Welding method and device based on point-line laser

Abstract

The invention provides a welding method and device based on point-line laser, and relates to the field of computers. The method specifically comprises the steps that line laser equipment is adopted for conducting scanning modeling on a first to-be-welded workpiece and a second to-be-welded workpiece, a first to-be-welded point cloud and a second to-be-welded point cloud are obtained, the first to-be-welded workpiece is a secondary workpiece, and the second to-be-welded workpiece is a main workpiece; the first to-be-welded point cloud and the second to-be-welded point cloud are input into a track planning program, a welding requirement is defined in the track planning program, and a preset welding track output by the track planning program is obtained; and spot laser equipment is adopted for conducting weld joint locating according to the preset welding track, a target welding track is generated, and welding equipment is controlled to conduct welding according to the target welding track. The problem that in the prior art, the welding precision of small weld joints is not high is solved, and the welding precision of the small weld joints is improved.

Description

Technical Field

[0001] The present application relates to the field of computers, and in particular to a point-line laser welding method and device. Background Art

[0002] Welding is a process technology that uses heating, pressure, or a combination of both to achieve atomic or molecular bonding between two or more metals or thermoplastic materials at the joint to form a permanent connection. It is an indispensable connection technology in industrial manufacturing. With technological advancements, welding is developing towards a more efficient, precise and environmentally friendly direction.

[0003] To address the need for high-precision trajectory planning for smaller welds on specific workpiece types, offline programming alone cannot achieve the required accuracy due to the positional deviations between each workpiece clamping. Existing techniques typically use visual guidance to offset the actual workpiece position to that of a pre-set model, then weld according to the corresponding welding trajectory. However, this method relies on feature recognition, which is prone to failure on reflective or low-contrast workpieces, and cannot reliably achieve high-precision welding of smaller welds.

[0004] With respect to the problem of low welding precision of smaller welds existing in the prior art, no effective technical solution has been proposed so far. Summary of the Invention

[0005] The embodiments of the present application provide a point-line laser-based welding method and device to at least solve the problem of low welding accuracy of smaller welds in the prior art.

[0006] According to one aspect of an embodiment of the present application, a point-line laser-based welding method is provided, comprising: using a line laser device to scan and model a first workpiece to be welded and a second workpiece to be welded, obtaining a first point cloud to be welded and a second point cloud to be welded, the first workpiece to be welded being a secondary workpiece and the second workpiece to be welded being a primary workpiece; inputting the first point cloud to be welded and the second point cloud to be welded into a trajectory planning program, defining welding requirements in the trajectory planning program, and obtaining a preset welding trajectory output by the trajectory planning program; using a point laser device to locate the weld according to the preset welding trajectory, generating a target welding trajectory, and controlling the welding equipment to perform welding according to the target welding trajectory.

[0007] According to another aspect of an embodiment of the present application, a point-line laser-based welding device is also provided, including: a modeling unit, used to use a line laser device to scan and model the first workpiece to be welded and the second workpiece to be welded, to obtain a first point cloud to be welded and a second point cloud to be welded, the first workpiece to be welded is a secondary workpiece, and the second workpiece to be welded is a main workpiece; a trajectory planning unit, used to input the first point cloud to be welded and the second point cloud to be welded into a trajectory planning program, and define welding requirements in the trajectory planning program to obtain a preset welding trajectory output by the trajectory planning program; a weld positioning unit, used to use a point laser device to perform weld positioning according to a preset welding trajectory, generate a target welding trajectory, and control the welding equipment to perform welding according to the target welding trajectory.

[0008] Optionally, the weld positioning unit includes a control subunit, which is used to control the point laser equipment to emit a single beam of laser to the first workpiece to be welded, the second workpiece to be welded and the weld according to a preset welding trajectory, to obtain the respective posture information of the multiple laser points and the corresponding displacements of the multiple laser points; a determination subunit, which is used to determine the position information and size information of the weld based on the multiple posture information and the multiple displacements; and a generation subunit, which is used to generate a target welding trajectory based on the position information and size information.

[0009] Optionally, the above-mentioned determination subunit includes a first determination module, which is used to determine the position information based on multiple posture information; a first judgment module, which is used to judge whether there is a deformed laser point based on multiple posture information, and obtain a first judgment result, where the deformed laser point is a laser point whose shape has changed; a second judgment module, which is used to judge whether there is a paired deformed laser point based on the first judgment result, and obtain a second judgment result; and a second determination module, which is used to determine the size information based on the first judgment result and the second judgment result.

[0010] Optionally, the above-mentioned second determination module includes a first determination submodule, which is used to determine the weld depth information in the size information based on the deformed laser point and multiple displacements when the first judgment result indicates that there is a deformed laser point; a second determination submodule, which is used to determine the weld depth information based on multiple displacements when the first judgment result indicates that there is no deformed laser point; a third determination submodule, which is used to determine the deformed laser pair among the multiple deformed laser points when the first judgment result indicates that there is a deformed laser point and the second judgment result indicates that there is a paired deformed laser point; and a fourth determination submodule, which is used to determine the weld width information in the size information based on the posture information corresponding to each paired laser pair.

[0011] Optionally, the above-mentioned generation subunit includes a position determination module, which is used to determine the starting position and ending position of the weld according to the position information; an edge laser point determination module, which is used to determine the sudden change edges on both sides of the weld according to the size information when the size information meets the preset size information, and determine multiple edge laser points based on the sudden change edges; a fitting module, which is used to perform polynomial fitting on multiple edge laser points to determine the center line of the weld; and a trajectory generation module, which is used to determine the starting position as the starting position of the target welding trajectory, the ending position as the ending position of the target welding trajectory, and the center line of the weld as the trajectory line of the target welding trajectory.

[0012] Optionally, the above-mentioned point-line laser-based welding device also includes an acquisition unit for acquiring a preset point cloud corresponding to the first point cloud to be welded, where the preset point cloud is a standard point cloud of the workpiece corresponding to the first point cloud to be welded; a comparison unit for performing model comparison between the first point cloud to be welded and the preset point cloud, and determining the margin distribution in the first point cloud to be welded when the similarity between the first point cloud to be welded and the preset point cloud is less than or equal to the preset similarity, where the margin distribution is used to indicate the point cloud distribution of the first point cloud to be welded that exceeds the preset point cloud; a plane determination unit for determining a first plane and a second plane in the margin distribution, where the first plane is a plane that divides the first point cloud to be welded excluding the margin distribution, and the second plane is a plane in the margin distribution that is parallel to and farthest away from the first plane; a control unit for controlling the grinding equipment to grind the workpiece corresponding to the first point cloud to be welded according to the first plane and the second plane.

[0013] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the above point-line laser-based welding method.

[0014] According to another aspect of the embodiments of the present application, an electronic device is also provided, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor performs the above-mentioned point-line laser-based welding method.

[0015] The above-mentioned point-line laser-based welding method adopts: a line laser device is used to scan and model the first workpiece to be welded and the second workpiece to be welded, and a first point cloud to be welded and a second point cloud to be welded are obtained, wherein the first workpiece to be welded is a secondary workpiece and the second workpiece to be welded is a main workpiece; the first point cloud to be welded and the second point cloud to be welded are input into a trajectory planning program, and welding requirements are defined in the trajectory planning program to obtain a preset welding trajectory output by the trajectory planning program; a point laser device is used to locate the weld according to the preset welding trajectory, a target welding trajectory is generated, and the welding equipment is controlled to weld according to the target welding trajectory, thereby solving the problem of low welding accuracy of smaller welds in the prior art and improving the welding accuracy of small welds. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a schematic diagram of a hardware environment of an optional point-line laser-based welding method according to an embodiment of the present invention;

[0018] Figure 2 is a flow chart of an optional point-line laser-based welding method according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of an optional point-line laser-based welding method according to an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of another optional point-line laser-based welding method according to an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of another optional point-line laser-based welding method according to an embodiment of the present invention;

[0022] Figure 6 1 is a schematic structural diagram of an optional point-line laser-based welding device according to an embodiment of the present invention;

[0023] Figure 7 FIG. 4 is a schematic structural diagram of an optional electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices. It should be noted that, in the absence of conflict, the embodiments in this application and the features described in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0026] In the existing technology, for the needs of high-precision welding scenarios such as specific scenarios (such as aerospace) or specific types of workpieces (such as welding in Factory 159), due to the deviation in the position of the workpiece each time it is clamped, welding based solely on the trajectory planned by offline programming software will have some errors (such as 0.005 mm or less), and the accuracy cannot meet the on-site requirements. The existing welding methods have no way to accurately solve this error, which will cause welding accuracy problems for small welds in specific scenarios and specific types of welding.

[0027] In order to solve the above problems, the embodiment of the present application provides a welding method and device based on a point line laser. As an optional embodiment, the above welding method based on a point line laser can be applied to, but is not limited to, Figure 1 In the point-line laser welding system composed of the terminal device 102 and the server 104 shown in FIG. Figure 1 As shown, the terminal device 102 is connected to the server 104 via a network 110 , and the network 110 may include but is not limited to: a wired network and a wireless network.

[0028] The terminal device 102 is also provided with a display 106, a processor 108 and a memory 112. The display 106 can be used to display the first workpiece to be welded, the second workpiece to be welded, the target welding trajectory, etc. The processor 108 can be used to process the collected data or point cloud, and the memory 112 can be used to store relevant information involved in this application.

[0029] The server 104 may be a single server, a server cluster consisting of multiple servers, or a cloud server. The server 104 includes a database 114 and a processing engine 116. The database 114 may be used to store the relevant data information involved in this application, and the processing engine 116 may be used to process the relevant data information.

[0030] According to one aspect of an embodiment of the present invention, the above-mentioned point-line laser welding system may further perform the following steps: First, the terminal device 102 executes S102 to send a welding request to the server 104 via the network 110; then, the server 104 executes Figure 1 As shown in S104 to S108, the target welding trajectory is obtained, and the welding equipment is controlled to perform welding according to the target welding trajectory.

[0031] The above-mentioned point-line laser-based welding method adopts: a line laser device is used to scan and model the first workpiece to be welded and the second workpiece to be welded, and a first point cloud to be welded and a second point cloud to be welded are obtained, wherein the first workpiece to be welded is a secondary workpiece and the second workpiece to be welded is a main workpiece; the first point cloud to be welded and the second point cloud to be welded are input into a trajectory planning program, and welding requirements are defined in the trajectory planning program to obtain a preset welding trajectory output by the trajectory planning program; a point laser device is used to locate the weld according to the preset welding trajectory, a target welding trajectory is generated, and the welding equipment is controlled to weld according to the target welding trajectory, thereby solving the problem of low welding accuracy of smaller welds in the prior art and improving the welding accuracy of small welds.

[0032] The above is only an example and is not limited in this embodiment.

[0033] As an optional implementation, please refer to Figure 2 The flowchart of the point-line laser welding method shown in FIG. The method may include the following steps:

[0034] S202, using a line laser device to scan and model the first workpiece to be welded and the second workpiece to be welded, to obtain a first point cloud to be welded and a second point cloud to be welded, wherein the first workpiece to be welded is a secondary workpiece and the second workpiece to be welded is a primary workpiece;

[0035] S204, inputting the first to-be-welded point cloud and the second to-be-welded point cloud into a trajectory planning program, defining welding requirements in the trajectory planning program, and obtaining a preset welding trajectory output by the trajectory planning program;

[0036] S206, using a point laser device to locate the weld according to a preset welding trajectory, generating a target welding trajectory, and controlling the welding device to perform welding according to the target welding trajectory.

[0037] It should be noted that the above welding method can be understood as, but is not limited to, welding the main workpiece and the secondary workpiece together. The main workpiece can be understood as, but is not limited to, a workpiece that is fixed or serves as a reference (such as a base in assembly); the secondary workpiece can be understood as, but is not limited to, a workpiece that needs to be adjusted in position to match the main workpiece (such as a part that moves during welding). When the two workpieces are made of the same material and are symmetrical, and are part of the main and secondary workpieces, then any of the two workpieces can be used as the main workpiece, and the other workpiece other than the main workpiece can be used as the secondary workpiece (such as two sections of steel pipe in pipe butt welding). The line laser equipment can be an industrial-grade line laser (such as a laser line transmitter, a line laser scanner, etc.), a line laser system for 3D scanning (such as a handheld laser scanner, a fixed automated scanning system), a dedicated line laser equipment for welding (such as a weld tracking sensor, a laser vision system), or a low-cost line laser module (such as a cross-line laser module). The core of using a line laser scanning device to scan and model the first workpiece to be welded and the second workpiece to be welded is to obtain three-dimensional point cloud data through laser triangulation. In the present application, the first point cloud to be welded may be understood as, but not limited to, a point cloud model corresponding to the secondary workpiece, and the second point cloud to be welded may be understood as, but not limited to, a point cloud model corresponding to the primary workpiece.

[0038] The trajectory planning program in the above-mentioned S204 is a program that can directly plan the welding trajectory, such as the PQArt program, or it can be other programs that plan trajectories (such as an offline programming trajectory planning program). The above-mentioned definition of welding requirements can be understood, but is not limited to, as setting corresponding welding parameters in the trajectory planning program, such as the position of the two workpieces to be welded (upper and lower placement, front and back placement, left and right placement, inlaid placement, etc.), the selection of welding equipment, the selection of the two welding workpiece types, etc. It should be noted that the welding method in this application is aimed at small welds. Regardless of the position of the two workpieces or the size of the two workpieces, as long as the weld between the two workpieces meets the preset weld size bar in this application (i.e., the preset size information below), then the solution in this application is applicable.

[0039] The laser positioning in the above S206 can be understood as, but not limited to, determining the specific position of the weld. After determining the specific position of the weld, a target welding trajectory is generated according to the determined specific position of the weld, and then the welding equipment is controlled to weld according to the target welding trajectory. Figure 1 The server 104 shown in FIG. 104 performs the operation of controlling the welding equipment to perform welding according to the target welding trajectory, which can be understood as, but not limited to, Figure 1The server 104 generates welding control instructions based on the target welding trajectory and then sends them to the terminal device 102 (i.e., the client that sends the welding request). The terminal device 102 then sends the welding control instructions to the welding device, causing the welding device to perform the actual welding according to the welding control instructions. During the actual welding, the welding device controls the welding gun TCP (i.e., the welding center point of the welding gun) to perform the actual welding along the target welding trajectory.

[0040] It should be noted that when the generated target welding trajectory is a multi-segment welding trajectory, this application will also adopt an interpolation algorithm. During the process of tracking the weld during welding, B-spline curves and NURBS interpolation smooth paths are used to avoid jitter of the welding equipment.

[0041] The above-mentioned point-line laser-based welding method of the present application solves the problem of low welding accuracy of smaller welds in the prior art, and improves the welding accuracy of small welds.

[0042] As an optional embodiment, the point laser device is used to locate the weld according to a preset welding trajectory to generate a target welding trajectory, including:

[0043] S1, a control point laser device emits a single laser beam to the first workpiece to be welded according to a preset welding trajectory above the first workpiece to be welded, the second workpiece to be welded, and the weld, and obtains position information of multiple laser points and corresponding displacements of the multiple laser points;

[0044] S2, determining the position information and size information of the weld according to the multiple pose information and the multiple displacements;

[0045] S3, generating a target welding trajectory according to the position information and size information.

[0046] The operation in the above S1 can be understood, but is not limited to, as using the preset welding trajectory generated by the trajectory planning program as the positioning trajectory for the point laser equipment to perform laser positioning, and the above-mentioned above can be understood, but is not limited to, as above the first workpiece to be welded, the second workpiece to be welded, and the weld (the weld formed by the first workpiece to be welded and the second workpiece to be welded) (perpendicular to the plane where the first workpiece to be welded, the second workpiece to be welded, and the weld are located).

[0047] The following Figure 3 Take the above S1 as an example to explain the operation in detail:

[0048] The control point laser device emits a single laser beam according to the preset welding trajectory, which can be understood as, but not limited to, the control point laser device emits a single laser beam according to the main line direction of the preset welding trajectory. Each emission of a single laser beam will form a laser point, and the specific direction of the point laser device is related to the main line direction of the preset welding trajectory. Assuming that the weld formed between the main workpiece and the secondary workpiece is as follows Figure 3 The weld 302 (straight weld) shown in FIG. (a) has a main line direction of the preset welding trajectory as shown in FIG. Figure 3 As shown in the straight line direction from left to right in Figure (a), the laser point formed by the first single-beam laser emitted by the point laser device can be laser point 306 or laser point 310 (depending on the starting position of the point laser device). Assuming that the laser point formed by the first single-beam laser is laser point 306, the point laser device will then switch the direction in sequence according to the main line direction perpendicular to the preset welding trajectory (because the weld 304 is a straight weld, the point laser device will then switch the direction perpendicular to the preset welding trajectory) to emit a single-beam laser. In order to accurately adjust the direction of the point laser device to form an accurate laser point, this application will determine the vertical point from the first laser point to the weld each time the point laser device changes direction and emits the first laser point after changing direction (the point on the weld or on the edge of the weld that is closest to the first laser point. The method for determining the vertical point can adopt the existing determination method, which is not limited by this application). The direction that the point laser device will then face is the direction of the first laser point toward the vertical point. As Figure 3 As shown in Figure (a), a single laser beam will be emitted in sequence in the direction from laser point 306 toward laser point 310 (which can be called the first direction. The determination of the first direction can be understood as, but not limited to, first determining the first vertical point according to laser point 306, and then determining the direction of laser point 306 toward the first vertical point as the first direction) to form laser point 308 and laser point 310. Then, in order to exchange the direction of the laser device, a second direction will be determined. Because weld 302 is a straight weld (i.e., according to the shape of the weld), the determination of the second direction can be to determine the main line direction of the preset welding trajectory as the second direction. Assuming that the second direction is Figure 3 As shown in FIG (a) of FIG, the direction from laser point 310 toward laser point 312; then the point laser device will emit a single laser beam to form laser point 312, and then determine the third direction (first determine the second vertical point according to laser point 312, and then determine the direction of laser point 312 toward the second vertical point as the third direction), and then the point laser device will emit a single laser beam in the third direction to form laser point 314 and laser point 316 in sequence; then, in order to change the direction of the point laser device, a fourth direction will be determined. Since weld 302 is a straight weld (i.e., according to the weld shape), the fourth direction can be determined by determining the main line direction of the preset welding trajectory as the fourth direction. Assuming that the fourth direction is Figure 3 As shown in Figure (a), from the laser point 316 toward the first laser point to the right of the laser point 316, the point laser device will emit a single laser beam to form the first laser point to the right of the laser point 316, and then repeat the above operations iteratively and so on to form the laser point 318, that is, until the point laser device forms multiple laser points along the main line direction of the preset welding trajectory to cover the entire weld.

[0049] Assume that the weld formed between the primary workpiece and the secondary workpiece is as follows Figure 3 The weld 304 (curved weld) shown in FIG. 1 (b) has a main line direction of the preset welding trajectory as shown in FIG. Figure 3 As shown in the curve direction from left to right in Figure (b), the laser point formed by the first single-beam laser emitted by the point laser device can be laser point 320 or laser point 324 (depending on the starting position of the point laser device). Assuming that the laser point formed by the first single-beam laser is laser point 320, the point laser device will then switch the direction in sequence according to the main line direction perpendicular to the preset welding trajectory (because the weld 304 is a curved weld, the point laser device will then switch the direction in sequence according to the tangent direction perpendicular to the preset welding trajectory) to emit a single-beam laser. In order to accurately adjust the direction of the point laser device to form an accurate laser point, this application will determine the vertical point from the first laser point to the weld each time the point laser device changes direction and emits the first laser point after changing direction (the point on the weld or on the edge of the weld that is closest to the first laser point. The method for determining the vertical point can adopt the existing determination method, which is not limited by this application). The direction that the point laser device will then face is the direction of the first laser point toward the vertical point. As Figure 3 As shown in FIG. 3 , single laser beams are emitted in sequence in a direction from laser point 320 toward laser point 324 (referred to as a first direction, and the determination of the first direction may be understood as, but not limited to, first determining a first vertical point based on laser point 320, and then determining the direction of laser point 320 toward the first vertical point as the first direction) to form laser point 322 and laser point 324. Then, in order to exchange the direction of the laser device, a second direction is determined. The second direction may be determined as the weld tangent direction perpendicular to the first direction. Assume that the second direction is Figure 3As shown in FIG (b) of FIG, the direction from laser point 324 toward laser point 326; then the point laser device will emit a single laser beam to form laser point 326, and then determine the third direction (first determine the second vertical point according to laser point 326, and then determine the direction of laser point 326 toward the second vertical point as the third direction), and then the point laser device will emit a single laser beam in the third direction to form laser point 328 and laser point 330 in sequence; then, in order to change the direction of the point laser device, a fourth direction will be determined. The fourth direction can be determined by determining the weld tangent direction perpendicular to the third direction as the fourth direction. Assuming that the fourth direction is Figure 3 As shown in Figure (b), from the laser point 330 toward the first laser point to the right of the laser point 330, the point laser device will emit a single laser beam to form the first laser point to the right of the laser point 330, and then repeat the above operations iteratively and so on to form the laser point 332, that is, until the point laser device forms multiple laser points along the main line direction of the preset welding trajectory to cover the entire weld.

[0050] That is, the operation in S1 above can be understood as follows but is not limited to: Assume that Figure 3 The main line direction of the preset welding trajectory shown in Figure (a) is the X direction. Then, every time the point laser device reaches a point in the X direction, it will be perpendicular to the weld at this point. That is, in the Y direction, it will move a certain distance on both sides (the upper and lower sides of the X direction, that is, the positive and negative ends of the Y direction) to find the actual position of the weld. At the same time, it will know the width and depth of the weld based on the laser points (that is, the point laser device can generate a series of laser points by moving horizontally and vertically in the weld).

[0051] The aforementioned pose information can be understood as, but is not limited to, the position and posture of the laser point. It can only be understood as, but is not limited to, the distance of each laser point from the TCP (the initial position of the laser emitted from the point laser device) to the current position of each laser point. The position information in S2 can be understood as, but is not limited to, the specific location of the weld, and the dimensional information can be understood as, but is not limited to, dimensional information such as the width and depth of the weld.

[0052] The operations in the above S2 specifically include: S2-1, determining the position information based on multiple posture information; S2-2, judging whether there is a deformed laser point based on multiple posture information, and obtaining a first judgment result, where the deformed laser point is a laser point whose shape has changed; S2-3, judging whether there is a paired deformed laser point based on the first judgment result, and obtaining a second judgment result; S2-4, determining the size information based on the first judgment result and the second judgment result.

[0053] The operation in the above S2-1 can be understood, but not limited to, as accurately determining the specific position information of the weld based on the respective posture information of multiple laser points, and the deformed laser point can be understood, but not limited to, as a laser point whose shape has changed, for example, a part of a laser point is on the surface of the workpiece at the edge of the weld, and the other part is deep in the weld, that is, the above first judgment result is used to indicate whether there is a deformed laser point among the multiple laser points, and the second judgment result can be understood, but not limited to, as whether there is a paired laser point among the deformed laser points, and the paired laser point can be understood, but not limited to, as if the main line direction of the preset welding trajectory is Figure 3 If the line between the two laser points is perpendicular to the main line direction of the preset welding trajectory, the two laser points are paired laser points. If the main line direction of the preset welding trajectory is Figure 3 If the direction of the curve is as shown in Figure (b), then the line between the two laser points is perpendicular to the tangent direction of the weld at the vertical points corresponding to the two laser points (same as above, the point closest to the weld for each laser point) and the two laser points are paired laser points.

[0054] Through the above-mentioned embodiments of the present application, it is possible to accurately determine whether there are deformed laser points among the multiple laser points and whether there are paired deformed laser points, thereby facilitating the taking of corresponding measures in subsequent operations.

[0055] As an optional implementation manner, the determining of the size information according to the first judgment result and the second judgment result includes:

[0056] S1, when the first judgment result indicates that a deformed laser point exists, determining weld depth information in the size information based on the deformed laser point and the multiple displacements;

[0057] S2, when the first judgment result indicates that there is no deformed laser point, determining weld depth information according to the multiple displacements;

[0058] S3, when the first judgment result indicates that a deformed laser point exists, and the second judgment result indicates that a paired deformed laser point exists, determining a deformed laser pair among the multiple deformed laser points;

[0059] S4, determining the weld width information in the size information based on the posture information corresponding to each of the paired laser pairs.

[0060] The operation in S1 above can be understood, but is not limited to, as the case where there is a deformed laser point, multiple displacements can be determined according to multiple laser point parts corresponding to each deformed laser point, and the specific process of determining the weld depth information according to the deformed laser point and the multiple displacements includes: determining the depth information of the weld edge where each deformed laser point is located according to each deformed laser point, for example, a first part of a deformed laser point is located on the workpiece surface at the weld edge, and a second part (other than the first part) is located at the weld depth at the weld edge, such as Figure 3 For the laser points on the edge of the weld shown in Figures (a) and (b), the weld depth information is the difference between the displacement corresponding to the second part and the displacement corresponding to the first part. However, because the deformed laser points may not cover the entire weld, for example, when the weld is located at a certain position in the main line direction of the preset welding trajectory, some of the corresponding laser points are deep in the weld, and some are on the workpiece surface at the edge of the weld. In this case, the weld depth information needs to be determined based on the displacement of the laser point deep in the weld and the displacement of the laser point on the workpiece surface (it can be understood, but is not limited to, that the difference between the displacement of the laser point on the workpiece surface and the displacement of the laser point deep in the weld is determined as the weld depth information).

[0061] The operation in the above S2 is to determine the weld depth information only based on multiple displacements when there are no deformed laser points. In the case that there are paired deformed laser points among the multiple deformed laser points, the paired deformed laser pairs are determined (every two paired deformed laser points constitute a deformed laser pair), and then the weld width information can be determined based on the deformed laser pairs (that is, the position information of the two edges of the weld can be determined based on the posture information corresponding to the two deformed laser points in the deformed laser pair, and then the width of the weld can be determined based on the position information of the two edges). When the second judgment result indicates that there are no deformed laser pairs, a reference deformed laser pair can be determined. The reference deformed laser pair is located on both sides of the weld (that is, the line between the two laser points passes through the weld), and (when the weld is a straight weld) the line between the two laser points is perpendicular to the main line direction of the preset welding trajectory (such as Figure 3 The laser points 306 and 310, or the laser points 312 and 316 shown in FIG (a) respectively constitute a reference deformation laser pair), or (in the case of a curved weld) the line between the two laser points passes through the weld and is perpendicular to the weld tangent line (the weld tangent line at the vertical point) at the vertical points corresponding to the two laser points (such as Figure 3 The laser point 320 and the laser point 324, or the laser point 326 and the laser point 330 shown in Figure (b) constitute a reference deformation laser pair respectively). After determining the reference deformation laser pair, the weld width information can be determined based on the corresponding posture information of the reference deformation laser pair.

[0062] Through the above-mentioned implementation of the present application, the weld width information and the weld depth information can be accurately determined, so that the target welding trajectory can be accurately generated and the use of the subsequent welding wire amount can be controlled.

[0063] As an optional implementation, the above-mentioned generating of the target welding trajectory according to the position information and the size information includes:

[0064] S1, determining the starting position and ending position of the weld according to the position information;

[0065] S2, when the size information satisfies the preset size information, determining the abrupt edges on both sides of the weld according to the size information, and determining a plurality of edge laser points according to the abrupt edges;

[0066] S3, polynomial fitting is performed on multiple edge laser points to determine the weld centerline;

[0067] S4, determining the starting position as the starting position of the target welding trajectory, determining the ending position as the ending position of the target welding trajectory, and determining the weld center line as the trajectory line of the target welding trajectory.

[0068] The starting position and ending position of the weld determined in S1 above can be understood as, but not limited to, the starting position and ending position of the main line direction of the preset welding trajectory (e.g. Figure 3 The left end of the weld 302 shown in FIG. (a) is the starting position and the right end is the ending position, or as shown in FIG. Figure 3 The left end of the weld 304 shown in FIG. (b) is the starting position, and the right end is the ending position). The size information in S2 mentioned above that satisfies the preset size information can be understood as, but not limited to, the size of the weld meeting the small weld scenario applicable to this solution. The sudden edge (including the upper edge and the lower edge) on both sides of the weld determined based on the size information can be understood as, but not limited to, determining that the line between the two edges of the weld is perpendicular to the main line direction of the preset welding trajectory (such as Figure 3 The upper and lower edges of the weld 302 shown in FIG. (a), or as Figure 3 After determining the weld edge (i.e., the abrupt edge), a polynomial fit is performed on multiple edge laser points (laser points located at the abrupt edge) to obtain the weld centerline. The weld centerline can be understood as, but not limited to, a line that is oriented in the same direction as the main line of the weld trajectory and is located between the upper and lower edges of the weld. The operation of determining the abrupt edge in S2 can be performed using a gradient calculation method.

[0069] The operation of subsequently determining the starting position as the starting position of the target welding trajectory may be understood as, but is not limited to, determining the position located at the starting position of the weld and on the weld centerline as the starting position of the target welding trajectory, and the operation of determining the ending position as the ending position of the target welding trajectory may be understood as, but is not limited to, determining the position located at the ending position of the weld and on the weld centerline as the ending position of the target welding trajectory. The weld centerline is then determined as the trajectory line of the target welding trajectory.

[0070] The operation in S4 above may be understood, but is not limited to, as forming a target welding trajectory after defining a starting end and an ending end for the weld centerline.

[0071] Through the above-mentioned implementation of the present application, not only can a practical welding trajectory in an actual welding scenario be accurately formed, but also the tedious operation of first generating a theoretical welding trajectory and then performing subsequent trajectory adjustments based on the theoretical welding trajectory is avoided, thereby improving the generation efficiency of the target welding trajectory.

[0072] As an optional implementation manner, after obtaining the first to-be-welded point cloud and the second to-be-welded point cloud, the method further includes:

[0073] S1, obtaining a preset point cloud corresponding to a first point cloud to be welded, where the preset point cloud is a standard point cloud of a workpiece corresponding to the first point cloud to be welded;

[0074] S2, performing a model comparison between the first to-be-welded point cloud and the preset point cloud, and determining a margin distribution in the first to-be-welded point cloud if the similarity between the first to-be-welded point cloud and the preset point cloud is less than or equal to a preset similarity, where the margin distribution indicates a point cloud distribution in which the first to-be-welded point cloud exceeds the preset point cloud;

[0075] S3, determining a first plane and a second plane in the allowance distribution, wherein the first plane is a plane that divides the first to-be-welded point cloud excluding the allowance distribution, and the second plane is a plane in the allowance distribution that is parallel to the first plane and is farthest away from the first plane;

[0076] S4, controlling the grinding device to grind the workpiece corresponding to the first point cloud to be welded according to the first plane and the second plane.

[0077] The preset point cloud in the above S1 can be understood, but is not limited to, as a standard point cloud model corresponding to the workpiece corresponding to the first point cloud to be welded, and the first point cloud to be welded is the actual point cloud model of the secondary workpiece. However, during the production process of the workpiece, there will be redundant parts in the workpiece, so this part needs to be polished before the first point cloud to be welded and the second point cloud to be welded can be accurately welded subsequently.

[0078] The operations in S1 to S4 above are the process of grinding the workpiece corresponding to the first point cloud to be welded. Since the second workpiece to be welded is the main workpiece, the production is usually more rigorous and the need for grinding is less frequent. However, when the main workpiece needs to be ground, the grinding operations in S1 to S4 above are also applicable to the grinding of the main workpiece.

[0079] The operation in S2 above can be understood, but is not limited to, as when the similarity between the first point cloud to be welded and the preset point cloud is high (i.e., the similarity is greater than the preset similarity), the excess produced by processing the workpiece to be welded (including the main workpiece and the secondary workpiece) can be ignored and does not need to be polished, while when the similarity between the first point cloud to be welded and the preset point cloud is low, the excess needs to be polished off before accurate welding can be performed subsequently. The above-mentioned excess distribution can be understood, but is not limited to, as indicating the excess of the workpiece on the workpiece (secondary workpiece) corresponding to the first point cloud to be welded and the location of the excess of the workpiece. The above-mentioned model comparison can be performed using the ICP algorithm, or using real-time sensor feedback (such as using a force / torque sensor or a tactile sensor to detect the geometric deviation of the contact area, and this method is not a model comparison, but a comparison of the actual workpiece).

[0080] The first plane in the above S3 can be understood as, but not limited to, a plane on the first point cloud to be welded after the margin distribution is divided (i.e., the above-mentioned margin distribution is divided), excluding the margin distribution (or workpiece margin). Figure 4 As shown, assuming that the point cloud corresponding to the workpiece 402 is the first point cloud to be welded, then Figure 4 The workpiece allowance 404 shown can be understood as the allowance distribution, the first plane 406 (the above-mentioned first plane) is a plane located on the workpiece 402 for dividing the workpiece 402 and the workpiece allowance 404, and the second plane 408 (the above-mentioned second plane) is a plane located on the workpiece allowance 404, parallel to the first plane 406 and farthest from the first plane 406.

[0081] The operations in the above S4 specifically include: S4-1, obtaining the grinding force of the grinding equipment and the roughness of the grinding material, and determining the single grinding amount based on the grinding force and roughness; S4-2, performing a single grinding on the workpiece according to the single grinding amount and the second plane to obtain a reference workpiece; S4-3, using a line laser device to scan and model the reference workpiece, and determining the point cloud obtained by the scanning and modeling as the first point cloud to be welded.

[0082] The above S4-1 to S4-3 can be understood, but not limited to, as the polished workpiece will be rescanned and modeled each time it is polished, and the point cloud model obtained by the rescanning and modeling will be determined as the latest point cloud model of the corresponding workpiece (i.e., the workpiece to be welded, such as the main workpiece and the secondary workpiece).

[0083] The above-mentioned single grinding amount can be understood as, but is not limited to, the height that is ground away in a single time out of the total height between the first plane and the second plane. Assuming that the height between the first plane and the second plane is 10 mm, the grinding parameters corresponding to the grinding equipment (i.e., the above-mentioned grinding force and grinding material) can be defined, and then the single grinding amount can be determined based on the grinding parameters and roughness. For example, if the single grinding amount is 2 mm, then the grinding equipment will be controlled to perform a single grinding on the workpiece corresponding to the first point cloud to be welded starting from the second plane. After the single grinding, the height between the first plane and the second plane in the reference workpiece obtained is 8 mm. At this time, grinding will not continue, but the reference workpiece will be re-scanned and modeled using a line laser device, and the point cloud obtained by the scanning and modeling will be determined as the first point cloud to be welded. At this time, the reference workpiece is the above-mentioned secondary workpiece, but the preset point cloud remains unchanged because the ideal workpiece (i.e., the standard workpiece) before and after grinding is the same. Then, the above-mentioned S2 to S4 are executed for secondary grinding, tertiary grinding, and so on.

[0084] It should be noted that before the grinding parameters corresponding to the grinding equipment are defined above, the height between the first plane and the second plane (hereinafter referred to as the height for ease of description) will be compared with the preset grinding amount corresponding to the preset grinding parameters. If the height is greater than the preset grinding amount, the grinding parameters corresponding to the grinding equipment will be defined according to the preset grinding parameters (that is, the grinding parameters corresponding to the grinding equipment will be defined as the preset grinding parameters). If the height is less than or equal to the preset grinding amount, the grinding equipment parameters different from the preset grinding parameters will be redefined so that the grinding amount corresponding to the newly defined grinding parameters is less than the preset grinding amount. The grinding amount corresponding to the grinding parameters (it should be noted that the definition of the grinding parameters needs to balance the grinding position accuracy (i.e. the specific position of each single grinding), impedance control and admittance control. Impedance control is used to control the grinding force. By adjusting the stiffness and damping characteristics of the robot end, the grinding tool produces a compliant response when in contact; admittance is known to be used to dynamically adjust the robot position according to the contact force feedback, and avoid overload or under-grinding through the above balance), and then a single grinding is performed according to the newly defined grinding parameters. And so on, iterative grinding is performed until the similarity is greater than the preset similarity and the grinding is stopped. The workpiece obtained by the last grinding is determined as the secondary workpiece (when the above S1 to S4 are used to grind the main workpiece, the workpiece obtained by the last grinding is determined as the main workpiece), and the point cloud model corresponding to the main workpiece is determined as the first point cloud to be welded (when the above S1 to S4 are used to grind the main workpiece, the point cloud model corresponding to the main workpiece is determined as the second point cloud to be welded), and then the above welding operation is performed.

[0085] It should be noted that the present application shows Figure 4The first plane 406 shown is a plane, and the first plane can also be a curved surface (that is, the dividing surface between the workpiece and the allowance distribution is a curved surface). In the case that the first plane is a curved surface, the plane closest to the curved surface in the allowance distribution is determined as the first plane, and then the operations in S1 to S4 are used for grinding. After the last grinding, the remaining allowance distribution can no longer be applied to the grinding methods in S1 to S4. Then, the first plane is determined according to the curvature of the dividing surface between the workpiece and the allowance distribution (the first plane is a curved surface at this time), and then a grinding trajectory is generated according to the curvature. The allowance distribution of the curved surface is mistakenly divided into multiple reference rectangular areas, and then the allowance distribution corresponding to each reference rectangular area is determined for each reference rectangular area (this can be approximately understood as each reference rectangular area). The surface of the highest point of the corresponding allowance distribution is parallel to the reference first curved surface corresponding to the reference rectangular area (used to divide the workpiece surface corresponding to the reference rectangular area and the surface of the reference allowance distribution corresponding to the reference rectangular area) to gradually generate the grinding trajectory of the remaining allowance distribution (that is, the allowance distribution after grinding using the above-mentioned S1 to S4) and perform grinding (for example, determine the segmentation curvature (the curvature of the segmentation surface) corresponding to each reference rectangular area according to the remaining allowance distribution, and finally fit multiple grinding trajectories according to the curvature to form a complete grinding trajectory for grinding). When grinding the remaining allowance distribution, in a single grinding, the outermost layer (for example, the above-mentioned single grinding starting from the second plane to the second plane in sequence) of the allowance distribution corresponding to all reference rectangular areas will be polished.

[0086] That is, the operations in S1 to S4 above can be understood as, but not limited to, decomposing the allowance distribution into multiple layers and removing them layer by layer to avoid excessive cutting in a single time, which may cause tool wear or workpiece damage.

[0087] Through the above-mentioned embodiments of the present application, the grinding of the workpiece to be ground (primary workpiece or secondary workpiece) can be accurately achieved, thereby making the subsequent welding of the workpiece to be welded more accurate and reliable.

[0088] The following Figure 5 Take the above point-line laser welding method as an example to explain in detail:

[0089] First, the first workpiece (i.e., the main workpiece and the secondary workpiece) is determined, and the workpiece model corresponding to the first workpiece is stored in the workpiece model trajectory library. Then, the main workpiece and the secondary workpiece are scanned and modeled using a line laser device to obtain a three-dimensional point cloud model (such as Figure 5 The three-dimensional model shown, i.e., the first and second point clouds to be welded, is used. If grinding allowance is required, the workpiece after grinding allowance is determined as the first workpiece, and the point cloud model corresponding to the workpiece after grinding allowance is determined as the first and / or second point clouds to be welded. The three-dimensional model is then input into the offline programming software (such as PQArt) to obtain the preset welding trajectory, and the Figure 5 The manual fine-tuning calibration shown can be understood as, but is not limited to, adjusting the preset welding trajectory according to the actual position information of the first workpiece (because the preset welding trajectory corresponds to the preset position information), thereby obtaining the workpiece reference welding trajectory point (the trajectory obtained after manual fine-tuning calibration, that is, the actual preset welding trajectory), and then storing the actual preset welding trajectory and the workpiece model corresponding to the first workpiece in the workpiece model trajectory library, and generating a point laser camera trajectory according to the actual preset welding trajectory, and then performing weld positioning according to the point laser camera trajectory according to the control point laser camera (that is, the above-mentioned point laser device) (that is, as shown in FIG. Figure 5 The point laser camera scans and locates as shown), that is, the target welding trajectory (i.e. Figure 5 The workpiece reference camera trajectory point shown in the figure) is used, and the target welding trajectory and the workpiece model corresponding to the first workpiece are stored in the workpiece model trajectory library.

[0090] When welding the workpiece, first determine the workpiece to be welded (i.e. Figure 5 The model shown is a new workpiece), and then the workpiece to be welded is clamped (that is, the main workpiece and the secondary workpiece are fixed on the fixture or table according to the welding requirements), and then the workpiece model is determined. If the target welding trajectory of the corresponding model exists in the workpiece model trajectory library, the workpiece model and the welding requirements are the same, the corresponding target welding trajectory is directly obtained in the workpiece model trajectory library (that is, Figure 5 The reference camera trajectory of the workpiece of this model is shown), and then the point laser camera can be used to scan and locate the actual position of the weld. Then, the trajectory deviation data is determined according to the actual position of the weld, and then fine-tuning is performed according to the trajectory deviation data to obtain the precise welding trajectory of the workpiece (the steps of determining the trajectory deviation data and obtaining the precise welding trajectory of the workpiece are similar to those shown in Figure 5 The manual fine-tuning calibration shown is to fine-tune the target welding trajectory according to the actual position of the weld, so as to obtain the target welding trajectory corresponding to the actual position of the weld), and then control the welding equipment to perform welding according to the precise welding trajectory of the workpiece (that is, the target welding trajectory after fine-tuning).

[0091] If the target welding trajectory of the corresponding model does not exist in the workpiece model trajectory library, or the welding model and welding requirements are different, the following steps are executed in sequence: Figure 5 The operations shown are the first workpiece, scanning modeling, offline programming, manual calibration, generation of point laser camera trajectory, point laser camera scanning positioning, and control of welding equipment welding.

[0092] That is, the above complete operation steps can be understood as, but not limited to: for the first workpiece, PQArt first plans an initial welding trajectory based on the point cloud model corresponding to the first workpiece, and then clicks a button to control the welding equipment (such as a welding robot) to start stationary movement with the welding gun TCP, performs manual calibration at each point, and records the precise table points and stores them in the workpiece model trajectory library; then controls the point laser equipment to start moving the point laser scanning positioning trajectory, automatically performs point laser positioning at each point and records the precise trajectory points, and stores them in the workpiece model trajectory library.

[0093] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0094] According to another aspect of the present invention, there is also provided a device for implementing the above-mentioned point-line laser welding, such as Figure 6 As shown, the device includes:

[0095] A modeling unit 602 is configured to scan and model the first workpiece to be welded and the second workpiece to be welded using a line laser device to obtain a first point cloud to be welded and a second point cloud to be welded, wherein the first workpiece to be welded is a secondary workpiece and the second workpiece to be welded is a primary workpiece;

[0096] The trajectory planning unit 604 is used to input the first to-be-welded point cloud and the second to-be-welded point cloud into a trajectory planning program, define welding requirements in the trajectory planning program, and obtain a preset welding trajectory output by the trajectory planning program;

[0097] The weld seam positioning unit 606 is used to use a point laser device to perform weld seam positioning according to a preset welding trajectory, generate a target welding trajectory, and control the welding device to perform welding according to the target welding trajectory.

[0098] The specific manner in which each unit in the above-mentioned device embodiment performs operations has been described in detail in the embodiment of the method, and will not be elaborated on again here.

[0099] According to another aspect of the embodiment of the present invention, there is also provided an electronic device for implementing the above-mentioned point-line laser welding method, which can be as follows: Figure 7 The terminal device or server shown in FIG. This embodiment is described by taking the electronic device as a terminal device as an example. Figure 7As shown, the electronic device includes: at least one processor 704; and a memory 702 communicatively connected to the at least one processor 704; wherein the memory 702 stores a computer program that can be executed by the at least one processor 704, and the computer program is executed by the at least one processor 704 to enable the at least one processor 704 to perform the steps of any one of the above method embodiments.

[0100] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0101] Optionally, in this embodiment, the processor may be configured to execute the point-line laser-based welding method through a computer program.

[0102] Alternatively, those skilled in the art will appreciate that Figure 7 The structure shown is for illustration only, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (MID), a PAD, or other terminal devices. Figure 7 It does not limit the structure of the above electronic device. For example, the electronic device may also include Figure 7 More or fewer components (such as network interfaces, etc.) as shown in, or with Figure 7 Different configurations shown.

[0103] Memory 702 can be used to store software programs and modules, such as program instructions / modules corresponding to the point-line laser welding method and apparatus in embodiments of the present invention. Processor 704 executes the software programs and modules stored in memory 702 to perform various functional applications and data processing, thereby implementing the aforementioned point-line laser welding method. Memory 702 can include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some embodiments, memory 702 can further include memory remote from processor 704, which can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. Memory 702 can specifically, but is not limited to, be used to store various data involved in the aforementioned point-line laser welding method. As an example, memory 702 can include, but is not limited to, the modeling unit 602, trajectory planning unit 604, and weld seam location unit 606 of the aforementioned point-line laser welding apparatus. In addition, it may also include but not be limited to other module units in the above-mentioned point-line laser-based welding device, which will not be repeated in this example.

[0104] Optionally, the transmission device 706 is used to receive or send data via a network. Specific examples of the network may include wired networks and wireless networks. In one example, the transmission device 706 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and a router via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device 706 is a radio frequency (RF) module, which is used to communicate with the Internet wirelessly. In addition, the electronic device further includes: a display 708, and a connection bus 710, which is used to connect the various module components in the electronic device.

[0105] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned point-line laser-based welding method.

[0106] Those skilled in the art will understand that all or part of the processes in the above method embodiments can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when the program is executed, it can include processes such as the above method embodiments.

[0107] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A welding method based on point-line laser, characterized in that: include: A line laser device is used to scan and model the first workpiece to be welded and the second workpiece to be welded to obtain a first point cloud to be welded and a second point cloud to be welded, wherein the first workpiece to be welded is a secondary workpiece and the second workpiece to be welded is a primary workpiece; Inputting the first to-be-welded point cloud and the second to-be-welded point cloud into a trajectory planning program, defining welding requirements in the trajectory planning program, and obtaining a preset welding trajectory output by the trajectory planning program; A point laser device is used to locate the weld according to the preset welding trajectory, a target welding trajectory is generated, and the welding device is controlled to perform welding according to the target welding trajectory.

2. The method according to claim 1, characterized in that A point laser device is used to locate the weld according to the preset welding trajectory to generate a target welding trajectory, including: Controlling the point laser device to emit a single laser beam toward the first workpiece to be welded, the second workpiece to be welded, and the weld according to the preset welding trajectory, and obtaining position information of each of the plurality of laser points and displacements corresponding to each of the plurality of laser points; Determining position information and size information of the weld according to the plurality of posture information and the plurality of displacements; The target welding trajectory is generated according to the position information and the size information.

3. The method according to claim 2, characterized in that Determining the position information and size information of the weld according to the plurality of the posture information and the plurality of the displacements includes: Determining the position information according to the plurality of posture information; Determining whether there is a deformed laser point based on the plurality of posture information, and obtaining a first determination result, wherein the deformed laser point is a laser point whose shape has changed; Determine whether there is a paired deformed laser point according to the first judgment result, and obtain a second judgment result; The size information is determined according to the first judgment result and the second judgment result.

4. The method according to claim 3, characterized in that Determining the size information according to the first judgment result and the second judgment result includes: When the first judgment result indicates that a deformed laser point exists, determining weld depth information in the size information according to the deformed laser point and the plurality of displacements; When the first judgment result indicates that there is no deformed laser point, determining the weld depth information according to the plurality of displacements; When the first judgment result indicates that a deformed laser point exists, and the second judgment result indicates that a paired deformed laser point exists, determining a deformed laser pair among the plurality of deformed laser points; The weld width information in the size information is determined according to the position information corresponding to each of the paired laser pairs.

5. The method according to claim 2, characterized in that Generating the target welding trajectory according to the position information and the size information includes: Determining the starting position and ending position of the weld according to the position information; When the size information satisfies the preset size information, determining the abrupt edges on both sides of the weld according to the size information, and determining a plurality of edge laser points according to the abrupt edges; Perform polynomial fitting on multiple edge laser points to determine the weld centerline; The starting position is determined as the starting position of the target welding trajectory, the ending position is determined as the ending position of the target welding trajectory, and the weld center line is determined as the trajectory line of the target welding trajectory.

6. The method according to claim 1, characterized in that After obtaining the first to-be-welded point cloud and the second to-be-welded point cloud, the method further includes: Acquire a preset point cloud corresponding to the first to-be-welded point cloud, where the preset point cloud is a standard point cloud of the workpiece corresponding to the first to-be-welded point cloud; Performing a model comparison between the first to-be-welded point cloud and the preset point cloud, and determining a margin distribution in the first to-be-welded point cloud when a similarity between the first to-be-welded point cloud and the preset point cloud is less than or equal to a preset similarity, the margin distribution being used to indicate a point cloud distribution in which the first to-be-welded point cloud exceeds the preset point cloud; Determining a first plane and a second plane in the margin distribution, wherein the first plane is a plane that divides the first to-be-welded point cloud of the margin distribution excluding the margin distribution, and the second plane is a plane in the margin distribution that is parallel to and farthest from the first plane; The grinding device is controlled to grind the workpiece corresponding to the first point cloud to be welded according to the first plane and the second plane.

7. The method according to claim 6, characterized in that Controlling a grinding device to grind the workpiece corresponding to the first to-be-welded point cloud according to the first plane and the second plane includes: Obtaining a grinding force of a grinding device and a roughness of a grinding material, and determining a single grinding amount according to the grinding force and the roughness; performing a single grinding on the workpiece according to the single grinding amount and the second plane to obtain a reference workpiece; The reference workpiece is scanned and modeled using the line laser device, and a point cloud obtained by the scanning and modeling is determined as a first point cloud to be welded.

8. A welding device based on point-line laser, characterized in that: include: a modeling unit, configured to scan and model the first workpiece to be welded and the second workpiece to be welded using a line laser device to obtain a first point cloud to be welded and a second point cloud to be welded, wherein the first workpiece to be welded is a secondary workpiece and the second workpiece to be welded is a primary workpiece; A trajectory planning unit is configured to input the first to-be-welded point cloud and the second to-be-welded point cloud into a trajectory planning program, define welding requirements in the trajectory planning program, and obtain a preset welding trajectory output by the trajectory planning program; The weld seam positioning unit is used to use a point laser device to perform weld seam positioning according to the preset welding trajectory, generate a target welding trajectory, and control the welding equipment to perform welding according to the target welding trajectory.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the point-line laser welding method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the point-line laser welding method described in any one of claims 1 to 7.

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