sent by the 3D scanning camera; determine the deviation information of the weld during the welding process based on the plane point cloud data on both sides of the weld and the weld point cloud data; perform a re-correction process on the corrected grinding path based on the deviation information to obtain a re-corrected grinding path, and send the re-corrected grinding path to the grinding device; the grinding device is further configured to: receive the re-corrected grinding path issued by the processor, and grind the weld of the workpiece to be ground based on the re-corrected grinding path.

[0012] According to a workpiece weld grinding system provided by the present invention, the processor adopts the following method to determine the deviation information of the weld during the welding process based on the plane point cloud data on both sides of the weld and the weld point cloud data: determine the weld depth information of the weld based on the plane point cloud data on both sides of the weld; perform a filtering and denoising process on the weld point cloud data to obtain the filtered and denoised weld point cloud data; perform a linear fitting on the filtered and denoised weld point cloud data to obtain the weld trend curve of the weld; determine the deviation information of the weld during the welding process based on the weld trend curve and the weld depth information.

[0013] The present invention also provides a weld grinding method, which is applied to any one of the workpiece weld grinding systems described above. The method includes: collecting in real time the workpiece parameter information of the workpiece to be ground, where the workpiece to be ground is a workpiece with a weld; obtaining a standard grinding path corresponding to the workpiece to be ground, and correcting the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of a standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is a workpiece to be ground with theoretical workpiece parameters; grinding the weld of the workpiece to be ground based on the corrected grinding path.

[0014] The present invention further provides a virtual device for weld grinding, which is applied to the workpiece weld grinding system described in any one of the above. The virtual device includes: an acquisition module, configured to acquire the workpiece parameter information of the workpiece to be ground in real time, where the workpiece to be ground is a workpiece with a weld; a processing module, configured to obtain the standard grinding path corresponding to the workpiece to be ground, and correct the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of the standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is the workpiece to be ground with theoretical workpiece parameters; a grinding module, configured to grind the weld of the workpiece to be ground based on the corrected grinding path.

[0015] The present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method for grinding a weld as described in any one of the above is implemented.

[0016] The present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for grinding a weld as described in any one of the above is implemented.

[0017] The present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the method for grinding a weld as described in any one of the above is implemented.

[0018] The workpiece weld grinding system, the workpiece weld grinding method, and the virtual device provided by the present invention. The system includes a 3D scanning camera, a processor, and a grinding device. The 3D scanning camera is configured to acquire the workpiece parameter information of the workpiece to be ground in real time and send the acquired workpiece parameter information to the processor; the processor is configured to obtain the standard grinding path corresponding to the workpiece to be ground, receive the workpiece parameter information sent by the 3D scanning camera, correct the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, and send the corrected grinding path to the grinding device; the grinding device is configured to receive the corrected grinding path sent by the processor and grind the weld of the workpiece to be ground based on the corrected grinding path, realizing efficient and precise grinding of the workpiece weld and improving the grinding effect of the workpiece weld. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is a schematic structural diagram of the workpiece weld grinding system provided by the present invention.

[0021] Figure 2 It is a schematic flow diagram of the processor provided by the present invention for correcting the standard grinding path based on workpiece parameter information to obtain the corrected grinding path.

[0022] Figure 3 It is a schematic flow diagram of the processor provided by the present invention for determining the deviation information of the weld during the welding process based on the planar point cloud data on both sides of the weld and the weld point cloud data.

[0023] Figure 4 It is a schematic flow diagram of the weld grinding method provided by the present invention.

[0024] Figure 5 It is a schematic structural diagram of the weld grinding virtual device provided by the present invention.

[0025] Figure 6 It is a schematic structural diagram of the electronic device provided by the present invention. Description of the drawings: 100: Workpiece weld grinding system; 110: 3D scanning camera; 120: Processor; 130: Grinding device. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention fall within the protection scope of the present invention.

[0028] A workpiece weld grinding system provided by the present invention integrates a 3D scanning camera (or three-dimensional scanner), a processor, a grinding device (belt grinder), etc. The 3D scanning camera is used to perform on-line scanning, precise positioning and measurement of the weld feature area, and then automatically adjust and correct the grinding trajectory to ensure high precision and high consistency during the grinding process, thereby significantly improving production efficiency and product quality, and realizing efficient and precise grinding of workpieces to be ground, such as the welds of train bogie crossbeam components.

[0029] Figure 1 It is a schematic structural diagram of the workpiece weld grinding system provided by the present invention.

[0030] The following will be combined with Figure 1 to describe the structure of the workpiece weld grinding system provided by the present invention.

[0031] In an exemplary embodiment of the present invention, in combination with Figure 1 it can be seen that the workpiece weld grinding system 100 may include a 3D scanning camera 110, a processor 120, and a grinding device 130. Each module will be introduced separately below.

[0032] In one embodiment, the 3D scanning camera 110 is configured to collect workpiece parameter information of the workpiece to be ground in real time and send the collected workpiece parameter information to the processor 120, where the workpiece to be ground is a workpiece with a weld. In an example, the workpiece parameter information is parameter information used to characterize the position and / or size of the workpiece. During application, the 3D scanning camera 110 (or three-dimensional scanner) is responsible for performing the scanning of the workpiece to be ground, realizing the precise positioning of the weld position and the precise measurement function of the weld features.

[0033] It should be noted that the workpiece to be ground may be a train bogie member, and the workpiece to be ground may also be any other workpiece with a weld that needs to be ground. In this embodiment, the workpiece to be ground is not specifically limited. For the convenience of description, in this embodiment, the workpiece to be ground will be taken as an example of a train bogie member for illustration.

[0034] In another exemplary embodiment of the present invention, the workpiece weld grinding system 100 may further include an actuator, where the actuator can be used to clamp the 3D scanning camera 110 and drive the 3D scanning camera 110 to move to collect workpiece parameter information of the workpiece to be ground in real time. During application, the actuator may be an industrial robot or an industrial robotic arm. The actuator can be responsible for clamping the 3D scanning camera 110 (or three-dimensional scanner) or the grinding device 130 to perform related movements.

[0035] In another embodiment, the actuator may further include a positioner, which is responsible for clamping and positioning the workpiece and adjusting the position and posture of the workpiece as needed. It can be understood that both the positioner and the actuator can be considered as robotic arms that drive the 3D scanning camera 110 and / or the grinding device 130 to perform related actions, and they execute corresponding actions under the control of instructions given by the processor 120. In this embodiment, the actuator, the positioner, etc. are not specifically limited.

[0036] In yet another embodiment, the processor 120 can be used to obtain the standard grinding path corresponding to the workpiece to be ground, receive the workpiece parameter information sent by the 3D scanning camera 110, correct the standard grinding path based on the workpiece parameter information to obtain the corrected grinding path, and send the corrected grinding path to the grinding device 130. Among them, the standard grinding path is the grinding path of the standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is the workpiece to be ground with theoretical workpiece parameters. It should be noted that the workpiece to be ground with theoretical workpiece parameters refers to the theoretical dimensional parameters of the workpiece to be ground without considering the manufacturing errors generated in the actual situation during the factory manufacturing.

[0037] In one embodiment, the grinding device 130 can be used to receive the corrected grinding path sent by the processor 120 and grind the weld of the workpiece to be ground based on the corrected grinding path. Since the corrected grinding path is corrected based on the workpiece parameter information collected in real time, the accuracy of the corrected grinding path and the matching degree with the actual situation can be improved, thereby realizing efficient and precise grinding of the workpiece weld and improving the grinding effect of the workpiece weld.

[0038] The workpiece weld grinding system provided by the present invention includes a 3D scanning camera, a processor, and a grinding device. Among them, the 3D scanning camera is used to collect the workpiece parameter information of the workpiece to be ground in real time and send the collected workpiece parameter information to the processor; the processor is used to obtain the standard grinding path corresponding to the workpiece to be ground, receive the workpiece parameter information sent by the 3D scanning camera, correct the standard grinding path based on the workpiece parameter information to obtain the corrected grinding path, and send the corrected grinding path to the grinding device; the grinding device is used to receive the corrected grinding path sent by the processor and grind the weld of the workpiece to be ground based on the corrected grinding path, realizing efficient and precise grinding of the workpiece weld and improving the grinding effect of the workpiece weld.

[0039] Figure 2 It is a schematic flow chart of the processor correcting the standard grinding path based on the workpiece parameter information to obtain the corrected grinding path provided by the present invention.

[0040] Next, in conjunction with Figure 2 The process of the processor correcting the standard grinding path based on the workpiece parameter information to obtain the corrected grinding path will be described.

[0041] In an exemplary embodiment of the present invention, the workpiece parameter information may at least include the position information of the workpiece to be ground. In conjunction with Figure 2 It can be seen that the processor correcting the standard grinding path based on the workpiece parameter information to obtain the corrected grinding path may include steps 210 to 250, and each step will be introduced separately below.

[0042] In step 210, at least one reference point is determined at the weld of the workpiece to be polished, and based on the reference point, a simulation reference point corresponding to the reference point is determined in the standard workpiece corresponding to the workpiece to be polished.

[0043] In step 220, the simulation coordinates of the simulation reference point are obtained.

[0044] In step 230, based on the position information of the workpiece to be polished, the actual coordinates of the reference point are determined.

[0045] In one embodiment, at least one reference point can be determined at the weld of the workpiece to be polished, and based on the reference point, a simulation reference point corresponding to the reference point is determined in the standard workpiece corresponding to the workpiece to be polished. Among them, the reference point can be a reference point with clear geometric features (such as corner points, edge points, etc.). Further, a simulation reference point corresponding to the reference point can be determined in the standard workpiece corresponding to the workpiece to be polished. It can be understood that these points can be used for coordinate system alignment.

[0046] In another embodiment, the simulation coordinates of the simulation reference point can also be obtained, and based on the workpiece parameter information collected by the 3D scanning camera, the position information of the workpiece to be polished is determined. Further, based on the position information of the workpiece to be polished, the actual coordinates of the reference point are determined.

[0047] In step 240, based on the deviation between the simulation coordinates and the actual coordinates, the path deviation of the standard grinding path is determined.

[0048] In step 250, based on the path deviation, the standard grinding path is corrected to obtain the corrected grinding path.

[0049] In another embodiment, the path deviation of the standard grinding path can be determined based on the deviation between the simulation coordinates and the actual coordinates. It should be noted that if the actual workpiece to be polished is consistent with the standard workpiece, then there should be a corresponding relationship between the simulation coordinates and the actual coordinates, and there will be no deviation. In this scenario, grinding can be directly performed based on the standard grinding path. However, since there is a deviation between the simulation coordinates and the actual coordinates, it means that grinding cannot be performed according to the standard grinding path.

[0050] In another embodiment, the path deviation of the standard grinding path can be determined based on the deviation between the simulation coordinates and the actual coordinates. Further, based on the path deviation, the standard grinding path is corrected to obtain the corrected grinding path. In the application process, grinding the weld of the workpiece to be polished based on the corrected grinding path can ensure high precision and high consistency in the grinding process, thereby significantly improving production efficiency and product quality, and achieving efficient and precise grinding of the workpiece to be polished, such as the weld of the crossbeam component of the train bogie.

[0051] In another exemplary embodiment of the present invention, continuing with the embodiment described above, the processor can obtain the simulation coordinates of the simulation reference point in the following manner: Obtain the standard point cloud data of the standard workpiece corresponding to the workpiece to be polished; Based on the standard point cloud data, determine the simulation coordinates of the simulation reference point.

[0052] In one embodiment, the standard three-dimensional digital model of the standard workpiece, that is, the theoretical workpiece parameters, can be obtained; further, the standard three-dimensional digital model of the standard workpiece is converted into standard point cloud data. During the application process, appropriate sampling parameters, such as the number and density of points, can be set. After performing the sampling operation, the standard point cloud data of the standard workpiece is obtained.

[0053] In another embodiment, the corresponding simulation reference point can be found according to the standard point cloud data, and then the simulation coordinates of the simulation reference point can be determined.

[0054] In another embodiment, the standard grinding path can also be determined according to the standard point cloud data of the standard workpiece. During the application process, in order to generate the movement trajectory of the abrasive belt within the workpiece (corresponding to the standard grinding path), the starting position and the ending position of the abrasive belt need to be determined. The selection of these two positions should be based on the specific requirements of grinding and the geometric characteristics of the workpiece weld. Among them, the geometric characteristics of the workpiece weld can be determined according to the standard point cloud data of the standard workpiece; after determining the starting position and the ending position, the interpolation method can be used to plan the movement trajectory of the abrasive belt. The specific interpolation method can be reasonably selected according to actual needs, such as polynomial interpolation method or B-spline interpolation method. When generating the trajectory, the specific parameters of the abrasive belt machine, such as the abrasive belt speed, rotation speed, and grinding mode (such as constant speed grinding, variable speed grinding, etc.), need to be combined to calculate the residence time and movement speed of the abrasive belt at each interpolation point or each section of the trajectory. In this way, an abrasive belt movement trajectory (corresponding to the standard grinding path) that meets both geometric requirements and takes into account the grinding parameters can be obtained.

[0055] In another exemplary embodiment of the present invention, continuing with the embodiment described above, the processor can also obtain the actual coordinates of the reference point based on the position information of the workpiece to be polished in the following manner: Based on the position information of the workpiece to be polished, determine the actual point cloud data of the workpiece to be polished; Based on the actual point cloud data, determine the actual coordinates of the reference point.

[0056] In one embodiment, the position information of the workpiece to be polished can be obtained according to the workpiece parameter information collected by the 3D scanning camera. Further, based on the position information of the workpiece to be polished, the actual point cloud data of the workpiece to be polished can be determined. Further, based on the actual point cloud data, the actual coordinates of the reference point can be determined.

[0057] In another exemplary embodiment of the present invention, taking the embodiment described above as an example, the 3D scanning camera can also be used for: During the process of the grinding device grinding the weld of the workpiece to be ground based on the corrected grinding path, the planar point cloud data on both sides of the weld and the weld point cloud data of the workpiece to be ground are collected in real time, and the planar point cloud data on both sides of the weld and the weld point cloud data are sent to the processor; The processor can also be used for: Receiving the planar point cloud data on both sides of the weld and the weld point cloud data sent by the 3D scanning camera; Based on the planar point cloud data on both sides of the weld and the weld point cloud data, determining the deviation information of the weld during the welding process; Performing a re-correction process on the corrected grinding path based on the deviation information to obtain a re-corrected grinding path, and sending the re-corrected grinding path to the grinding device; The grinding device is further used for: Receiving the re-corrected grinding path issued by the processor, and grinding the weld of the workpiece to be ground based on the re-corrected grinding path.

[0058] It should be noted that since the workpiece to be ground, such as a steering mechanism part, is welded together by medium-thick plates, thermal deformation and small deviations in position will inevitably occur during the welding process, which often cause problems in the quality of weld grinding. In this embodiment, the three-dimensional point cloud data can be used to obtain the weld depth information through plane fitting by the Hough3D algorithm, and the weld point cloud is segmented and linearly fitted, and the grinding trajectory of the robot is automatically adjusted through the fitted trajectory.

[0059] In one embodiment, during the process of the grinding device grinding the weld of the workpiece to be ground based on the corrected grinding path, the 3D scanning camera can collect the planar point cloud data on both sides of the weld and the weld point cloud data of the workpiece to be ground in real time, and send the planar point cloud data on both sides of the weld and the weld point cloud data to the processor. Among them, the planar point cloud data on both sides of the weld and the weld point cloud data of the workpiece to be ground can represent the deviation information during the welding process of the workpiece to be ground. It can be understood that if a deviation occurs in real time during the welding process, the corresponding grinding path also needs to be adjusted accordingly.

[0060] In yet another embodiment, the processor may receive the planar point cloud data on both sides of the weld seam and the weld seam point cloud data sent by the 3D scanning camera; further, based on the planar point cloud data on both sides of the weld seam and the weld seam point cloud data, the deviation information of the weld seam during the welding process is determined. Since if a deviation occurs in real time during the welding process, the corresponding grinding path also needs to be adjusted accordingly, therefore, the corrected grinding path can be re-corrected based on the deviation information, so as to obtain the re-corrected grinding path, and the re-corrected grinding path is sent to the grinding device.

[0061] In yet another embodiment, the grinding device may also receive the re-corrected grinding path sent by the processor, and then based on the re-corrected grinding path, grind the weld seam of the workpiece to be ground. Since the re-corrected grinding path is obtained by adjusting the grinding path in real time through the deviation information of the welding process, it can be ensured that the obtained re-corrected grinding path is in real-time match with the actual situation, ensuring high precision and high consistency in the grinding process, thereby significantly improving production efficiency and product quality, and realizing efficient and precise grinding of the workpiece to be ground, such as the weld seam of the crossbeam member of the train bogie.

[0062] Figure 3 It is a schematic flowchart of the process in which the processor provided by the present invention determines the deviation information of the weld seam during the welding process based on the planar point cloud data on both sides of the weld seam and the weld seam point cloud data.

[0063] Next, in combination with Figure 3 the process in which the processor determines the deviation information of the weld seam during the welding process based on the planar point cloud data on both sides of the weld seam and the weld seam point cloud data will be described.

[0064] In an exemplary embodiment of the present invention, in combination with Figure 3 it can be known that the processor determining the deviation information of the weld seam during the welding process based on the planar point cloud data on both sides of the weld seam and the weld seam point cloud data may include steps 310 to 340, and each step will be introduced separately below.

[0065] In step 310, based on the planar point cloud data on both sides of the weld seam, the weld depth information of the weld seam is determined.

[0066] In one embodiment, the weld depth information of the weld seam can be determined based on the planar point cloud data on both sides of the weld seam. In the application process, the Hough3D algorithm can be used to detect the plane in the point cloud data; then, according to the detected plane parameters, the depth of the weld seam is calculated. This method can automatically and accurately obtain the weld depth information, providing basic data for subsequent adjustment of the grinding trajectory.

[0067] In step 320, the weld seam point cloud data is filtered and denoised to obtain the filtered and denoised weld seam point cloud data.

[0068] In step 330, linear fitting is performed on the weld seam point cloud data after filtering and denoising to obtain the weld seam trend curve of the weld seam.

[0069] In another embodiment, the weld seam point cloud data can be subjected to filtering and denoising processing to obtain the weld seam point cloud data after filtering and denoising. Further, linear fitting is performed on the weld seam point cloud data after filtering and denoising to obtain the weld seam trend curve of the weld seam. During the application process, by mapping the weld seam point cloud data to the parameter space, the weld seam area and other areas can be distinguished. The Hough3D algorithm can be used to detect planes and curved surfaces in the point cloud; then, according to the detected plane and curved surface parameters, the point cloud data is segmented into different regions; finally, the point cloud data of the weld seam area is extracted. This method can automatically and efficiently complete the weld seam point cloud segmentation task, providing convenience for subsequent processing and analysis. After obtaining the weld seam point cloud data, for the straight line part in the weld seam point cloud data, the Hough transform can be used for fitting. Preprocess the weld seam point cloud data, such as filtering, denoising, etc.; then, use the Hough transform to detect the straight lines in the point cloud; finally, according to the detected straight line parameters, perform straight line fitting on the weld seam point cloud data (corresponding to obtaining the weld seam trend curve described later). This method can automatically and accurately fit the straight line part in the weld seam point cloud data, providing basic data for subsequent adjustment of the grinding trajectory.

[0070] In step 340, based on the weld seam trend curve and the weld seam depth information, the deviation information of the weld seam during the welding process is determined.

[0071] In another embodiment, the deviation information of the weld seam during the real-time welding process can be determined based on the weld seam trend curve and the weld seam depth information. Further, through the deviation information of the welding process, the grinding path is adjusted in real time, so that the obtained grinding path (corresponding to the re-corrected grinding path described above) can be ensured to be in real-time match with the actual situation. It can be understood that this deviation information can be considered as the deviation between the actual weld seam and the theoretical weld seam, and the theoretical weld seam can be considered as the weld seam corresponding to no thermal deformation and small position deviations during the welding process.

[0072] Based on the same inventive concept, the present invention also provides a weld seam grinding method. Figure 4 It is a schematic flow chart of the weld seam grinding method provided by the present invention. The following will be combined with Figure 4 to illustrate the process of the weld seam grinding method provided by the present invention.

[0073] In an exemplary embodiment of the present invention, the weld seam grinding method can be applied to the workpiece weld seam grinding system described in any of the above embodiments, combined with Figure 4It can be known that the weld grinding method may include steps 410 to 430, and each step will be introduced separately below.

[0074] In step 410, workpiece parameter information of the workpiece to be ground is collected in real time, where the workpiece to be ground is a workpiece with a weld.

[0075] In step 420, a standard grinding path corresponding to the workpiece to be ground is obtained, and the standard grinding path is corrected based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of a standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is the workpiece to be ground with theoretical workpiece parameters.

[0076] In step 430, the weld of the workpiece to be ground is ground based on the corrected grinding path.

[0077] In one embodiment, workpiece parameter information of the workpiece to be ground can be collected in real time, where the workpiece to be ground is a workpiece with a weld. Further, a standard grinding path corresponding to the workpiece to be ground is obtained, and the standard grinding path is corrected based on the workpiece parameter information to obtain a corrected grinding path. During application, the weld of the workpiece to be ground can be ground based on the corrected grinding path. Since the corrected grinding path is corrected based on the workpiece parameter information collected in real time, the accuracy of the corrected grinding path and the matching degree with the actual situation can be improved, thereby realizing efficient and precise grinding of the workpiece weld and improving the grinding effect of the workpiece weld.

[0078] In another exemplary embodiment of the present invention, continuing with the embodiment described above, the workpiece parameter information may at least include the position information of the workpiece to be ground; correcting the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path can be implemented in the following manner: Determine at least one reference point at the weld of the workpiece to be ground, and based on the reference point, determine a simulation reference point corresponding to the reference point in the standard workpiece corresponding to the workpiece to be ground; Obtain the simulation coordinates of the simulation reference point; Based on the position information of the workpiece to be ground, determine the actual coordinates of the reference point; Based on the deviation between the simulation coordinates and the actual coordinates, determine the path deviation of the standard grinding path; Based on the path deviation, correct the standard grinding path to obtain a corrected grinding path.

[0079] In one embodiment, at least one reference point can be determined at the weld of the workpiece to be polished, and based on the reference point, a simulation reference point corresponding to the reference point can be determined in the standard workpiece corresponding to the workpiece to be polished. Among them, the reference point can be a reference point with clear geometric features (such as corner points, edge points, etc.). Further, a simulation reference point corresponding to the reference point can be determined in the standard workpiece corresponding to the workpiece to be polished. It can be understood that these points can be used for the alignment of the coordinate system.

[0080] In another embodiment, the simulation coordinates of the simulation reference point and the actual coordinates of the reference point can also be obtained. Further, based on the deviation between the simulation coordinates and the actual coordinates, the path deviation of the standard polishing path is determined. It should be noted that if the real workpiece to be polished is consistent with the standard workpiece, then the simulation coordinates and the actual coordinates should also have a corresponding relationship and there should be no deviation. In this scenario, polishing can be directly performed based on the standard polishing path. However, since there is a deviation between the simulation coordinates and the actual coordinates, it means that polishing cannot be performed according to the standard polishing path.

[0081] In another embodiment, based on the deviation between the simulation coordinates and the actual coordinates, the path deviation of the standard polishing path can be determined. Further, based on the path deviation, the standard polishing path is corrected to obtain the corrected polishing path. During application, polishing the weld of the workpiece to be polished based on the corrected polishing path can ensure high precision and high consistency in the polishing process, thereby significantly improving production efficiency and product quality, and realizing efficient and precise polishing of the workpiece to be polished, such as the weld of the crossbeam component of the train bogie.

[0082] The virtual device for weld polishing provided by the present invention will be described below. The virtual device for weld polishing described below can be mutually corresponding and referred to with the weld polishing method described above.

[0083] Figure 5 It is a schematic structural diagram of the virtual device for weld polishing provided by the present invention. The structure of the virtual device for weld polishing will be described below in conjunction with Figure 5 Explain the structure of the virtual device for weld polishing.

[0084] In an exemplary embodiment of the present invention, the virtual device for weld polishing can be applied to the workpiece weld polishing system described in any one of the embodiments. Combining Figure 5 It can be known that the virtual device for weld polishing can include a collection module 510, a processing module 520, and a polishing module 530. Each module will be introduced separately below.

[0085] The collection module 510 can be configured to collect the workpiece parameter information of the workpiece to be polished in real time, where the workpiece to be polished is a workpiece with a weld; A processing module 520 can be configured to obtain a standard grinding path corresponding to the workpiece to be ground, and correct the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of a standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is a workpiece to be ground with theoretical workpiece parameters; A grinding module 530 can be configured to grind the weld of the workpiece to be ground based on the corrected grinding path.

[0086] In an exemplary embodiment of the present invention, the workpiece parameter information at least includes the position information of the workpiece to be ground; The processing module 520 can implement correcting the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path in the following manner: Determine at least one reference point at the weld of the workpiece to be ground, and based on the reference point, determine a simulation reference point corresponding to the reference point in the standard workpiece corresponding to the workpiece to be ground; Obtain the simulation coordinates of the simulation reference point; Based on the position information of the workpiece to be ground, determine the actual coordinates of the reference point; Based on the deviation between the simulation coordinates and the actual coordinates, determine the path deviation of the standard grinding path; Based on the path deviation, correct the standard grinding path to obtain the corrected grinding path.

[0087] Figure 6 An entity structure diagram of an electronic device is exemplified, as Figure 6 shown. The electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communication interface 620, and the memory 630 complete communication with each other through the communication bus 640. The processor 610 can call the logical instructions in the memory 630 to execute a weld grinding method. The method is applied to any one of the workpiece weld grinding systems. The method includes: real-time collecting workpiece parameter information of the workpiece to be ground, where the workpiece to be ground is a workpiece with a weld; obtaining a standard grinding path corresponding to the workpiece to be ground, and correcting the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of a standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is a workpiece to be ground with theoretical workpiece parameters; grinding the weld of the workpiece to be ground based on the corrected grinding path.

[0088] In addition, when the logical instructions in the above-mentioned memory 630 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0089] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the weld grinding method provided by the above-mentioned various methods. The method is applied to the workpiece weld grinding system described in any one of the above, and the method includes: real-time collecting workpiece parameter information of the workpiece to be ground, where the workpiece to be ground is a workpiece with a weld; obtaining a standard grinding path corresponding to the workpiece to be ground, and correcting the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of a standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is a workpiece to be ground with theoretical workpiece parameters; and grinding the weld of the workpiece to be ground based on the corrected grinding path.

[0090] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the weld grinding method provided by the above-mentioned various methods. The method is applied to the workpiece weld grinding system described in any one of the above, and the method includes: real-time collecting workpiece parameter information of the workpiece to be ground, where the workpiece to be ground is a workpiece with a weld; obtaining a standard grinding path corresponding to the workpiece to be ground, and correcting the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of a standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is a workpiece to be ground with theoretical workpiece parameters; and grinding the weld of the workpiece to be ground based on the corrected grinding path.

[0091] The device embodiments described above are merely illustrative. 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 modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0092] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A workpiece weld grinding system, characterized in that The system includes a 3D scanning camera, a processor, and a grinding device. Among them, the 3D scanning camera is used to collect the workpiece parameter information of the workpiece to be ground in real time, and send the collected workpiece parameter information to the processor. Among them, the workpiece to be ground is a workpiece with a weld; the processor is used to obtain the standard grinding path corresponding to the workpiece to be ground, receive the workpiece parameter information sent by the 3D scanning camera, correct the standard grinding path based on the workpiece parameter information to obtain the corrected grinding path, and send the corrected grinding path to the grinding device; among them, the standard grinding path is the grinding path of the standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is the workpiece to be ground with theoretical workpiece parameters; the grinding device is used to receive the corrected grinding path sent by the processor, and grind the weld of the workpiece to be ground based on the corrected grinding path.

2. The workpiece weld grinding system according to claim 1, wherein The system further includes an actuator. Among them, the actuator is used to clamp the 3D scanning camera and drive the 3D scanning camera to move to collect the workpiece parameter information of the workpiece to be ground in real time.

3. The workpiece weld grinding system according to claim 1, wherein The workpiece parameter information at least includes the position information of the workpiece to be ground; the processor corrects the standard grinding path based on the workpiece parameter information to obtain the corrected grinding path in the following manner: Determine at least one reference point at the weld of the workpiece to be ground, and based on the reference point, determine the simulation reference point corresponding to the reference point in the standard workpiece corresponding to the workpiece to be ground; Obtain the simulation coordinates of the simulation reference point; Based on the position information of the workpiece to be ground, determine the actual coordinates of the reference point; Based on the deviation between the simulation coordinates and the actual coordinates, determine the path deviation of the standard grinding path; Based on the path deviation, correct the standard grinding path to obtain the corrected grinding path.

4. The workpiece weld grinding system according to claim 3, wherein The processor obtains the simulation coordinates of the simulation reference point in the following manner: Obtain the standard point cloud data of the standard workpiece corresponding to the workpiece to be ground; Based on the standard point cloud data, determine the simulation coordinates of the simulation reference point.

5. The workpiece weld grinding system according to claim 3, characterized in that, The processor determines the actual coordinates of the reference point based on the position information of the workpiece to be ground in the following manner: Based on the position information of the workpiece to be ground, determine the actual point cloud data of the workpiece to be ground; Based on the actual point cloud data, determine the actual coordinates of the reference point.

6. The workpiece weld grinding system according to any one of claims 3 to 5, characterized in that, The 3D scanning camera is also used for: During the process of the grinding device grinding the weld of the workpiece to be ground based on the corrected grinding path, collect the plane point cloud data on both sides of the weld and the weld point cloud data of the workpiece to be ground in real time, and send the plane point cloud data on both sides of the weld and the weld point cloud data to the processor; The processor is also used for: Receive the plane point cloud data on both sides of the weld and the weld point cloud data sent by the 3D scanning camera; Based on the planar point cloud data on both sides of the weld seam and the weld seam point cloud data, determine the deviation information of the weld seam during the welding process; Based on the deviation information, perform a re-correction process on the corrected grinding path to obtain a re-corrected grinding path, and send the re-corrected grinding path to the grinding device; The grinding device is further configured to: Receive the re-corrected grinding path sent by the processor, and based on the re-corrected grinding path, grind the weld seam of the workpiece to be ground.

7. The workpiece weld grinding system according to claim 6, wherein The processor determines the deviation information of the weld seam during the welding process based on the planar point cloud data on both sides of the weld seam and the weld seam point cloud data in the following manner: Based on the planar point cloud data on both sides of the weld seam, determine the weld depth information of the weld seam; Perform a filtering and denoising process on the weld seam point cloud data to obtain filtered and denoised weld seam point cloud data; Perform a linear fitting on the filtered and denoised weld seam point cloud data to obtain the weld seam trend curve of the weld seam; Based on the weld seam trend curve and the weld depth information, determine the deviation information of the weld seam during the welding process.

8. A method for grinding a weld seam, characterized in that, The method is applied to the workpiece weld grinding system according to any one of claims 1 to 7, and the method includes: Real-time collect the workpiece parameter information of the workpiece to be ground, where the workpiece to be ground is a workpiece with a weld seam; Obtain the standard grinding path corresponding to the workpiece to be ground, and correct the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of the standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is the workpiece to be ground with theoretical workpiece parameters; Based on the corrected grinding path, grind the weld seam of the workpiece to be ground.

9. The weld grinding method according to claim 8, characterized in that, The workpiece parameter information at least includes the position information of the workpiece to be ground; the correcting the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path specifically includes: Determine at least one reference point at the weld seam of the workpiece to be ground, and based on the reference point, determine a simulation reference point corresponding to the reference point in the standard workpiece corresponding to the workpiece to be ground; Obtain the simulation coordinates of the simulation reference point; Based on the position information of the workpiece to be ground, determine the actual coordinates of the reference point; Based on the deviation between the simulation coordinates and the actual coordinates, determine the path deviation of the standard grinding path; Based on the path deviation, correct the standard grinding path to obtain the corrected grinding path.

10. A virtual device for weld grinding, characterized in that, The virtual device is applied to the workpiece weld grinding system according to any one of claims 1 to 7, and the virtual device includes: A collection module, configured to real-time collect the workpiece parameter information of the workpiece to be ground, where the workpiece to be ground is a workpiece with a weld seam; A processing module, configured to obtain a standard grinding path corresponding to the workpiece to be ground, and correct the standard grinding path based on the workpiece parameter information to obtain a corrected grinding path, where the standard grinding path is the grinding path of a standard workpiece corresponding to the workpiece to be ground, and the standard workpiece is the workpiece to be ground with theoretical workpiece parameters; A grinding module, configured to grind the weld of the workpiece to be ground based on the corrected grinding path.

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