Welding path planning method, device and equipment and storage medium
By clustering and path planning of the point cloud of welding items, the problem of low efficiency in welding path planning of multi-workpieces is solved, and efficient welding path planning is achieved.
Patent Information
- Application Number
- CN202510623337.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-14
- Publication Date
- 2025-07-22
AI Technical Summary
The existing technology has not effectively solved the problem of how to efficiently and accurately plan the welding path when there are many workpieces to be welded.
The point clouds of the items to be welded are clustered to obtain the point cloud clusters of each workpiece to be welded. The welding sequence is determined based on the central point distance of the point cloud cluster, the starting and ending welding points of adjacent workpieces are calculated, the paths between the workpieces are planned, and the paths are planned within the workpieces.
By first coarse path planning between workpieces and then fine path planning inside the workpiece, path planning time can be saved while ensuring excellent paths.
Smart Images
Figure CN120347744A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of robotics, and particularly to a welding path planning method, device, equipment, and storage medium. Background Art
[0002] As robots are applied more and more widely, robots are also used in the welding field. The welding robot automatically identifies the positions of workpieces and the positions of weld seams to be welded, and then plans a welding path to achieve automatic welding. However, when there are many workpieces to be welded, resulting in a large number of welding points, how to efficiently and accurately plan a welding path is one of the problems that have not been solved yet. Summary of the Invention
[0003] The main technical problem to be solved by the present application is to provide a welding path planning method, device, equipment, and storage medium that can plan a relatively excellent path and save the path planning time.
[0004] To solve the above technical problem, in the first aspect of the present application, a welding path planning method is provided. The method includes: clustering the point cloud of the item to be welded to obtain the point cloud clusters of each workpiece to be welded in the item to be welded; determining the welding sequence of each workpiece to be welded based on the distances between the center points of the point cloud clusters; calculating the points with the shortest distance in the point cloud clusters of two adjacent workpieces to be welded to obtain the starting welding point and the ending welding point of the workpiece to be welded; planning an internal welding path passing through all the points of the workpiece to be welded based on the starting welding point and the ending welding point of the workpiece to be welded; and obtaining the target welding path of the item to be welded based on the internal welding paths and the welding sequence of each workpiece to be welded.
[0005] To solve the above technical problem, in the second aspect of the present application, a welding path planning device is provided. The device includes: a clustering module, a sorting module, a starting point determination module, an internal path planning module, and a target path planning module. The clustering module is used to cluster the point cloud of the item to be welded to obtain the point cloud clusters of each workpiece to be welded in the item to be welded; the sorting module is used to determine the welding sequence of each workpiece to be welded based on the distances between the center points of the point cloud clusters; the starting point determination module is used to calculate the points with the shortest distance in the point cloud clusters of two adjacent workpieces to be welded to obtain the starting welding point and the ending welding point of the workpiece to be welded; the internal path planning module is used to plan an internal welding path passing through all the points of the workpiece to be welded based on the starting welding point and the ending welding point of the workpiece to be welded; and the target path planning module is used to obtain the target welding path of the item to be welded based on the internal welding paths and the welding sequence of each workpiece to be welded.
[0006] To solve the above technical problems, a third aspect of the present application provides an electronic device, which includes a memory and a processor. Program instructions are stored in the memory, and the processor is configured to execute the program instructions to implement the method provided in the first aspect above.
[0007] To solve the above technical problems, a fourth aspect of the present application provides a readable computer storage medium, which stores program instructions for implementing the method provided in the first aspect above.
[0008] The beneficial effects of the present application are as follows: Different from the prior art, the present application clusters the point cloud of the item to be welded to obtain the point cloud clusters of each workpiece to be welded in the item to be welded; based on the distances between the central points of the respective point cloud clusters, the welding sequence of each workpiece to be welded is determined; in this step, a rough welding path plan is first carried out, only planning the distances between the workpieces without considering the welding path inside the workpieces. Then, the points with the shortest distance in the point cloud clusters of two adjacent workpieces to be welded are calculated to obtain the starting welding point and the ending welding point of the workpiece to be welded; based on the starting welding point and the ending welding point of the workpiece to be welded, an internal welding path passing through all the points of the workpiece to be welded is planned; based on the internal welding paths and the welding sequence of each workpiece to be welded, the target welding path of the item to be welded is obtained. By first carrying out a rough path plan between the workpieces and then carrying out a detailed path plan inside the workpieces, it is possible to save the path planning time while ensuring a relatively excellent path is planned. Description of the Drawings
[0009] Figure 1 is a schematic flowchart of an embodiment of the welding path planning method provided by the present application;
[0010] Figure 2 is a schematic flowchart of an embodiment of step S11 of an embodiment of the welding path planning method provided by the present application;
[0011] Figure 3 is a schematic framework structure diagram of an embodiment of the welding path planning device provided by the present application;
[0012] Figure 4 is a schematic framework structure diagram of an embodiment of the electronic device provided by the present application;
[0013] Figure 5 is a schematic framework structure diagram of an embodiment of the computer-readable storage medium provided by the present application. Detailed Embodiments
[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to 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 embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.
[0015] It should be noted that in the embodiments of the present application, there are descriptions involving "first", "second", etc. The descriptions of "first", "second", etc. are only for descriptive purposes and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature.
[0016] Referring to "embodiments" herein means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of the present invention. The phrase appears at various positions in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.
[0017] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of an implementation manner of the welding path planning method provided by the present application. The method includes:
[0018] S11: Cluster the point cloud of the item to be welded to obtain the point cloud clusters of each workpiece to be welded in the item to be welded.
[0019] This embodiment can be used to plan the welding path. Generally, there is one or more workpieces to be welded on the item to be welded. If there are multiple workpieces to be welded, during the autonomous welding process of the welding robot, it is necessary to plan the welding path between the welding workpieces; if there is only one workpiece to be welded, the welding robot also needs to plan a path that completely covers the weld of the workpiece to be welded to effectively complete the welding.
[0020] In an implementation method, the item to be welded can be any item, and the point cloud of the item to be welded can be collected by a point cloud acquisition device, which includes but is not limited to lidar, ultrasonic sensor, time-of-flight (ToF) sensor, stereo camera, etc. Taking the welding device as a welding robot as an example, the point cloud acquisition device can be integrated or not integrated on the welding robot. Cluster the point cloud to obtain the point cloud clusters of each workpiece to be welded in the item to be welded. The clustering can adopt any existing clustering method, such as the K-means algorithm, Gaussian mixture model, etc.
[0021] S12: Determine the welding sequence of each workpiece to be welded based on the distances between the center points of each point cloud cluster.
[0022] In one embodiment, the workpieces to be welded corresponding to the center points of the two closest point cloud clusters can be determined as adjacent, that is, the closest center points indicate the closest distance between the two workpieces to be welded. In the welding sequence, the two workpieces to be welded with the closest distance are adjacent. Specifically, take any center point as the current center point, calculate the distances between the current center point and other center points, and take the workpiece to be welded corresponding to the center point with the minimum distance from the current center point as the next workpiece to be welded of the current workpiece to be welded; where the current center point is the center point corresponding to the current workpiece to be welded; take the next workpiece to be welded as the new current workpiece to be welded, and return to execute the step of taking the workpiece to be welded corresponding to the center point with the minimum distance from the current center point as the next workpiece to be welded of the current workpiece to be welded until all workpieces to be welded are traversed to obtain the welding sequence.
[0023] S13: Calculate the closest points in the point cloud clusters of two adjacent workpieces to be welded to obtain the starting welding point and the ending welding point of the workpiece to be welded.
[0024] In one embodiment, after determining the welding sequence, two adjacent workpieces to be welded can be determined, and the closest points in the point cloud clusters of the two adjacent workpieces to be welded can be calculated to obtain the starting welding point and the ending welding point of the workpiece to be welded. In one specific embodiment, the points in one point cloud cluster and the points in the other point cloud cluster can be respectively combined into each point pair, calculate the distances between the two points in all point pairs, and take one point in the point pair corresponding to the shortest distance as the starting welding point and the other point as the ending welding point.
[0025] In one specific embodiment, any workpiece to be welded can be taken as the target workpiece to be welded. According to the welding sequence, obtain the first workpiece to be welded and the second workpiece to be welded adjacent to the target workpiece to be welded; obtain the two points in the point cloud cluster of the target workpiece to be welded that are respectively the closest to the points in the point cloud cluster of the first workpiece to be welded and the points in the point cloud cluster of the second workpiece to be welded; take one of the two points as the starting welding point of the target workpiece to be welded and the other as the ending welding point of the target workpiece to be welded.
[0026] S14: Based on the starting welding point and the ending welding point of the workpiece to be welded, plan an internal welding path passing through all the points of the workpiece to be welded.
[0027] In one embodiment, after determining the starting welding point and the ending welding point of the workpiece to be welded, any existing path planning method can be used to plan a path from the starting welding point to the ending welding point and passing through all the points in the point cloud cluster of the workpiece to be welded.
[0028] In another embodiment, for each workpiece to be welded, the following steps are performed: pair up the points belonging to the same workpiece to be welded, calculate the distances between the two points in each pair, and generate a distance table; starting from the current point, search the distance table to find the point closest to the current point, and use the point closest to the current point as the new current point. Repeat the steps of starting from the current point, searching the distance table to find the point closest to the current point, and using the point closest to the current point as the new current point until the point closest to the current point is the starting welding point; wherein, the first current point is the ending welding point; connect the current point and the point closest to the current point to obtain the internal welding path.
[0029] In other embodiments, after generating the distance table, starting from the current point, search the distance table to find the point closest to the current point, and use the point closest to the current point as the new current point. Repeat the steps of starting from the current point, searching the distance table to find the point closest to the current point, and using the point closest to the current point as the new current point until the point closest to the current point is the center point of the point cloud cluster of the workpiece to be welded; then use the center point as the current point, and repeat the steps of starting from the current point, searching the distance table to find the point closest to the current point, and using the point closest to the current point as the new current point until the point closest to the current point is the starting welding point. In this embodiment, splice the shortest path between the starting welding point and the center point and the shortest path between the center point and the ending welding point to obtain the internal welding path.
[0030] S15: Based on the internal welding paths and welding sequences of the workpieces to be welded, obtain the target welding path of the item to be welded.
[0031] In one embodiment, for each workpiece to be welded, any one can be selected as the starting workpiece to be welded. Starting from the starting welding point of the starting workpiece to be welded, travel to the ending welding point of the starting workpiece to be welded. Then travel from the ending welding point of the starting workpiece to be welded to the starting welding point of the next adjacent workpiece to be welded, and travel from the starting welding point of the next workpiece to be welded to the ending welding point of the next workpiece to be welded, and so on, until the ending welding point of the last workpiece to be welded, to form the target welding path.
[0032] In the above method, the point cloud of the object to be welded is clustered to obtain the point cloud clusters of each workpiece to be welded in the object to be welded; based on the distances between the central points of the respective point cloud clusters, the welding sequence of each workpiece to be welded is determined; in this step, a rough welding path plan is first carried out, only planning the distances between the workpieces and not considering the welding path inside the workpieces. Then, the points with the shortest distance in the point cloud clusters of two adjacent workpieces to be welded are calculated to obtain the starting welding point and the ending welding point of the workpiece to be welded; based on the starting welding point and the ending welding point of the workpiece to be welded, an internal welding path passing through all the points of the workpiece to be welded is planned; based on the internal welding paths and the welding sequence of each workpiece to be welded, the target welding path of the object to be welded is obtained. By first carrying out a rough path plan between the workpieces and then carrying out a detailed path plan inside the workpieces, it is possible to save the path planning time while ensuring that a relatively excellent path is planned.
[0033] Please refer to Figure 2 , Figure 2 which is a schematic flow diagram of an embodiment of step S11 of a welding path planning method provided by the present application. Step S11 may include:
[0034] S211: Calculate the responsibility value and the attribution value corresponding to a preset number of points within the preset range of the central point of each workpiece to be welded.
[0035] In one embodiment, a preset number of points may be respectively used as the current target points, and the similarity between the current target points and the remaining points is calculated; based on the similarity and the historical maximum attraction value, the responsibility value corresponding to the current target point is obtained; wherein, the historical maximum attraction value is the maximum value of the sum of the attribution value and the similarity corresponding to the historical target points calculated historically; based on the responsibility value corresponding to the current target point, the attribution value of the current target point is determined.
[0036] In a specific embodiment, obtaining the responsibility value corresponding to the current target point based on the similarity and the historical maximum attraction value may include: subtracting the historical maximum attraction value from the similarity to obtain the responsibility value corresponding to the current target point. The responsibility value can be calculated with reference to the following formula.
[0037]
[0038] s(i,k) = -||x i -x k || 2
[0039] Among them, r(i, k) is the responsibility value of the current target point k, indicating the suitability of point i to select point k as the cluster center point, that is, the credibility of point k as the cluster center point; a(i, k′) is the attribution value corresponding to the historical target point k′, indicating the attraction of the historical target point k′ as the center point to point i; s(i, k′) is the similarity between the historical target point k′ and point i; s(i, k) is the similarity between the current target point k and point i; x i is the coordinate of point i; x k is the coordinate of point k.
[0040] In the above calculation process, if the similarity between the current target point k and point i is relatively high, and the current target point k has a relatively large attribution value a(i, k) compared with other possible center points (i.e., historical target points k′), then the current target point k is more likely to be the center point of the point cloud cluster after clustering. On the contrary, if the similarity between the current target point k and point i is relatively low, or the historical target point k′ has a relatively large attribution value r(i, k), then r(i, k) may be negative, indicating that the current target point k is not suitable as the clustering center point.
[0041] In a specific embodiment, determining the attribution value of the current target point based on the responsibility value of the current target point may include: obtaining the maximum value between the historical responsibility value of the current target point and the first preset value; summing the responsibility value corresponding to the current target point and the maximum value to obtain a reference value; using the minimum value between the reference value and the second preset value as the attribution value of the current target point. Among them, the first preset value and the second preset value may be the same or different. In a specific embodiment, they are the same and both are 0. The attribution value can be calculated with reference to the following formula.
[0042]
[0043] Among them, a(i, k) is the attribution value of the current target point, indicating the possibility that point i selects the current target point k as the clustering center point, which is determined by all the responsibility values supporting the current target point k as the clustering center point; r(i′, k) is the responsibility value corresponding to the current target point k when other points except point i support the current target point k as the clustering center point.
[0044] In special cases, when point i and the current target point k are the same point, the possibility a(k, k) that the current target point k selects itself as the clustering center point is obtained by the following formula.
[0045]
[0046] If the current target point k is greater than 0, the possibility of it being the clustering center point increases; if the current target point k is 0, the possibility of it being the clustering center point is smaller.
[0047] S212: Determine each point cloud cluster and the center point of each point cloud cluster based on the responsibility value and attribution value corresponding to each point.
[0048] In one embodiment, the greater the responsibility value and attribution value of a point, the greater the possibility that it is the center point of a point cloud cluster. Specifically, the point with the largest responsibility value and attribution value can be directly used as the center point.
[0049] In this embodiment, the responsibility value and attribution value corresponding to the current target point k are both relative to the same reference point i. For multiple reference points, there are multiple corresponding responsibility values and attribution values for the current target point. The multiple corresponding responsibility values and attribution values can be the same or different.
[0050] By calculating the attribution value and responsibility value, the center point of each point cloud cluster can be determined, and the points belonging to the same point cloud cluster can also be determined, improving the accuracy of the clustering result.
[0051] Please refer to Figure 3 , Figure 3 which is a schematic diagram of the framework structure of an embodiment of the welding path planning device provided by this application.
[0052] The welding path planning device 30 includes a clustering module 31, a sorting module 32, a starting point determination module 33, an internal path planning module 34, and a target path planning module 35. The clustering module 31 is used to cluster the point cloud of the item to be welded to obtain the point cloud clusters of each workpiece to be welded in the item to be welded; the sorting module 32 is used to determine the welding sequence of each workpiece to be welded based on the distances between the center points of each point cloud cluster; the starting point determination module 33 is used to calculate the points with the closest distance in the point cloud clusters of two adjacent workpieces to be welded to obtain the starting welding point and the ending welding point of the workpiece to be welded; the internal path planning module 34 is used to plan the internal welding path passing through all the points of the workpiece to be welded based on the starting welding point and the ending welding point of the workpiece to be welded; the target path planning module 35 is used to obtain the target welding path of the item to be welded based on the internal welding paths and the welding sequence of each workpiece to be welded.
[0053] In one embodiment, the internal path planning module 34 plans an internal welding path passing through all points of the workpiece to be welded based on the starting welding point and the ending welding point of the workpiece to be welded, including: for each workpiece to be welded, combining the points belonging to the workpiece to be welded in pairs and calculating the distance between the two points in the combination to generate a distance table; starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point, and repeating the steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point until the point closest to the current point is the starting welding point; wherein, the first current point is the ending welding point; connecting the current point and the point closest to the current point to obtain the internal welding path.
[0054] In one embodiment, starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point, and repeating the steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point until the point closest to the current point is the starting welding point, includes: starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point, and repeating the steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point until the point closest to the current point is the center point of the point cloud cluster of the workpiece to be welded; then taking the center point as the current point, and repeating the steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point until the point closest to the current point is the starting welding point.
[0055] In one embodiment, the clustering module 31 clusters the point cloud of the article to be welded to obtain the point cloud clusters of the workpieces to be welded in the article to be welded, including: calculating the responsibility value and the belonging value corresponding to a preset number of points within the preset range of the center point of each workpiece to be welded; wherein, the responsibility value represents the suitability of the point to become the center point of the point cloud cluster, and the belonging value represents the degree to which the point belongs to the point cloud cluster; based on the responsibility value and the belonging value corresponding to each point, determining each point cloud cluster and the center point of each point cloud cluster.
[0056] In one embodiment, calculating the responsibility values and attribution values corresponding to a preset number of points within a preset range of the center points of the workpieces to be welded includes: taking the preset number of points as current target points respectively, and calculating the similarity between the current target points and the other points; obtaining the responsibility value corresponding to the current target point based on the similarity and the historical maximum attraction value, where the historical maximum attraction value is the maximum value of the sum of the attribution value and the similarity corresponding to the historical target point calculated historically; determining the attribution value of the current target point based on the responsibility value corresponding to the current target point.
[0057] In one embodiment, the sorting module 32 determines the welding sequence of the workpieces to be welded based on the distances between the center points of each point cloud cluster, including: taking the workpiece to be welded corresponding to the center point with the minimum distance from the current center point as the next workpiece to be welded of the current workpiece to be welded, where the current center point is the center point corresponding to the current workpiece to be welded; taking the next workpiece to be welded as the new current workpiece to be welded, and returning to execute the step of taking the workpiece to be welded corresponding to the center point with the minimum distance from the current center point as the next workpiece to be welded of the current workpiece to be welded until all the workpieces to be welded are traversed to obtain the welding sequence.
[0058] In one embodiment, the starting point determination module 33 calculates the points with the closest distance in the point cloud clusters of two adjacent workpieces to be welded to obtain the starting welding point and the ending welding point of the workpiece to be welded, including: taking any workpiece to be welded as the target workpiece to be welded, and obtaining the first workpiece to be welded and the second workpiece to be welded adjacent to the target workpiece to be welded according to the welding sequence; obtaining the two points in the point cloud cluster of the target workpiece to be welded that are respectively the closest to the points in the point cloud cluster of the first workpiece to be welded and the points in the point cloud cluster of the second workpiece to be welded; taking one of the two points as the starting welding point of the target workpiece to be welded and the other as the ending welding point of the target workpiece to be welded.
[0059] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the framework structure of an embodiment of the electronic device provided in the present application.
[0060] The electronic device 40 includes a memory 41 and a processor 42. The memory 41 stores program instructions, and the processor 42 is configured to execute the program instructions stored in the memory 41 to implement the steps of any of the above method embodiments. In a specific implementation scenario, the electronic device 40 may include, but is not limited to: a microcomputer, a server, a robot. In addition, the electronic device 40 may also include mobile devices such as a laptop computer and a tablet computer, which are not limited herein.
[0061] Specifically, the processor 42 is used to control itself and the memory 41 to implement the steps of any of the above method embodiments. The processor 42 can also be referred to as a CPU (Central Processing Unit). The processor 42 may be an integrated circuit chip with signal processing capabilities. The processor 42 can also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Additionally, the processor 42 can be implemented jointly by integrated circuit chips.
[0062] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of a framework of an embodiment of the computer-readable storage medium provided by this application.
[0063] The computer-readable storage medium 50 stores program instructions 51, which, when executed by the processor, are used to implement the steps of any of the above method embodiments.
[0064] The computer-readable storage medium 50 can specifically be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc., which can store computer programs, or it can also be a server storing the computer program. The server can send the stored computer program to other devices for running, or it can also run the stored computer program itself.
[0065] The descriptions of the above embodiments tend to emphasize the differences between the embodiments. Their similarities can be referred to each other. For the sake of brevity, they will not be elaborated herein.
[0066] In several embodiments provided by the present application, it should be understood that the disclosed methods and apparatuses can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.
[0067] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be 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.
[0068] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
[0069] If 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 an understanding, the technical solution of the present 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 to enable a computer device (which can 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 in each embodiment of the present application. The aforementioned 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.
[0070] If the technical solution of this application involves personal information, the product using the technical solution of this application has clearly informed the personal information processing rules and obtained the individual's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using the technical solution of this application has obtained the individual's separate consent before processing the sensitive personal information, and at the same time meets the "explicit consent" requirement. For example, on personal information collection devices such as cameras, clear and prominent signs are set to inform that the personal information collection scope has been entered and personal information will be collected. If the individual voluntarily enters the collection scope, it is deemed that he or she agrees to the collection of his or her personal information; or on the device that processes personal information, the personal information processing rules are notified by obvious signs / information, and the individual's authorization is obtained through pop-up information or by asking the individual to upload his or her personal information; among them, the personal information processing rules may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the type of personal information processed.
[0071] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A welding path planning method, characterized in that, Including: Clustering the point cloud of the item to be welded to obtain the point cloud clusters of each workpiece to be welded in the item to be welded; Determining the welding sequence of each workpiece to be welded based on the distances between the central points of the respective point cloud clusters; Calculating the closest points in the point cloud clusters of two adjacent workpieces to be welded to obtain the starting welding point and the ending welding point of the workpiece to be welded; Planning an internal welding path passing through all the points of the workpiece to be welded based on the starting welding point and the ending welding point of the workpiece to be welded; Obtaining the target welding path of the item to be welded based on the internal welding paths and the welding sequence of each workpiece to be welded.
2. The method according to claim 1, wherein The planning of the internal welding path passing through all the points of the workpiece to be welded based on the starting welding point and the ending welding point of the workpiece to be welded includes: For each workpiece to be welded, combining the points belonging to the workpiece to be welded in pairs and calculating the distances between the two points in the combination to generate a distance table; Starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point, and repeating the steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point until the point closest to the current point is the starting welding point; wherein, the first current point is the ending welding point; Connecting the current point and the point closest to the current point to obtain the internal welding path.
3. The method according to claim 2, characterized in that, The steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point, and repeating the steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point until the point closest to the current point is the starting welding point include: Starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point, and repeating the steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point until the point closest to the current point is the central point of the point cloud cluster of the workpiece to be welded; Then taking the central point as the current point and repeating the steps of starting from the current point, searching the distance table to find the point closest to the current point, and taking the point closest to the current point as the new current point until the point closest to the current point is the starting welding point.
4. The method according to claim 1, characterized in that, The clustering of the point cloud of the item to be welded to obtain the point cloud clusters of each workpiece to be welded in the item to be welded includes: Calculating the responsibility value and the belonging value corresponding to a preset number of points within the preset range of the central point of each workpiece to be welded; wherein, the responsibility value represents the suitability of the point to become the central point of the point cloud cluster, and the belonging value represents the degree to which the point belongs to the point cloud cluster; Based on the responsibility values and attribution values corresponding to each of the points, determine each of the point cloud clusters and the center points of each of the point cloud clusters.
5. The method according to claim 4, characterized in that, The calculating the responsibility values and attribution values corresponding to a preset number of points within the preset range of the center points of each of the workpieces to be welded includes: Taking each of the preset number of points as a current target point, and calculating the similarity between the current target point and the remaining points; Based on the similarity and the historical maximum attraction value, obtaining the responsibility value corresponding to the current target point; wherein, the historical maximum attraction value is the maximum value of the sum of the attribution value and the similarity corresponding to the historical target point calculated historically; Based on the responsibility value corresponding to the current target point, determining the attribution value of the current target point.
6. The method according to claim 1, wherein The determining the welding sequence of each of the workpieces to be welded based on the distances between the center points of each of the point cloud clusters includes: Taking the workpiece to be welded corresponding to the center point with the minimum distance from the current center point as the next workpiece to be welded of the current workpiece to be welded; wherein, the current center point is the center point corresponding to the current workpiece to be welded; Taking the next workpiece to be welded as the new current workpiece to be welded, and returning to execute the step of taking the workpiece to be welded corresponding to the center point with the minimum distance from the current center point as the next workpiece to be welded of the current workpiece to be welded until all the workpieces to be welded are traversed to obtain the welding sequence.
7. The method according to claim 1, characterized in that The calculating the points with the shortest distance in the point cloud clusters of two adjacent workpieces to be welded to obtain the starting welding point and the ending welding point of the workpiece to be welded includes: Taking any one of the workpieces to be welded as the target workpiece to be welded, and according to the welding sequence, obtaining the first workpiece to be welded and the second workpiece to be welded adjacent to the target workpiece to be welded; Obtaining two points in the point cloud cluster of the target workpiece to be welded that are respectively the closest to the points in the point cloud cluster of the first workpiece to be welded and the points in the point cloud cluster of the second workpiece to be welded; Taking one of the two points as the starting welding point of the target workpiece to be welded and the other as the ending welding point of the target workpiece to be welded.
8. A welding path planning device, characterized in that, including: A clustering module, configured to cluster the point cloud of the article to be welded to obtain the point cloud clusters of each of the workpieces to be welded in the article to be welded; A sorting module, configured to determine the welding sequence of each of the workpieces to be welded based on the distances between the center points of each of the point cloud clusters; A starting point determination module, configured to calculate the points with the shortest distance in the point cloud clusters of two adjacent workpieces to be welded to obtain the starting welding point and the ending welding point of the workpiece to be welded; An internal path planning module, configured to plan an internal welding path passing through all the points of the workpiece to be welded based on the starting welding point and the ending welding point of the workpiece to be welded; A target path planning module, configured to obtain the target welding path of the article to be welded based on the internal welding paths of each of the workpieces to be welded and the welding sequence.
9. An electronic device, characterized in that, The electronic device includes a processor and a memory, and program instructions are stored in the memory, and the processor is configured to execute the program instructions to implement the method according to any one of claims 1-7.
10. A readable computer storage medium, characterized in that, The storage medium stores program instructions for implementing the method according to any one of claims 1-7.