A control method for robotic laser weld seam tracking and related apparatus

Abstract

The application discloses a kind of robot laser weld seam tracking control method and related equipment, method includes: by robot trigger scanner start;By robot switching executes single-point correction mode and continuous correction mode;In single-point correction mode, control scanner carries out single-point position search positioning, obtains target weld point;In continuous correction mode, control scanner continuously carries out point scanning, and sends continuous point offset to robot, to make robot sequentially buffer point offset, and then combined with actual welding position to obtain comparison result and realize continuous correction positioning;By robot, welding operation is executed in response to correction welding track, and correction welding track is determined based on target weld point and the result of continuous correction positioning.The present application combines single-point correction mode and continuous correction mode, both ensures the accurate positioning of target weld point on welding path, and also realizes real-time dynamic correction in welding process, and can be widely applied in robot welding technical field.

Description

Technical Field

[0001] This application relates to the field of robotic welding technology, and in particular to a control method and related equipment for robotic laser weld seam tracking. Background Technology

[0002] In the field of laser welding, especially when welding long weld seams (such as those in cubic cabinets), heat input and material stress during the welding process can cause workpiece deformation, severely affecting welding accuracy. Existing weld seam tracking technologies primarily rely on sensors for weld seam identification and tracking, but they suffer from several significant drawbacks: First, current technologies cannot accurately and quickly identify and assess weld seam deformation, resulting in insufficient tracking accuracy and failing to meet the requirements of high-precision welding. Second, existing equipment has a slow tracking response speed, which cannot adapt to the demands of high-speed welding, leading to a decrease in welding trajectory accuracy. Furthermore, current technologies lack post-weld inspection capabilities, making it impossible to effectively evaluate weld quality. These shortcomings limit the widespread adoption of laser welding technology in high-quality application scenarios. Summary of the Invention

[0003] The main objective of this application is to propose a control method and related equipment for robot laser weld seam tracking, in order to solve at least one problem in the prior art. This application can efficiently realize the control of robot laser weld seam tracking.

[0004] To achieve the above objectives, one aspect of this application proposes a control method for robotic laser weld seam tracking, the method comprising: In response to a welding task, the scanner is activated via a robot trigger. The robot switches between single-point correction mode and continuous correction mode. In single-point correction mode, the scanner is controlled to locate a single point to obtain the target solder joint; In continuous correction mode, the scanner is controlled to continuously scan the points and send the continuous point offset values ​​to the robot so that the robot can sequentially cache the point offset values ​​and then obtain a comparison result based on the actual welding position. Based on the comparison result, continuous correction positioning is performed. The robot performs welding operations in response to a corrected welding trajectory, which is determined based on the target weld point and the results of continuous correction positioning.

[0005] In some embodiments, the single-point correction mode specifically performs the following operations: In response to the call command for single-point correction, the scanner establishes communication with the robot and controls the scanner to start single-point scanning; In response to single-point scanning, the scanner performs single-point location calculation based on the built-in algorithm corresponding to the preset weld type, identifies the weld position deviation value to determine the weld midpoint, and then determines the target weld point based on the weld midpoint. The target weld point includes the welding start point and the welding end point. The scanner sends the welding start and end points to the robot as the robot's single-point correction position.

[0006] In some embodiments, the continuous correction mode specifically performs the following operations: In response to the call command for continuous correction, the scanner establishes communication with the robot and controls the scanner to start continuous scanning; In response to the results of continuous scanning, continuous point offset values ​​are generated by the scanner; The scanner continuously sends point offset values ​​to the robot at a preset frequency, so that the robot receives and sequentially caches each point offset value, organizing them into a cached point list; the robot uses a queue method to cache the continuously received point offset values. The robot is invoked to record the actual welding position, and then the robot is used to compare the actual welding position with the corresponding cache point in the cache point list to obtain the correction amount. The robot performs continuous correction and positioning operations based on the correction amount continuously generated during the welding process.

[0007] In some embodiments, the robot is invoked to record the actual welding position, and the robot compares the actual welding position with the corresponding cached position in the cached position list to obtain the correction amount, including the following steps: The actual welding position is obtained through position feedback from the motor encoder inside the robot; Convert the point offset value into robot execution position coordinates; The actual welding position is compared with the corresponding robot execution position coordinates to obtain the correction amount.

[0008] In some embodiments, establishing communication with the robot via a scanner includes the following steps: Based on a preset data transmission frequency, the TCP protocol is used to establish data communication between the scanner and the robot. The data communication transmits the coordinate position deviation values ​​corresponding to each coordinate axis in the spatial coordinate system.

[0009] In some embodiments, the point offset value includes the coordinate position deviation value corresponding to each coordinate axis in the spatial coordinate system. Converting the point offset value into robot execution position coordinates includes the following steps: By using the pre-calibrated spatial relationship between the scanner and the welding torch on the robot, the coordinate position deviation value is transformed to obtain the coordinates of the robot's execution point.

[0010] In some embodiments, the target weld point includes a weld start point and a weld end point. The welding operation is performed by a robot in response to correcting the welding trajectory, including the following steps: The welding start and end points are determined using a single-point correction mode. The real-time correction amount in the welding process is determined based on the results of continuous correction positioning using a continuous correction mode. By dynamically generating a corrected welding trajectory based on the welding start point, welding end point, and real-time correction amount along the welding path, the robot can achieve welding trajectory correction based on the corrected welding trajectory.

[0011] To achieve the above objectives, another aspect of this application provides a control device for tracking robotic laser weld seams, the device comprising: The welding start-up module is used to trigger the scanner to start via the robot in response to a welding task; The mode switching module is used to switch between single-point correction mode and continuous correction mode via the robot. The single-point correction module is used to control the scanner to locate a single point in single-point correction mode to obtain the target solder joint. The continuous correction module is used to control the scanner to continuously scan the points in continuous correction mode, and send the continuous point offset values ​​to the robot so that the robot can sequentially cache the point offset values, and then combine them with the actual welding position to obtain a comparison result, and perform continuous correction positioning based on the comparison result. The correction execution module is used to perform welding operations in response to the robot correcting the welding trajectory. The corrected welding trajectory is determined based on the target weld point and the results of continuous correction positioning.

[0012] To achieve the above objectives, another aspect of the embodiments of this application proposes an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0013] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0014] To achieve the above objectives, another aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0015] The embodiments of this application include at least the following beneficial effects: This application provides a control method and related equipment for robot laser weld seam tracking. This scheme responds to the welding task by triggering the scanner via the robot; the robot switches between single-point correction mode and continuous correction mode; in single-point correction mode, the scanner is controlled to locate a single point to obtain the target weld point; in continuous correction mode, the scanner is controlled to continuously scan points, sending continuous point offset values ​​to the robot, allowing the robot to sequentially cache the point offset values, and then compare them with the actual welding position to obtain a comparison result, performing continuous correction positioning based on the comparison result; the robot responds to the correction welding trajectory by performing welding operations, and the correction welding trajectory is determined based on the target weld point and the result of continuous correction positioning. By combining single-point correction mode and continuous correction mode, this invention ensures accurate positioning of the target weld point on the welding path and achieves real-time dynamic correction during the welding process, effectively overcoming the influence of workpiece deformation and improving overall welding accuracy; simultaneously, the robot sequentially caches point offset values ​​and performs correction based on the actual welding position, resulting in a fast response speed that can adapt to the needs of high-speed welding and solves the problem of slow tracking speed in existing technologies. Attached Figure Description

[0016] Figure 1 This is a flowchart of the control method for robot laser weld seam tracking provided in the embodiments of this application; Figure 2 This is a schematic diagram illustrating the overall flow of the control method for robot laser weld seam tracking provided in the embodiments of this application; Figure 3 This is a schematic diagram illustrating the principle of the cache queue for cache points provided in the embodiments of this application; Figure 4 This is a schematic diagram illustrating a logical time example of the transmission time provided in an embodiment of this application; Figure 5 This is a schematic diagram of the control device for robot laser weld seam tracking provided in an embodiment of this application; Figure 6 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0018] It is understood that the terms "first," "second," etc., used in this application may be used to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words "if" or "when" as used herein may be interpreted as "when," "in response to a determination," or "in the event of a determination."

[0019] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.

[0020] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application is for the purpose of describing embodiments of this application only and is not intended to be limiting of this application.

[0021] In related technologies, existing technologies cannot accurately and quickly identify and judge the deformation of welds, resulting in insufficient weld tracking accuracy and failing to meet the requirements of high-precision welding. Secondly, the tracking response speed of existing equipment is slow and cannot adapt to the needs of high-speed welding, resulting in a decrease in welding trajectory accuracy. In addition, existing technologies lack post-weld inspection functions and cannot effectively evaluate welding quality.

[0022] In view of this, this invention provides a control method and related equipment for robot laser weld seam tracking. This scheme responds to the welding task by triggering the scanner via the robot; the robot switches between single-point correction mode and continuous correction mode; in single-point correction mode, the scanner is controlled to locate a single point to obtain the target weld point; in continuous correction mode, the scanner is controlled to continuously scan points, sending continuous point offset values ​​to the robot, allowing the robot to sequentially cache the point offset values, and then compare them with the actual welding position to obtain a comparison result, performing continuous correction positioning based on the comparison result; the robot responds to the correction welding trajectory by performing welding operations, and the correction welding trajectory is determined based on the target weld point and the result of continuous correction positioning. This invention, by combining single-point correction mode and continuous correction mode, ensures accurate positioning of the target weld point on the welding path and achieves real-time dynamic correction during the welding process, effectively overcoming the influence of workpiece deformation and improving overall welding accuracy; simultaneously, the robot's sequential caching of point offset values ​​and correction based on the actual welding position results in a fast response speed, adapting to the needs of high-speed welding and solving the problem of slow tracking speed in existing technologies.

[0023] The robot laser weld seam tracking control method provided in this application relates to the field of robot welding technology. This robot laser weld seam tracking control method can be applied to a terminal, a server, or software running on a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application implementing the robot laser weld seam tracking control method, but is not limited to the above forms.

[0024] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0025] like Figure 1 As shown, Figure 1 This is an optional flowchart of the control method for robot laser weld seam tracking provided in the embodiments of this application. Figure 1 The method may include, but is not limited to, steps S100 to S500.

[0026] S100: In response to a welding task, the scanner is activated via robot trigger. For example, in some implementations, when the robot receives a task to weld a long weld seam on a cubic cabinet, the robot controller sends a start signal to the laser scanner. After the scanner is powered on, it performs a self-test and initialization; for example, the laser emits a laser beam, and the camera system prepares to acquire images, thus preparing for weld seam scanning.

[0027] S200: The robot switches between single-point correction mode and continuous correction mode. For example, in some specific implementations, the robot automatically switches modes based on the length of the welding path (e.g., a 1-meter-long weld) and the risk of workpiece deformation. For instance, firstly, the robot calls the single-point correction mode to locate specific points on the weld (e.g., the start and end points); then, during the welding process, it switches to the continuous correction mode to adjust the welding path in real time. For example, single-point correction is performed at the welding start point to ensure accurate positioning, and then the robot immediately switches to the continuous correction mode for continuous welding.

[0028] S300. In single-point correction mode, control the scanner to locate and position a single point to obtain the target solder joint. It should be noted that in some embodiments, the single-point correction mode specifically performs the following operations: In response to the single-point correction call command, communication is established between the scanner and the robot, and the scanner is controlled to start single-point scanning; In response to the single-point scanning, the scanner performs single-point position search and positioning calculation based on the built-in algorithm corresponding to the preset weld type, identifies the weld position deviation value to determine the weld midpoint, and then determines the target weld point based on the weld midpoint, the target weld point including the welding start point and the welding end point; The scanner sends the welding start point and the welding end point to the robot as the robot's single-point correction position.

[0029] For example, in some specific implementations, in single-point correction mode, the robot sends a call command to the scanner, and the two establish communication via TCP / IP protocol. The scanner initiates single-point scanning, and for the butt weld of the cubic cabinet, uses the built-in butt weld algorithm to perform single-point position finding and positioning calculation (the core logic of this embodiment lies in the switching and coordination of different modes to achieve dynamic welding correction; this embodiment does not specifically limit the positioning algorithm corresponding to the weld type, and positioning calculation algorithms corresponding to various weld types can be pre-integrated according to actual needs). The scanner identifies the weld edge, calculates the weld position deviation value (e.g., X-axis deviation +0.5mm, Y-axis deviation -0.2mm), determines the weld midpoint, and thus obtains the welding start point (coordinates x=10mm, y=20mm, z=5mm) and welding end point (coordinates x=1010mm, y=20mm, z=5mm). The scanner sends these coordinates to the robot, which uses them as the reference position after single-point correction.

[0030] Specifically, the embodiments of the present invention use a built-in algorithm based on single-point scanning and preset weld types to quickly and accurately locate the start and end points of the weld, providing precise reference points for subsequent welding, improving the accuracy and efficiency of weld identification, and solving the problem that the prior art cannot quickly identify weld deformation.

[0031] S400. In continuous correction mode, the scanner is controlled to continuously scan the points and send the continuous point offset values ​​to the robot so that the robot can sequentially cache the point offset values ​​and then combine them with the actual welding position to obtain the comparison result. Based on the comparison result, continuous correction positioning is performed. It should be noted that in some embodiments, the continuous correction mode specifically performs the following operations: In response to the call command for continuous correction, communication is established between the scanner and the robot, and the scanner is controlled to start continuous scanning; In response to the result of continuous scanning, continuous point offset values ​​are generated by the scanner; The scanner continuously sends the point offset values ​​to the robot at a preset frequency, so that the robot receives and sequentially caches each point offset value, organizing them into a cached point list; The robot uses a queue method to cache the continuously received point offset values; The robot is called to record the actual welding position, and then the robot compares the actual welding position with the corresponding cached point in the cached point list to obtain the correction amount; The robot performs continuous correction positioning operation based on the correction amount continuously generated during the welding process.

[0032] For example, in some specific implementations, in continuous correction mode, the robot sends a continuous correction call command, and the scanner establishes TCP communication with the robot. The scanner continuously scans the weld seam at a frequency of 100Hz, generating continuous point offset values ​​(e.g., generating an offset value every 10ms, including Δx, Δy, and Δz). The scanner sends these offset values ​​to the robot via TCP protocol at a frequency of 500Hz. After receiving them, the robot sequentially caches them into a cached point list in a queue (e.g., adding the latest offset value to the end of the queue). Simultaneously, the robot records the actual welding position using an internal clock (e.g., the current position of the welding torch obtained through the encoder). The robot compares the actual welding position with the corresponding point in the cached point list (e.g., comparing the actual position x=100mm with the cached point x=100.1mm) to obtain the correction amount (Δx=0.1mm), and continuously adjusts the welding torch position based on this.

[0033] Specifically, the embodiments of the present invention ensure the orderliness and real-time performance of data processing by continuously scanning and sending point offset values ​​in real time, and by using a queue method to cache data. This enables the robot to dynamically adjust the welding path to cope with deformation during the welding process, improves the response speed and correction accuracy, and solves the problem of slow tracking response in the prior art.

[0034] It should be noted that in some embodiments, the robot is invoked to record the actual welding position, and the robot compares the actual welding position with the corresponding cached position in the cached position list to obtain the correction amount. This includes the following steps: obtaining the actual welding position through the position feedback of the motor encoder inside the robot; converting the position offset value into robot execution position coordinates; and comparing the actual welding position with the corresponding robot execution position coordinates to obtain the correction amount.

[0035] For example, in some specific implementations, the robot obtains the actual welding position of the welding torch (e.g., x=150.0mm, y=50.0mm, z=10.0mm) through position feedback from the internal motor encoder. Simultaneously, it retrieves the corresponding offset value (e.g., Δx=0.2mm, Δy=0.1mm, Δz=0.05mm) from the cached point list and converts it into robot execution position coordinates (e.g., x=150.2mm, y=50.1mm, z=10.05mm) using a pre-calibrated transformation matrix. Then, it compares the actual welding position with the execution position coordinates, calculates the correction amount (Δx=0.2mm, Δy=0.1mm, Δz=0.05mm), and adjusts the welding torch according to this correction amount.

[0036] Specifically, this embodiment of the invention utilizes the internal motor encoder of the robot to obtain the actual welding position, converts the position offset value into robot execution coordinates for comparison, and generates an accurate correction amount, ensuring the calculation accuracy of the correction amount, thereby improving the welding quality and solving the problem of insufficient accuracy in the prior art.

[0037] It should be noted that in some embodiments, establishing communication between the scanner and the robot includes the following steps: establishing data communication between the scanner and the robot using the TCP protocol based on a preset data transmission frequency; wherein, the transmitted content of the data communication includes the coordinate position deviation values ​​corresponding to each coordinate axis in the spatial coordinate system.

[0038] For example, in some implementations, the scanner and robot are connected via Ethernet, using the TCP protocol to establish data communication at a preset frequency (e.g., 20Hz). The transmitted data includes the coordinate position deviations corresponding to the X, Y, and Z axes in a spatial coordinate system. For instance, data packets are sent periodically according to the frequency, with content in JSON format: {"Δx": 0.1, "Δy": 0.05, "Δz": 0.02}, ensuring real-time and reliable data transmission.

[0039] Specifically, the embodiments of the present invention establish communication between the scanner and the robot at a preset frequency using the TCP protocol, ensuring the reliability and real-time performance of data transmission, meeting the data exchange requirements of high-speed welding, and solving the slow response problem caused by communication delays in the prior art.

[0040] It should be noted that in some embodiments, the point offset value includes the coordinate position deviation value corresponding to each coordinate axis in the spatial coordinate system. Converting the point offset value into robot execution position coordinates includes the following steps: by using the pre-calibrated spatial position relationship between the scanner and the welding gun on the robot, the coordinate position deviation value is converted to obtain the robot execution point coordinates.

[0041] For example, in some specific implementations, during the system calibration phase, the spatial positional relationship between the scanner and the robot welding torch is determined by measurement (e.g., the rotation matrix R and translation vector T of the scanner coordinate system relative to the robot coordinate system). When the scanner detects a point offset value (Δx_s=0.3mm, Δy_s=0.1mm, Δz_s=0.0mm), coordinate transformation is performed using calibration parameters: the robot's execution position coordinates (Δx_r=0.32mm, Δy_r=0.08mm, Δz_r=0.01mm) are obtained using the formula [Δx_r, Δy_r, Δz_r]^T = R * [Δx_s, Δy_s, Δz_s]^T +T, which is used for correction.

[0042] Specifically, the embodiments of the present invention reduce system errors and improve the calculation accuracy of the correction amount by pre-calibrating the spatial position relationship between the scanner and the welding torch and performing coordinate transformation, thereby further improving the accuracy of the welding trajectory and solving the problem of decreased accuracy caused by inconsistent coordinates in the prior art.

[0043] S500: The robot performs welding operations by responding to and correcting the welding trajectory. Among them, the corrected welding trajectory is determined based on the target weld point and the results of continuous correction positioning; It should be noted that the target weld point includes a welding start point and a welding end point. In some embodiments, the robot performs the welding operation in response to the correction of the welding trajectory, including the following steps: determining the welding start point and welding end point through a single-point correction mode; determining the real-time correction amount of the welding process based on the result of continuous correction positioning through a continuous correction mode; and dynamically generating a corrected welding trajectory through the welding start point, welding end point, and the real-time correction amount along the welding path, so that the robot can achieve welding trajectory correction based on the corrected welding trajectory.

[0044] For example, in some specific implementations, the welding start point S (x=0mm, y=0mm, z=0mm) and welding end point E (x=1000mm, y=0mm, z=0mm) are determined by a single-point correction mode. During continuous welding, the continuous correction mode generates a sequence of correction amounts in real time (e.g., one correction amount every 100mm along the path: at x=100mm, the correction amount Δy=0.5mm; at x=200mm, the correction amount Δy=0.8mm). The robot dynamically generates a corrected welding trajectory: along the path from the start point S to the end point E, the y-coordinate is dynamically adjusted according to the correction amount, forming a smooth curve (e.g., y=0.5sin(x / 100)). The robot performs welding based on this trajectory to ensure accuracy.

[0045] Specifically, the embodiments of the present invention achieve high-precision welding throughout the entire process by dynamically generating and correcting the welding trajectory, and combining the starting point, the ending point and the real-time correction amount. This effectively addresses the deformation problem, improves welding consistency, and indirectly realizes the prototype of post-weld inspection, solving the problem that the existing technology cannot achieve post-weld inspection.

[0046] To explain in detail the principles of the technical solution of this application, the overall process of this application will be described below with reference to some specific embodiments. It is easy to understand that the following is an explanation of the technical principles of this application and should not be regarded as a limitation of this application.

[0047] First, it should be noted that in the field of laser welding, when welding long weld seams, such as those in cubic cabinets, deformation occurs during the welding process, affecting welding accuracy. This invention addresses the problem of deformed weld seams in long weld seams by employing laser weld seam positioning scanning and laser weld seam tracking to guide the robot during welding, significantly improving welding accuracy. Traditional inspection methods require manual sampling after welding, which is inefficient and cannot adjust the process in real time. This invention employs real-time post-weld inspection to adjust the welding process effect in real time.

[0048] Specifically, such as Figure 2 As shown, the algorithm flow of this embodiment of the invention can be implemented as follows: The overall process includes: laser weld seam tracking control system → six-axis robot triggering scanning to start operation → single-point correction and continuous correction → combining the two functions to perform correction and positioning on the robot → improving the welding accuracy of long weld seams and solving the actual weld seam welding offset problem. It should be noted that the single-point correction mode and the continuous correction mode are switched by the robot calling different instructions. The single-point positioning correction and the continuous tracking correction of the weld can be used together. The robot instructions used are different, but they can be nested. The welding start and end points can be determined by positioning, and the welding trajectory can be corrected in real time by tracking and continuous correction.

[0049] The single-point correction process includes: laser weld seam scanning communication → single-point position finding and positioning calculation → scanner sending a single weld seam position deviation value to the robot → single-point calculation to determine the final position executed by the robot → robot executing welding start and end positions → robot single-point correction position. It should be noted that calculating the final position of the robot at a single point can be achieved as follows: the scanner's built-in processor performs the calculation, which is implemented by the scanner's built-in algorithm. The scanner first writes the algorithm for calculating the weld seam. Different weld seam types will have different calculation methods. For example, if a butt weld is used, the scanner uses the butt weld calculation method to identify the midpoint of the weld seam. The robot needs to move along the path corresponding to the coordinates of the processed midpoint (i.e., the start and end points). The processed point position is transmitted to the robot via TCP.

[0050] The continuous correction process is as follows: laser weld seam tracking communication → continuous point calculation → scanning and continuously sending point offset values ​​to the robot → the robot caches the points → the robot's actual welding position is compared with the points in the cache area → the robot continuously corrects and positions itself. It should be noted that the robot can perform point caching and comparison as follows: The robot continuously receives data from the scanner, and it uses a buffering method, similar to a queue, to process the data points. Figure 3 As shown, the robot welding torch is pre-calibrated with the scanner to determine its spatial position. The final robot position is calculated based on the calibration, and the position feedback from the robot's internal motor encoder is compared to determine the final robot position. Finally, the robot performs continuous correction actions.

[0051] In long welds, a robot + scanner welding technique is used. This technique enables single-point positioning of the weld seam, continuous weld seam tracking, and the robot's caching algorithm. Deviation values ​​are compared and then applied to correct the robot's weld trajectory. This can be understood as single-point positioning identifying specific points, such as the start and end points of the weld. Throughout the process, weld seam tracking technology continuously scans and sends correction values ​​to the robot. Point-based calculations are performed, and high-speed communication with the robot enables continuous weld seam correction. Precise welding of long weld seams = single-point positioning + continuous weld seam tracking.

[0052] Data transmission: Data transmission and reception use the TCP protocol; transmission time can be referenced. Figure 4 The logic diagram shown has a time frequency of 20Hz. The data is the deviation values ​​Δx, Δy, Δz of the coordinate positions identified by the scanner. However, the scanner and the robot are calibrated, and the offset sent to the robot will be converted into the coordinates of the execution point on the robot's side.

[0053] In summary, the embodiments of the present invention employ a line laser scanner to guide welding, while simultaneously identifying weld position, gap, and misalignment, and adjusting the welding trajectory. After welding, a multispectral camera is used to collect the molten pool reflectance spectrum, analyze plasma fluctuations and spatter trends, and adjust process parameters in real time. Compared to existing technologies, the embodiments of the present invention offer at least the following advantages: 1. Achieve real-time, continuous closed-loop correction.

[0054] 2. Real-time tracking of welding position, multi-point positioning and multi-point correction, making the welding position more accurate.

[0055] 3. The algorithm logic and hierarchy are concise, enabling real-time interaction and comparison with caching algorithms.

[0056] 4. It can combine post-weld inspection functions to adjust welding process parameters in real time, automatically optimize welding process effects, and ensure welding quality.

[0057] like Figure 5 As shown in the illustration, this application also provides a control device 900 for tracking laser weld seams in a robot, which may include: Welding initiation module 910 is used to initiate the scanner via robot triggering in response to a welding task; The mode switching module 920 is used to switch between single-point correction mode and continuous correction mode via the robot. The single-point correction module 930 is used to control the scanner to locate a single point in single-point correction mode to obtain the target solder joint. The continuous correction module 940 is used to control the scanner to continuously scan the points in continuous correction mode, and send the continuous point offset values ​​to the robot so that the robot can sequentially cache the point offset values, and then combine them with the actual welding position to obtain a comparison result, and perform continuous correction positioning based on the comparison result. The correction execution module 950 is used to perform welding operations by responding to the correction welding trajectory of the robot. The correction welding trajectory is determined based on the target weld point and the results of continuous correction positioning.

[0058] The content of the method embodiments in this application is applicable to the device embodiments. The specific functions implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above methods.

[0059] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned control method for tracking laser weld seams in a robot. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0060] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0061] Please see Figure 6 , Figure 6 The hardware structure of an electronic device 1000 according to another embodiment is illustrated. The electronic device 1000 includes: The processor 1001 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1002 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1002 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1002 and is called and executed by the processor 1001 to execute the robot laser weld seam tracking control method of the embodiments of this application. Input / output interface 1003 is used to implement information input and output; The communication interface 1004 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1005 transmits information between various components of the device (e.g., processor 1001, memory 1002, input / output interface 1003, and communication interface 1004); The processor 1001, memory 1002, input / output interface 1003 and communication interface 1004 are connected to each other within the device via bus 1005.

[0062] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described control method for tracking robot laser weld seams.

[0063] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0064] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor 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.

[0065] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0066] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0067] The robot laser weld seam tracking control method, robot laser weld seam tracking control device, electronic equipment, and storage medium provided in this application embodiment respond to the welding task by triggering the scanner to start via the robot; the robot switches between single-point correction mode and continuous correction mode; in single-point correction mode, the scanner is controlled to locate a single point to obtain the target weld point; in continuous correction mode, the scanner is controlled to continuously scan the point, sending continuous point offset values ​​to the robot so that the robot sequentially caches the point offset values, and then compares them with the actual welding position to obtain a comparison result, and performs continuous correction positioning based on the comparison result; the robot responds to the correction welding trajectory by performing welding operations, and the correction welding trajectory is determined based on the target weld point and the result of continuous correction positioning. This embodiment of the invention, by combining single-point correction mode and continuous correction mode, ensures accurate positioning of the target weld point on the welding path and realizes real-time dynamic correction during the welding process, thereby effectively overcoming the influence of workpiece deformation and improving overall welding accuracy; at the same time, the robot sequentially caches the point offset values ​​and performs correction based on the actual welding position, resulting in a fast response speed, which can meet the needs of high-speed welding and solves the problem of slow tracking speed in the prior art.

[0068] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0069] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0070] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; 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.

[0071] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0072] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0073] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0074] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0075] The units described above 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0076] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0077] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0078] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A control method for tracking laser weld seams in a robot, characterized in that, Includes the following steps: In response to a welding task, the scanner is activated via a robot trigger. The robot switches between single-point correction mode and continuous correction mode. In the single-point correction mode, the scanner is controlled to locate a single point to obtain the target solder joint. In the continuous correction mode, the scanner is controlled to continuously scan the points and send the continuous point offset values ​​to the robot so that the robot can sequentially cache the point offset values ​​and then obtain a comparison result based on the actual welding position. Based on the comparison result, continuous correction positioning is performed. The robot performs welding operations in response to a corrected welding trajectory, which is determined based on the target weld point and the result of continuous correction positioning. Specifically, the single-point correction mode performs the following operations: In response to a single-point correction call command, the scanner establishes communication with the robot and controls the scanner to start single-point scanning; In response to the single-point scan, the scanner performs single-point location calculation based on the built-in algorithm corresponding to the preset weld type, identifies the weld position deviation value to determine the weld midpoint, and then determines the target weld point based on the weld midpoint. The target weld point includes a welding start point and a welding end point. The scanner sends the welding start point and the welding end point to the robot as the robot's single-point correction position; The continuous correction mode specifically performs the following operations: In response to the call command for continuous correction, the scanner establishes communication with the robot and controls the scanner to start continuous scanning; In response to the results of the continuous scanning, the scanner generates continuous point offset values; The scanner continuously sends the point offset values ​​to the robot at a preset frequency, so that the robot receives and sequentially caches each point offset value, and organizes them into a cached point list; wherein, the robot uses a queue method to cache the continuously received point offset values. The robot is invoked to record the actual welding position, and then the robot is used to compare the actual welding position with the corresponding cache point in the cache point list to obtain the correction amount. The robot performs continuous correction and positioning operations based on the correction amount continuously generated during the welding process.

2. The control method for robot laser weld seam tracking according to claim 1, characterized in that, The process of calling the robot to record the actual welding position and comparing the actual welding position with the corresponding cached position in the cached position list to obtain the correction amount includes the following steps: The actual welding position is obtained through the position feedback of the motor encoder inside the robot; Convert the point offset value into robot execution position coordinates; The actual welding position is compared with the corresponding robot execution position coordinates to obtain the correction amount.

3. The control method for robot laser weld seam tracking according to claim 1, characterized in that, Establishing communication with the robot via the scanner includes the following steps: Based on a preset data transmission frequency, the scanner and the robot establish data communication using the TCP protocol. The data communication transmits data including the coordinate position deviation values ​​corresponding to each coordinate axis in the spatial coordinate system.

4. The control method for robot laser weld seam tracking according to claim 2, characterized in that, The point offset value includes the coordinate position deviation value corresponding to each coordinate axis in the spatial coordinate system. Converting the point offset value into robot execution position coordinates includes the following steps: By using the pre-calibrated spatial relationship between the scanner and the welding gun on the robot, the coordinate position deviation value is transformed to obtain the robot's execution point coordinates.

5. The control method for robot laser weld seam tracking according to claim 1, characterized in that, The target weld point includes a welding start point and a welding end point. The welding operation performed by the robot in response to correcting the welding trajectory includes the following steps: The welding start point and the welding end point are determined by the single-point correction mode. The real-time correction amount of the welding process is determined based on the result of the continuous correction positioning using the continuous correction mode. The corrected welding trajectory is dynamically generated by the welding start point, the welding end point, and the real-time correction amount along the welding path, so that the robot can correct the welding trajectory based on the corrected welding trajectory.

6. A control device for tracking laser weld seams in a robot, characterized in that, The apparatus for implementing the method of claim 1 includes: The welding start-up module is used to trigger the scanner to start via the robot in response to a welding task; The mode switching module is used to switch between single-point correction mode and continuous correction mode via the robot. The single-point correction module is used to control the scanner to locate a single point in the single-point correction mode to obtain the target solder joint. The continuous correction module is used to control the scanner to continuously scan points in the continuous correction mode, and send continuous point offset values ​​to the robot so that the robot sequentially caches the point offset values, and then obtains a comparison result based on the actual welding position, and performs continuous correction positioning based on the comparison result. The correction execution module is used to perform welding operations by the robot in response to the correction welding trajectory, the correction welding trajectory being determined based on the target weld point and the result of the continuous correction positioning.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 5.

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