A method for constructing an adaptive welding path for a robot, a welding method, a welding path construction device, and a welding system.

Abstract

This invention discloses a robot adaptive welding path construction method, welding method, welding path construction device, and welding system. The welding path construction method includes: constructing first position information of each key point of the structure to be welded based on first data information; determining the pose group of the robotic arm end effector based on the first position information of each key point; acquiring the position information of each coarse positioning point; determining second position information of each key point based on the position information of each coarse positioning point and the first position information of each key point; and determining the welding path of the structure to be welded based on the second position information and the position information of each coarse positioning point. This invention uses a camera module to collect the spatial position of the component, obtain the relative position of the robotic arm end effector and the component, and determine the precise position of each key point. This allows for the precise position of the key points and the weld seam skeleton of the component to obtain a specific robot motion path, thereby reducing manual positioning of components with the same topological structure and improving weld seam positioning efficiency.

Description

Technical Field

[0001] This invention relates to the field of welding path planning technology, and in particular to a robot adaptive welding path construction method, welding method, welding path construction device and welding system. Background Technology

[0002] Welding robots have become core equipment in the manufacturing industry due to their high efficiency, stable quality, and adaptability to hazardous environments. However, with the increasing complexity of workpiece structures and the growing demand for small-batch customized production, traditional welding robots face challenges in areas such as flexible production lines, path adaptation capabilities, and multi-workpiece compatibility. When the position or size of the workpiece changes, traditional welding robots need to be repositioned and their motion code modified.

[0003] In existing technologies, it is typically necessary to drag the robot's end effector to the weld seam and record the corresponding pose before generating robot motion code, thus reducing the use of a robot teach pendant. However, this method, which involves manually dragging the robot's end effector, requires repeated corrections to its position on the weld seam. Furthermore, because it is done manually, it is prone to errors.

[0004] Another approach is offline path planning, which requires offline programming based on the CAD model. This transfers manual positioning operations from the field to the offline program, reducing the workload of on-site workers. However, because this method is based on offline model programming, it is highly dependent on the absolute accuracy of the workpiece and is also prone to errors. Summary of the Invention

[0005] This invention provides a robot adaptive welding path construction method, welding method, welding path construction device, and welding system to achieve adaptive positioning of workpieces and reduce the need for repeated positioning by workers.

[0006] According to a first aspect of the present invention, a method for constructing an adaptive welding path for a robot is provided, comprising:

[0007] The first position information of each key point of the structure to be welded is constructed based on the first data information. The first data information includes the structure type of the structure to be welded, the movement path points, the key dimensions, and the positional relationship between the key dimensions and the movement path points. The movement path points include key points, safety points, and transition points. The key points include the start point, middle point, and end point of the weld.

[0008] The robotic arm end-effector pose group is determined based on the first position information of each key point, wherein the robotic arm end-effector pose group includes the robotic arm end-effector pose corresponding to each key point when collecting the spatial position information of each key point.

[0009] Obtain the position information of each coarse positioning point;

[0010] The second position information of each key point is determined based on the position information of each coarse positioning point and the first position information of each key point.

[0011] The welding path of the structure to be welded is determined based on the second position information and the position information of each coarse positioning point.

[0012] According to a second aspect of the present invention, a robot adaptive welding method is provided, comprising:

[0013] The robot adaptive welding path construction method described in the first aspect above constructs a welding path for the structure to be welded.

[0014] The welding process for each weld in the welding path is determined based on the welding path, thus forming a welding procedure.

[0015] According to a third aspect of the present invention, a robotic adaptive welding path construction apparatus is provided, comprising:

[0016] The first position information construction module is used to construct the first position information of each key point of the structure to be welded based on the first data information. The first data information includes the structure type, movement path points, key dimensions, and positional relationship between the key dimensions and the movement path points of the structure to be welded. The movement path points include key points, safety points, and transition points. The key points include the start point, middle point, and end point of the weld.

[0017] The robotic arm end-effector pose group determination module is used to determine the robotic arm end-effector pose group based on the first position information of each key point. The robotic arm end-effector pose group includes the robotic arm end-effector pose corresponding to each key point when collecting the spatial position information of each key point.

[0018] The coarse positioning module is used to obtain the position information of each coarse positioning point;

[0019] The key point localization module is used to determine the second position information of each key point based on the position information of each coarse localization point and the first position information of each key point.

[0020] The welding path construction module is used to determine the welding path of the structure to be welded based on the second position information and the position information of each coarse positioning point.

[0021] According to a fourth aspect of the present invention, a robotic adaptive welding system is provided, comprising:

[0022] A welding robot, wherein a camera module is installed at the end of the welding robot;

[0023] The robot adaptive welding path construction device described in the third aspect above.

[0024] The robot adaptive welding path construction method of the present invention acquires the spatial position of the component through a camera module, obtains the relative position between the end effector of the robotic arm and the component, and further determines the precise position of each key point. This allows for the generation of a specific robot motion path by combining the precise positions of the key points with the weld seam skeleton of the component. This method reduces the need for manual positioning of a large number of components with the same topological structure, thus improving the efficiency of component weld seam positioning. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a robot adaptive welding path construction method according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure to be welded in the robot adaptive welding path construction method according to an embodiment of the present invention;

[0028] Figure 3 This is a flowchart of step S11 of a robot adaptive welding path construction method according to an embodiment of the present invention;

[0029] Figure 4 This is a flowchart of step S12 of the robot adaptive welding path construction method according to an embodiment of the present invention;

[0030] Figure 5 This is a flowchart of step S13 of a robot adaptive welding path construction method according to an embodiment of the present invention;

[0031] Figure 6 This is a flowchart of step S14 of a robot adaptive welding path construction method according to an embodiment of the present invention;

[0032] Figure 7 This is a flowchart illustrating the steps of a robot adaptive welding method according to an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of a robot adaptive welding path construction device according to an embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of a robot adaptive welding system according to an embodiment of the present invention;

[0035] Figure 10This is a schematic diagram of the structure of an embodiment of the electronic device of the present invention.

[0036] Explanation of reference numerals in the attached drawings: 1. First position information construction module; 2. Robotic arm end-effector pose group determination module; 3. Coarse positioning module; 4. Key point positioning module; 5. Welding path construction module; 6. Welding robot; 7. Robot adaptive welding path construction device; 810. Processor; 820. Memory; 830. Input device; 840. Output device. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0039] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising" or "including" include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0040] The present invention will now be described in further detail with reference to the accompanying drawings.

[0041] Figure 1 The robot adaptive welding path construction method according to one embodiment of the present invention is illustrated schematically. (Refer to...) Figure 1 As shown, the robot adaptive welding path construction method of the present invention specifically includes the following steps:

[0042] Step S11: Construct the first position information of each key point of the structure to be welded based on the first data information, wherein the first data information includes the structure type, movement path points, key dimensions, and positional relationship between the key dimensions and the movement path points of the structure to be welded, the movement path points include key points, safety points, and transition points, and the key points include the start point, middle point, and end point of the weld.

[0043] Step S12: Determine the robotic arm end-effector pose group based on the first position information of each key point, wherein the robotic arm end-effector pose group includes the robotic arm end-effector pose corresponding to each key point when collecting the spatial position information of each key point.

[0044] Step S13: Obtain the position information of each coarse positioning point;

[0045] Step S14: Determine the second position information of each key point based on the position information of each coarse positioning point and the first position information of each key point;

[0046] Step S15: Determine the welding path of the structure to be welded based on the second position information and the position information of each coarse positioning point.

[0047] Specifically, in step S11, the first data information is pre-written data information based on the current structure to be welded, which can be imported into the device executing the welding path construction method of the present invention through data communication transmission or other means. The first data information includes the structure type of the structure to be welded, motion path points, key dimensions, and the positional relationship between key dimensions and motion path points. Among them, motion path points include key points, safety points, and transition points. The key points include the start point, intermediate point, and end point of the weld. The safety point is the starting point of the robotic arm end effector when the robot starts and ends. The transition point is the point to prevent the robot from colliding with the structure to be welded when moving from the end point of the previous weld to the start point of the next weld. The key point is the point used to represent the overall path of the weld.

[0048] The structure to be welded consists of the structure type, critical dimensions, and the positional relationship between the critical dimensions and critical points in the motion path. For example... Figure 2 As shown, its structural type is a rounded quadrilateral shape, with key dimensions L1, L2, and R (L1 is the length, L2 is the width, and R is the radius of the rounded corners). The overall structure to be welded is formed based on the positional relationship between these key dimensions and key points. The key points include the start point, midpoint, and end point of the weld. Specifically... Figure 2 In the example shown, it is Figure 2 The 12 points a~l in the text.

[0049] The structural type of the structure to be welded can specifically be parameter data corresponding to the topology of the current structure to be welded. The topology can be divided into several different topologies based on the shape characteristics of all the structures to be welded. Structures to be welded with the same shape characteristics also have the same topology, and therefore, the structural type of these structures is also the same. This can be represented by a parameter as the parameter data corresponding to the structural type of the structure to be welded. For example, these topologies can include rounded quadrilaterals, rings, circles, etc. The shape characteristics of the structures to be welded within the same topology are the same, but their key dimensions can be different. The structural type of these structures to be welded with the same topology can be represented by a label such as "yuanhuan" or a specific parameter value such as "shape1" as the parameter data corresponding to the structural type of that type of structure to be welded.

[0050] Specifically, the first position information of each key point of the structure to be welded constructed in step S11 is the algebraic position information of each key point. Figure 3 The flowchart of step S11 in the robot adaptive welding path construction method according to an embodiment of the present invention is illustrated schematically. (Refer to...) Figure 3 As shown, specifically when performing step S11 to construct the first position information of each key point of the structure to be welded, it can be implemented by including the following steps:

[0051] Step S21: Determine at least three coarse positioning points, wherein at least three coarse positioning points are not on the same straight line;

[0052] Step S22: Determine the first position information of each key point based on the algebraic position information of each coarse positioning point, the structural type of the structure to be welded, the key dimensions, and the positional relationship between the key dimensions and the key points.

[0053] In step S21, the determined coarse positioning points can be any points in the structure to be welded, requiring only that at least three coarse positioning points are not on the same straight line. These coarse positioning points can also be any three points among the key points that are not on the same straight line. After the coarse positioning points are determined, their position information can be represented algebraically, and then step S22 can be executed to determine the first position information of each key point based on the structural type of the structure to be welded, the key dimensions, and the positional relationship between the key dimensions and the key points.

[0054] For example, continue with Figure 2 Taking the structure to be welded shown as an example, the coarse positioning points can be defined as three points a, b, and g among the key points. The coordinates of these three points can then be expressed algebraically, i.e., ( x a , ya , z a ), ( x b , y b , z b )and( x g , y g , z g At this point, the vector ,vector By calculation, the coordinates of point c can be determined as follows: The coordinates of point d are The first position information of the remaining key points can be represented algebraically in the same way, and will not be shown one by one here.

[0055] After obtaining the first position information of each key point of the structure to be welded, step S12 can be executed to determine the robot arm end-effector pose group. Specifically, the robot arm end-effector pose group contains multiple combinations of robot arm end-effector poses. The robot arm end-effector pose is the pose data of the end of the robot arm corresponding to each key point when the robot arm is used to collect the spatial position information of each key point. The end of the robot arm is equipped with a camera module for collecting spatial position information. This camera module can be a 3D point cloud camera to acquire point cloud data information, or it can be a binocular camera or other camera that can acquire the relative spatial position between the robot and the structure to be welded.

[0056] Figure 4 The flowchart of step S12 in the robot adaptive welding path construction method according to an embodiment of the present invention is illustrated schematically. (Refer to...) Figure 4 As shown, specifically when performing step S12 to determine the pose group of the robotic arm's end effector, it can be implemented by including the following steps:

[0057] Step S31: Determine the end pose of the robotic arm corresponding to each key point based on the angle between the camera module on the robotic arm and the plane of the structure to be welded, the distance between the camera module on the robotic arm and the corresponding key point, and the first position information of each key point.

[0058] Step S32: Form a robotic arm end-effector pose group based on the end-effector poses of each robotic arm.

[0059] In step S31, specifically, when determining the position of the robotic arm's end effector, the plane containing the structure to be welded is first determined, and the angle between the camera module at the end effector and this plane is determined. Then, the pose of the robotic arm's end effector is determined based on the distance between the camera module used at the end effector and the point being collected when collecting spatial position information.

[0060] For example, taking the pose of the robotic arm's end effector at point d as an example. The plane containing the structure to be welded is the plane containing the coarse positioning points a, b, and g, and the normal vector of this plane is... Let the angle between the camera and the plane be θ. α (Generally set to 45°, but the specific angle can be adjusted according to the actual scenario). When the camera module collects spatial position information, the distance between it and the point being collected needs to be L. Therefore, the end effector pose of the robotic arm corresponding to point d is... The camera module is pointing as follows The poses of the robotic arm's end effector corresponding to the remaining key points can be represented algebraically in the same way, and will not be shown one by one here.

[0061] After obtaining the end-effector poses corresponding to each key point, step S32 is taken to combine the obtained end-effector poses to form an end-effector pose group.

[0062] After determining the initial position information and the robotic arm's end effector pose group, proceed to step S13. Step S13 involves acquiring the position information of each coarse positioning point. Specifically, the coarse positioning points can be obtained by processing the corresponding data collected by the robot through a communication connection. This can be achieved by maneuvering the robot above each coarse positioning point to acquire its corresponding spatial position. Based on the relative position information of each coarse positioning point acquired by the robot, and the robot's position information during acquisition, the three-dimensional spatial coordinates of each coarse positioning point can be determined. It is understandable that since the coarse positioning points can actually be any point on the structure to be welded, in actual operation, the robot can be moved to any position on the structure to be welded to obtain the three-dimensional spatial coordinates of any corresponding position, without needing to consider issues such as the accuracy of the manipulation.

[0063] Figure 5 The flowchart of step S13 in the robot adaptive welding path construction method according to an embodiment of the present invention is illustrated schematically. (Refer to...) Figure 5 As shown, when executing step S13 to obtain the position information of each coarse positioning point, it can be implemented by including the following steps:

[0064] Step S41: Obtain the spatial position information of each coarse positioning point through the camera module on the robotic arm;

[0065] Step S42: Determine the position information of each coarse positioning point based on the spatial position information of each coarse positioning point and the position information of the robotic arm.

[0066] Step S41 can obtain the spatial position information of the coarse positioning points acquired by the robot through a communication connection. Specifically, the robot can acquire the coarse positioning points manually or automatically; the specific operation method will not be described in detail here. After obtaining the spatial position information of each coarse positioning point, step S42 can be executed to determine the position information of each coarse positioning point, i.e., the three-dimensional spatial coordinates of each coarse positioning point, based on the pose information of the robot when acquiring the spatial position information of the corresponding coarse positioning point.

[0067] After obtaining the location information of the coarse positioning point, step S14 can be executed to determine the second location information of each key point based on the location information of the coarse positioning point and the first location information of each key point. The second location information of the key point is its precise coordinate location information.

[0068] Figure 6 The flowchart of step S14 in the robot adaptive welding path construction method according to an embodiment of the present invention is illustrated schematically. (Refer to...) Figure 6 As shown, specifically when performing step S14 to determine the second location information of each key point, it can be implemented by including the following steps:

[0069] Step S51: Determine the third position information of each key point based on the position information of each coarse positioning point and the first position information of each key point;

[0070] Step S52: Obtain the spatial position information of each key point based on the third position information of each key point and the pose group of the robotic arm end effector;

[0071] Step S53: Determine the second location information of each key point based on the spatial location information of each key point.

[0072] In this process, step S51 is first executed to determine the third position information of each key point. The third position information is the calculated coordinate information of each key point. Specifically, the third position information can be determined based on the algebraic relationship between each key point and the coarse positioning point in the first position information. Since the critical dimensions of the structure to be welded can be determined based on on-site measurements, the third position information of each key point can be determined based on the position information of the coarse positioning points determined in step S13.

[0073] Next, step S52 is executed. Since the calculated coordinate information of each key point (i.e., the third position information) has been determined, the end-effector pose of the robotic arm can be further determined based on the end-effector pose group when collecting the spatial position information of each key point. Thus, by communicating with the robot, the spatial position information of each key point collected by the robot based on the end-effector pose group can be obtained.

[0074] Since the spatial location information of each key point has been obtained, it is only necessary to execute step S53. Based on the robot's pose information when obtaining the spatial location information of the corresponding key points, the second location information of each key point can be determined by the methods of forming lines from surfaces, forming points from three surfaces, and the intersection of curves and straight lines, as well as by using the visual processing function library (open source) to distinguish elements such as points, surfaces, and lines in the point cloud.

[0075] Finally, step S15 is executed to determine the welding path of the structure to be welded based on the second position information and the position information of each coarse positioning point. Specifically, since the second position information of each key point has been determined, the starting point, intermediate point, and ending point of the weld can be determined, i.e., the position information of each weld is determined. The specific positions of the transition points and safety points can be directly calculated based on the positions of each coarse positioning point obtained in step S13. Specifically, the algebraic positions of the transition points and safety points can be determined first, referring to the method in step S21 above, and then the position information of the transition points and safety points can be determined based on the position information of each coarse positioning point. Among them, the safety point can be set according to the robot's built-in configuration, or it can be set as one of the transition points. After the safety points and transition points are determined, the key points, safety points, and transition points can be combined in an orderly manner according to the structural type of the structure to be welded to form the position information of the straight weld ab, the circular arc weld bcd, etc. Finally, the transition path between welds and the path from the safety point to the weld are determined based on the position information of each weld, thus realizing the determination of the welding path of the structure to be welded.

[0076] In addition, the present invention also provides a robot adaptive welding method. Figure 7 The schematic diagram illustrates the steps of a robot adaptive welding method according to an embodiment of the present invention, which is implemented based on a welding path constructed by the robot adaptive welding path construction method of any of the foregoing embodiments, with reference to... Figure 7 As shown, its specific implementation is as follows: Figure 1 The robot adaptive welding path construction method shown also includes the following steps:

[0077] Step S16: Determine the welding process for each weld in the welding path according to the welding path, and form a welding procedure.

[0078] Specifically, during step S16, the welding process for each weld seam in the welding path can be determined based on its characteristics, such as vertical welding, flat welding, and multi-layer, multi-pass welding. Finally, the robot's welding program is generated based on the welding process and welding path, and uploaded to the robot's host computer to complete adaptive welding.

[0079] The robot adaptive welding path construction method of the present invention acquires the spatial position of the component through a camera module, obtains the relative position between the end effector of the robotic arm and the component, and further determines the precise position of each key point. This allows for the generation of a specific robot motion path by relating the precise positions of the key points to the weld seam skeleton of the component. This method reduces the need for manual positioning of a large number of components with the same topological structure, thus improving the efficiency of weld seam positioning.

[0080] Figure 8 The composition of a robot adaptive welding path construction apparatus according to an embodiment of the present invention is illustrated schematically.

[0081] Reference Figure 8 As shown, the robot adaptive welding path construction device 7 of the present invention includes:

[0082] The first position information construction module 1 is used to construct the first position information of each key point of the structure to be welded based on the first data information. The first data information includes the structure type, movement path points, key dimensions, and positional relationship between the key dimensions and the movement path points of the structure to be welded. The movement path points include key points, safety points, and transition points. The key points include the start point, middle point, and end point of the weld.

[0083] The robotic arm end-effector pose group determination module 2 is used to determine the robotic arm end-effector pose group based on the first position information of each key point. The robotic arm end-effector pose group includes the robotic arm end-effector pose corresponding to each key point when collecting the spatial position information of each key point.

[0084] Coarse positioning module 3 is used to obtain the position information of each coarse positioning point;

[0085] Key point localization module 4 is used to determine the second position information of each key point based on the position information of each coarse localization point and the first position information of each key point;

[0086] The welding path construction module 5 is used to determine the welding path of the structure to be welded based on the second position information and the position information of each coarse positioning point.

[0087] Specifically, the robot adaptive welding path construction device 7 of the present invention can achieve the acquisition of relevant data and the transmission of the constructed welding path or welding program by communicating with the robot used for welding.

[0088] It should be noted that the implementation process and principle of the robot adaptive welding path construction device in this embodiment of the invention can be specifically referred to in the corresponding descriptions of the above method embodiments, such as the corresponding descriptions of the acquisition and calculation of the first position information and the coarse positioning point position information in the method embodiments, and therefore will not be repeated here. For example, the robot adaptive welding path construction device 7 in this embodiment of the invention can be any intelligent device with a processor, including but not limited to computers, smartphones, personal computers, robots, cloud servers, etc.

[0089] In addition, the present invention also provides a robotic adaptive welding system. Figure 9 The composition of a robotic adaptive welding system according to an embodiment of the present invention is illustrated schematically. (Refer to...) Figure 9 As shown, it includes:

[0090] Welding robot 6, wherein a camera module is provided at the end of the welding robot 6;

[0091] The robot adaptive welding path construction device 7 described above.

[0092] The camera module installed in welding robot 6 can be a point cloud camera or a binocular camera.

[0093] In some embodiments, the present invention provides a non-volatile computer-readable storage medium storing one or more programs including execution instructions, which can be read and executed by electronic devices (including but not limited to computers, servers, or network devices, etc.) to perform the robot adaptive welding path construction method of any of the above embodiments of the present invention.

[0094] In some embodiments, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the robot adaptive welding path construction method of any of the above embodiments.

[0095] In some embodiments, the present invention also provides an electronic device comprising: at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the robot adaptive welding path construction method of any of the above embodiments.

[0096] In some embodiments, the present invention also provides a storage medium storing a computer program, characterized in that the program, when executed by a processor, implements the robot adaptive welding path construction method of any of the above embodiments.

[0097] Figure 10 This is a schematic diagram of the hardware structure of an electronic device for implementing a robot adaptive welding path construction method according to another embodiment of this application, as shown below. Figure 10 As shown, the device includes:

[0098] One or more processors 810 and memory 820, Figure 10 Take the 810 processor as an example.

[0099] The device for implementing the robot adaptive welding path construction method may further include an input device 830 and an output device 840.

[0100] The processor 810, memory 820, input device 830, and output device 840 can be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0101] The memory 820, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the robot adaptive welding path construction method in the embodiments of this application. The processor 810 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions, and modules stored in the memory 820, thereby implementing the robot adaptive welding path construction method of the above method embodiments.

[0102] The memory 820 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the robot's adaptive welding path construction method, etc. Furthermore, the memory 820 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 820 may optionally include memory remotely located relative to the processor 810, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0103] Input device 830 can receive input digital or character information and generate signals related to user settings and function control of the image processing device. Output device 840 may include display devices such as a display screen.

[0104] The one or more modules are stored in the memory 820, and when executed by the one or more processors 810, they execute the robot adaptive welding path construction method in any of the above method embodiments.

[0105] The above-described product can perform the methods provided in the embodiments of this application, and has the corresponding functional modules and beneficial effects for performing the methods. Technical details not described in detail in this embodiment can be found in the methods provided in the embodiments of this application.

[0106] The electronic devices described in this application exist in various forms, including but not limited to:

[0107] (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and are primarily designed to provide voice and data communication. These terminals include smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones.

[0108] (2) Ultra-mobile Personal Computer (UMPC): These devices fall under the category of personal computers, possessing computing and processing capabilities, and generally also have mobile internet access features. These terminals include PDAs, MIDs, and UMPC devices, such as the iPad.

[0109] (3) Portable entertainment devices: These devices can display and play multimedia content. This category includes: audio and video players (such as iPods), handheld game consoles, e-books, as well as smart toys and portable car navigation devices.

[0110] (4) Server: A device that provides computing services. The components of a server include a processor, hard disk, memory, system bus, etc. Servers are similar to general computer architectures, but because they need to provide highly reliable services, they have higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0111] (5) Other electronic devices with data interaction functions.

[0112] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0113] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for constructing an adaptive welding path for a robot, characterized in that, include: The first position information of each key point of the structure to be welded is constructed based on the first data information. The first data information includes the structure type of the structure to be welded, the movement path points, the key dimensions, and the positional relationship between the key dimensions and the movement path points. The movement path points include key points, safety points, and transition points. The key points include the start point, middle point, and end point of the weld. The robotic arm end-effector pose group is determined based on the first position information of each key point, wherein the robotic arm end-effector pose group includes the robotic arm end-effector pose corresponding to each key point when collecting the spatial position information of each key point. Obtain the position information of each coarse positioning point; The second position information of each key point is determined based on the position information of each coarse positioning point and the first position information of each key point. The welding path of the structure to be welded is determined based on the second position information and the position information of each coarse positioning point. The first position information of each key point of the structure to be welded, constructed based on the first data information, includes: Identify at least three coarse positioning points, wherein at least three coarse positioning points are not on the same straight line; The first position information of each key point is determined based on the algebraic position information of each coarse positioning point, the structural type of the structure to be welded, the key dimensions, and the positional relationship between the key dimensions and the key points. The step of determining the robotic arm end-effector pose group based on the first position information of each key point includes: The end-effector pose of each key point is determined based on the angle between the camera module on the robotic arm and the plane of the structure to be welded, the distance between the camera module on the robotic arm and the corresponding key point, and the first position information of each key point. Based on the end-effector poses of each robotic arm, a robotic arm end-effector pose group is formed; The step of determining the second position information of each key point based on the position information of each coarse positioning point and the first position information of each key point includes: The third position information of each key point is determined based on the position information of each coarse positioning point and the first position information of each key point. The spatial position information of each key point is obtained based on the third position information of each key point and the pose group of the robotic arm end effector. The second location information of each key point is determined based on the spatial location information of each key point.

2. The method according to claim 1, characterized in that, The process of obtaining the position information of each coarse positioning point includes: The spatial position information of each coarse positioning point is obtained through the camera module on the robotic arm; The position information of each coarse positioning point is determined based on the spatial position information of each coarse positioning point and the position information of the robotic arm.

3. The method according to claim 1, characterized in that, The step of determining the welding path of the structure to be welded based on the second position information and the position information of each coarse positioning point includes: Determine the location information of the safety point and transition point of the structure to be welded based on the location information of each coarse positioning point; The welding path of the structure to be welded is determined based on the second position information and the position information of the safety point and transition point.

4. A robot adaptive welding method, characterized in that, include: The robot adaptive welding path construction method according to any one of claims 1 to 3 constructs a welding path for the structure to be welded; The welding process for each weld in the welding path is determined based on the welding path, thus forming a welding procedure.

5. A robot adaptive welding path construction device, characterized in that, include: The first position information construction module is used to construct the first position information of each key point of the structure to be welded based on the first data information. The first data information includes the structure type, movement path points, key dimensions, and positional relationship between the key dimensions and the movement path points of the structure to be welded. The movement path points include key points, safety points, and transition points. The key points include the start point, middle point, and end point of the weld. The robotic arm end-effector pose group determination module is used to determine the robotic arm end-effector pose group based on the first position information of each key point. The robotic arm end-effector pose group includes the robotic arm end-effector pose corresponding to each key point when collecting the spatial position information of each key point. The coarse positioning module is used to obtain the position information of each coarse positioning point; The key point localization module is used to determine the second position information of each key point based on the position information of each coarse localization point and the first position information of each key point. The welding path construction module is used to determine the welding path of the structure to be welded based on the second position information and the position information of each coarse positioning point. The first position information of each key point of the structure to be welded, constructed based on the first data information, includes: Identify at least three coarse positioning points, wherein at least three coarse positioning points are not on the same straight line; The first position information of each key point is determined based on the algebraic position information of each coarse positioning point, the structural type of the structure to be welded, the key dimensions, and the positional relationship between the key dimensions and the key points. The step of determining the robotic arm end-effector pose group based on the first position information of each key point includes: The end-effector pose of each key point is determined based on the angle between the camera module on the robotic arm and the plane of the structure to be welded, the distance between the camera module on the robotic arm and the corresponding key point, and the first position information of each key point. Based on the end-effector poses of each robotic arm, a robotic arm end-effector pose group is formed; The step of determining the second position information of each key point based on the position information of each coarse positioning point and the first position information of each key point includes: The third position information of each key point is determined based on the position information of each coarse positioning point and the first position information of each key point. The spatial position information of each key point is obtained based on the third position information of each key point and the pose group of the robotic arm end effector. The second location information of each key point is determined based on the spatial location information of each key point.

6. A robotic adaptive welding system, characterized in that, include: A welding robot, wherein a camera module is installed at the end of the welding robot; The robot adaptive welding path construction device according to claim 5 above.

7. The robot adaptive welding system according to claim 6, characterized in that, The camera module is a point cloud camera or a binocular camera.

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