A welding gun posture self-adaptive adjustment method and system for complex welds

Abstract

The application belongs to the technical field of welding automation, and provides a welding gun posture self-adaptive adjustment method and system for complex welds, which converts point cloud data of a weld to be welded into a weld track, extracts key features of the weld based on the weld track, and determines key points of the weld; tangent directions and normal directions of each weld key point are calculated; for different types of welds, ideal movement tracks of the welding gun are obtained through segmented path planning combined with key features of the weld, postures of the welding gun are determined based on the ideal movement tracks of the welding gun and the tangent directions and normal directions of each weld key point; deviations between the welding gun and the weld are calculated according to real-time collected point cloud data and ideal tracks of the weld, posture correction instructions are generated according to the deviation calculation results, and the path and posture of the welding gun are adjusted to ensure that the welding gun always maintains an optimal angle with the weld surface. The welding quality and adaptability are improved.

Description

Technical Field

[0001] This invention belongs to the field of welding automation technology, and in particular relates to a method and system for adaptive adjustment of welding torch posture for complex welds. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Welding, as a key process in industrial manufacturing, is widely used in industries such as shipbuilding, aerospace, automotive, and equipment manufacturing. The quality of the weld directly determines the reliability and service life of the structure. Existing welding automation technologies mainly rely on teaching or optical sensors to identify the weld contour and plan the welding torch path based on the fitted spatial curve. However, the information obtained from point cloud images and single-line lasers in welding torch path planning based on fitted spatial curves is limited and cannot fully reflect the three-dimensional geometric features of the weld. Focusing only on the trajectory of the weld centerline, it is impossible to accurately obtain the tangent and normal information of the weld, resulting in difficulty in adaptive adjustment of the welding torch posture, easy occurrence of angular deviation, and affecting the weld penetration and forming quality. At the same time, in scenarios with multiple curvatures, spatial bends, or irregular welds, the method based on a single trajectory fitting cannot ensure that the welding torch is always perpendicular to the weld surface, which can easily lead to defects such as incomplete welds and slag inclusions. It has poor adaptability to complex welds and affects the final weld quality. Summary of the Invention

[0004] To address at least one of the technical problems mentioned above, this invention provides a method and system for adaptive adjustment of welding torch posture for complex welds. This system can sense the geometric characteristics of complex welds in real time and adaptively adjust the welding torch posture, thereby improving welding accuracy and quality.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The first aspect of the present invention provides a method for adaptive adjustment of welding torch posture for complex welds, comprising the following steps: Acquire point cloud data of the weld seam to be welded during the welding process; The point cloud data of the weld to be welded is converted into a weld trajectory. Based on the weld trajectory, the key features of the weld are extracted and the key points of the weld are determined. Calculate the tangent and normal directions at each critical point of the weld; For different types of welds, the ideal motion trajectory of the welding torch is obtained by segmenting the path based on the key features of the weld. Based on the ideal motion trajectory of the welding torch, the posture of the welding torch is determined by combining the tangent and normal directions of each key point of the weld. The deviation between the welding torch and the weld is calculated based on the real-time collected point cloud data and the ideal trajectory of the weld. The attitude correction command is generated based on the deviation calculation results to adjust the path and attitude of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld surface.

[0006] Furthermore, when converting the point cloud data of the weld to be welded into a weld trajectory, the process includes segmenting the weld region to be welded from the welding region and converting the point cloud data of the weld region to be welded into a continuous weld trajectory.

[0007] Furthermore, B-spline curve fitting or weighted least squares fitting algorithms are used to transform point cloud data into continuous weld trajectories.

[0008] Furthermore, when calculating the ideal trajectory of the welding torch by segmenting the path based on the key features of the weld for different types of welds, the segmented path planning strategy includes segmenting the entire weld according to the geometric features of the weld. The division criteria for different segments include the start and end points of the weld, the curvature change points, the corner positions, and the changes in the weld type. In each segment, the corresponding centerline point set is extracted, and the tangent and normal directions are calculated as geometric constraints for the path planning of that segment.

[0009] Furthermore, the method of determining the welding torch posture by combining the tangent and normal directions of each key point of the weld includes: the posture of the welding torch at each position point is determined by the normal direction of the tangent plane so that the end movement of the welding torch always moves along the center line of the weld, while using the normal direction as a reference to keep the welding torch perpendicular to the weld surface.

[0010] Furthermore, in complex weld areas, the welding torch angle is adjusted according to the local curvature of the weld. The adjustment strategy is as follows: When the local curvature is less than the set curvature, the welding torch posture remains strictly perpendicular to the weld normal direction. As the local curvature gradually increases, the transition angle of the posture is calculated by using the geometric relationship between the radius of curvature and the length of the welding torch, so that the welding torch produces a set tilt angle relative to the normal direction of the weld. For corners or locations with sudden changes in curvature, gradually adjust the welding torch angle and gradually restore it after exiting the bend to ensure a smooth transition in the posture change process.

[0011] Furthermore, the strategy for adjusting the path and orientation of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld surface is as follows: At each path point, the local tangent and normal directions are calculated based on point cloud computing to align the welding torch spindle with the normal and keep it perpendicular to the weld surface. At the same time, the forward attitude is constrained by referring to the tangent direction. Maintain strict perpendicularity in straight sections, and gradually adjust the welding torch angle in advance according to the curvature of curved sections with a curvature greater than the set value, while reducing the speed accordingly.

[0012] A second aspect of the present invention provides a welding torch attitude adaptive adjustment system for complex welds, comprising: The point cloud data acquisition module is used to acquire point cloud data of the weld to be welded during the welding process. The key point extraction module is used to convert the point cloud data of the weld to be welded into the weld trajectory, extract the key features of the weld based on the weld trajectory, and determine the key points of the weld. The tangent and normal calculation module is used to calculate the tangent and normal directions of each key point of the weld. The attitude planning module is used to perform segmented path planning for different types of welds, combining the key features of the welds to obtain the ideal motion trajectory of the welding torch. Based on the ideal motion trajectory of the welding torch, the attitude of the welding torch is determined by combining the tangent and normal directions of each key point of the weld. An adaptive adjustment module is used to calculate the deviation between the welding torch and the weld seam based on real-time acquired point cloud data and the ideal trajectory of the weld seam. Based on the deviation calculation results, it generates attitude correction commands to adjust the path and attitude of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld seam surface. A third aspect of the invention provides a computer-readable storage medium.

[0013] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method for adaptive adjustment of welding torch posture for complex welds.

[0014] A fourth aspect of the present invention provides a computer device.

[0015] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the above-described method for adaptive adjustment of welding torch posture for complex welds.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention constructs a tangential plane of the weld at the current welding position and calculates a unique normal vector to guide the welding torch to adjust its welding posture. It unifies the diversity of welding torch postures at the weld point into a uniqueness based on the normal of the tangential plane, which can effectively guarantee welding quality. It can handle complex welds with multiple curvatures, irregularities, and spatial bends, and significantly improve the applicability of automated welding.

[0017] This invention achieves adaptive adjustment of the welding torch posture by calculating the tangent and normal directions of the weld in real time, thereby avoiding welding angle deviation, resulting in more uniform weld formation, reducing welding defects, and improving structural reliability.

[0018] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0020] Figure 1 This is a flowchart of a welding torch posture adaptive adjustment method for complex welds provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the calculation of weld tangent and normal provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the welding process provided in an embodiment of the present invention; Figure 4 This is a block diagram of a welding torch posture adaptive adjustment system for complex welds provided in an embodiment of the present invention. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Example 1 like Figure 1 As shown, this embodiment provides a method for adaptive adjustment of welding torch posture for complex welds, including the following steps: Step 1: Acquire point cloud data of the weld seam to be welded during the welding process; In this embodiment, a 4D structured light camera mounted on the welding torch is used to collect point cloud data of the weld seam in real time. In this way, the camera can maintain a fixed relative position with the welding torch during welding, avoiding point cloud data errors caused by the movement of the welding torch.

[0025] Specifically, during installation, the 4D structured light camera is fixedly mounted at the end of the welding torch or near the welding equipment to ensure a stable spatial relationship between the camera and the welding torch throughout the welding process. The camera illuminates the weld surface by projecting structured light patterns (such as stripes or dot patterns), collects the reflected light signals, and generates a depth map.

[0026] When acquiring point cloud data of the weld seam to be welded, the system collects three-dimensional data of the weld seam surface in real time and records the spatial coordinates of each point using the camera's depth sensor. The system can acquire weld seam data at a high frequency to ensure that changes in the dynamic environment (such as workpiece movement or deformation during welding) are promptly reflected.

[0027] Step 2: Convert the point cloud data of the weld to be welded into a weld trajectory, extract the key features of the weld based on the weld trajectory, and determine the key points of the weld. Specifically, the steps include the following: Step 201: Based on the point cloud data of the weld to be welded acquired during the welding process, the weld area to be welded is segmented from the welding area; In this embodiment, a point cloud segmentation algorithm is used to segment the weld seam area to be welded from the welding area; Specifically, the point cloud on the weld surface and the background point cloud have significant differences in a certain spatial direction. By setting a threshold value that maximizes the difference, the point cloud on the weld surface can be distinguished from other background point clouds, thus obtaining the point cloud mask of the weld.

[0028] Step 202: Convert the point cloud data of the weld area to be welded into a continuous weld trajectory; In this embodiment, B-spline curve fitting or weighted least squares fitting algorithm is used to transform point cloud data into a continuous weld trajectory. This model can accurately reflect the spatial position and shape of the weld.

[0029] Step 203: Extract key features of the weld based on the continuous weld trajectory and determine the key points of the weld; In this embodiment, when extracting the key features of the weld, the deviation between the fitted curve and the point cloud is calculated, and the key features of the weld, such as curvature changes and corner points, are extracted. These features are crucial for path planning and attitude adjustment, especially in the case of complex welds. Key points are set based on the information of the key features. Of course, those skilled in the art can also use other methods to select key points, such as selecting points on the weld trajectory as feature points in sequence according to the principle of equal spacing.

[0030] Step 3: Calculate the tangent and normal directions at each critical point of the weld; for example... Figure 2As shown in this embodiment, when calculating the tangent direction, normal direction, and spatial relationship between the tangent and normal of the weld based on the weld trajectory and the spatial distribution of key weld points: Set weld trajectory The parametric equation is: , in, t It is a parameter. It is a parameter t The lower limit, It is a parameter t The upper limit of the three functions , and If a weld is differentiable and not simultaneously zero, then the parameter corresponding to any critical weld point M is... At that point, the tangential direction vector is This is called the weld track. The tangent vector at the point; Calculate the spatial coordinate difference between each critical point of the weld and its adjacent points. Then, calculate the tangent direction vector of the critical point of the weld based on the spatial coordinate difference. The formula is as follows: Therefore, the corresponding tangential equation is: , The corresponding equation of the normal plane is: .

[0031] In this embodiment, a plane fitting is performed on a local area of ​​the point cloud to calculate the normal direction of each key point of the weld. In this embodiment, principal component analysis (PCA) is used to obtain the normal direction of each local region of the point cloud by analyzing the principal components of the point cloud; The normal line is an important basis for determining whether the welding torch is perpendicular to the weld surface.

[0032] Step 4: For different types of welds, segmented path planning is performed based on the key features of the weld to obtain the ideal motion trajectory of the welding torch, and the posture of the welding torch is determined based on the ideal motion trajectory of the welding torch. Specifically, the steps include the following: Step 401: For different types of welds, segmented path planning is performed based on the key features of the weld to obtain the motion trajectory of the welding torch. The movement path of the welding torch must ensure that its end always moves along the centerline of the weld to achieve precise welding. The path planning takes into account factors such as the curvature and complexity of the weld and adopts a segmented path planning strategy to adapt to different types of welds.

[0033] In this embodiment, the segmented path planning strategy includes segmenting the entire weld according to its geometric characteristics. The criteria for segmenting different segments include the start and end points of the weld, curvature abrupt change points, corner positions, and changes in weld type. In each segment, the corresponding centerline point set is extracted, and the tangent and normal directions are calculated as geometric constraints for the path planning of that segment.

[0034] Step 402: Based on the motion trajectory of the welding torch, determine the posture of the welding torch by combining the tangential and normal directions of the weld. In this embodiment, the welding torch posture is adjusted in real time based on the calculation results of the tangent and normal. The posture of the welding torch at each position point is determined by the normal direction of the tangent plane, ensuring that the movement of the welding torch tip always moves along the center line of the weld, while using the normal direction as a reference to keep the welding torch perpendicular to the weld surface.

[0035] In complex weld areas, the welding torch angle is adaptively adjusted according to the local curvature of the weld to ensure welding quality.

[0036] Specifically, when the local curvature is less than the set curvature (approximately a straight line segment), the welding torch posture remains strictly perpendicular to the weld normal direction; When the local curvature gradually increases (curve or bend), the transition angle of the posture is calculated by the geometric relationship between the radius of curvature and the length of the welding torch, so that the welding torch produces a small tilt angle relative to the normal direction of the weld, thereby avoiding weld offset caused by sudden changes in posture. For corners or locations with sudden changes in curvature, an angle buffering method is used. That is, the welding torch angle is gradually adjusted before entering the high curvature section (when the curvature is greater than the set maximum value), and gradually restored after exiting the bend, so that the posture change process is smooth.

[0037] Step 5: Calculate the deviation between the welding torch and the weld seam based on the real-time collected point cloud data and the ideal trajectory of the weld seam. Generate attitude correction instructions based on the deviation calculation results, and adjust the path and attitude of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld seam surface. like Figure 3 As shown in this embodiment, to ensure the welding torch remains in optimal condition throughout the welding process, a real-time feedback mechanism is designed. During welding, a 4D structured light camera continuously monitors the three-dimensional data of the weld seam and promptly corrects the position and orientation of the welding torch. The 4D structured light camera continuously acquires three-dimensional data of the weld seam during the welding process, monitoring changes in weld seam shape, workpiece deformation, or weld seam offset in real time. By comparing the real-time acquired point cloud data with the ideal trajectory of the weld seam, the deviation between the welding torch and the weld seam is calculated, and an orientation correction command is generated to adjust the path and orientation of the welding torch. This process is achieved by feeding back the correction command to the welding torch through the robot control system, allowing for timely adjustment of the welding torch's path and orientation.

[0038] Through real-time path and attitude correction, any deviations during the welding process are dynamically corrected, thereby ensuring the stability of weld quality and improving the overall welding quality.

[0039] In this embodiment, the strategy for adjusting the path and orientation of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld surface is as follows: At each path point, based on the local tangent and normal directions of the point cloud computing, the welding torch spindle is aligned with the normal to ensure that it is always perpendicular to the weld surface, while the forward attitude is constrained by referring to the tangent direction. Maintain strict perpendicularity in straight sections, and gradually adjust the welding torch angle in advance according to the curvature of curved sections, while slowing down the speed appropriately to ensure a smooth transition in posture changes. If the deviation exceeds the threshold, a correction command is automatically generated and a closed-loop correction is performed to ensure that the welding torch maintains a stable, continuous, and optimal angle as required by the process throughout the entire welding process.

[0040] This invention can be widely applied to complex welding tasks in the fields of shipbuilding, aerospace and high-end equipment manufacturing, and has high engineering application value.

[0041] Example 2 like Figure 4 As shown, this embodiment provides an adaptive adjustment system for welding torch posture for complex welds, including: The point cloud data acquisition module is used to acquire point cloud data of the weld to be welded during the welding process. The key point extraction module is used to convert the point cloud data of the weld to be welded into the weld trajectory, extract the key features of the weld based on the weld trajectory, and determine the key points of the weld. The tangent and normal calculation module is used to calculate the tangent and normal directions of each key point of the weld. The attitude planning module is used to perform segmented path planning for different types of welds, combining the key features of the welds to obtain the ideal motion trajectory of the welding torch. Based on the ideal motion trajectory of the welding torch, the attitude of the welding torch is determined by combining the tangent and normal directions of each key point of the weld. The adaptive adjustment module is used to calculate the deviation between the welding torch and the weld seam based on the real-time collected point cloud data and the ideal trajectory of the weld seam. Based on the deviation calculation results, it generates attitude correction commands to adjust the path and attitude of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld seam surface.

[0042] It should be noted that the specific implementation of the welding torch posture adaptive adjustment system for complex welds in this embodiment of the invention is similar to the specific implementation of the welding torch posture adaptive adjustment method for complex welds in this embodiment of the invention. Please refer to the description in the method section for details. To reduce redundancy, it will not be repeated here.

[0043] Example 3 This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method for adaptive adjustment of welding torch posture for complex welds.

[0044] Example 4 This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the above-described method for adaptive adjustment of welding torch posture for complex welds.

[0045] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0046] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0047] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0048] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0049] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0050] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for adaptive adjustment of welding torch posture for complex welds, characterized in that, The steps include the following: The point cloud data of the weld to be welded is collected in real time by a 4D structured light camera mounted on the welding torch. The point cloud data of the weld to be welded is converted into a weld trajectory, including segmenting the weld area to be welded from the welding area and converting the point cloud data of the weld area to be welded into a continuous weld trajectory. The step of segmenting the weld area to be welded from the welding area includes: segmenting the weld area to be welded from the welding area using a point cloud segmentation algorithm. Specifically, the point cloud on the weld surface and the background point cloud have significant differences in a certain spatial direction. By setting a threshold value that is the most suitable value that maximizes the difference, the point cloud on the weld surface is distinguished from other background point clouds to obtain the point cloud mask of the weld. Key features of the weld are extracted based on the weld trajectory, and key points of the weld are determined. The calculation of the tangent and normal directions of each weld key point includes: calculating the tangent and normal directions of the weld and the spatial relationship between the tangent and normal based on the weld trajectory and the spatial distribution of the weld key points; then calculating the spatial coordinate difference between each weld key point and its adjacent points; calculating the tangent direction vector of the weld key point based on the spatial coordinate difference; performing plane fitting on the local region of the point cloud; calculating the normal direction of each weld key point; and using principal component analysis to obtain the normal direction of each local region of the point cloud by analyzing the principal components of the point cloud. For different types of welds, the ideal motion trajectory of the welding torch is obtained by segmenting the path based on the key features of the weld. Based on the ideal motion trajectory of the welding torch, the attitude of the welding torch is determined by the tangent and normal directions of each key point of the weld. This includes: the attitude of the welding torch at each position point is determined by the normal direction of the tangent plane so that the end of the welding torch always moves along the center line of the weld. At the same time, the normal direction is used as a reference to keep the welding torch perpendicular to the weld surface. The deviation between the welding torch and the weld is calculated based on the real-time collected point cloud data and the ideal trajectory of the weld. The attitude correction command is generated based on the deviation calculation results to adjust the path and attitude of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld surface.

2. The adaptive adjustment method for welding torch posture for complex welds as described in claim 1, characterized in that, B-spline curve fitting or weighted least squares fitting algorithm is used to transform point cloud data into continuous weld seam trajectory.

3. The adaptive adjustment method for welding torch posture for complex welds as described in claim 1, characterized in that, When the ideal motion trajectory of the welding torch is obtained by segmenting the path based on the key features of the weld for different types of welds, the segmented path planning strategy includes segmenting the entire weld according to the geometric features of the weld. The division criteria for different segments include the start and end points of the weld, the curvature change points, the corner positions, and the changes in the weld type. In each segment, the corresponding centerline point set is extracted, and the tangent and normal directions are calculated as geometric constraints for the path planning of that segment.

4. The adaptive adjustment method for welding torch posture for complex welds as described in claim 1, characterized in that, In complex weld areas, the welding torch angle is adjusted according to the local curvature of the weld. The adjustment strategy is as follows: When the local curvature is less than the set curvature, the welding torch posture remains strictly perpendicular to the weld normal direction. As the local curvature gradually increases, the transition angle of the posture is calculated by using the geometric relationship between the radius of curvature and the length of the welding torch, so that the welding torch produces a set tilt angle relative to the normal direction of the weld. For corners or locations with sudden changes in curvature, gradually adjust the welding torch angle and gradually restore it after exiting the bend to ensure a smooth transition in the posture change process.

5. The adaptive adjustment method for welding torch posture for complex welds as described in claim 1, characterized in that, The strategy for adjusting the path and orientation of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld surface is as follows: At each path point, the local tangent and normal directions are calculated based on point cloud computing to align the welding torch spindle with the normal and keep it perpendicular to the weld surface. At the same time, the forward attitude is constrained by referring to the tangent direction. Maintain strict perpendicularity in straight sections, and gradually adjust the welding torch angle in advance according to the curvature of curved sections with a curvature greater than the set value, while reducing the speed accordingly.

6. A welding torch posture adaptive adjustment system for complex welds, employing the welding torch posture adaptive adjustment method for complex welds as described in any one of claims 1-5, characterized in that, include: The point cloud data acquisition module is used to acquire point cloud data of the weld to be welded during the welding process. The key point extraction module is used to convert the point cloud data of the weld to be welded into the weld trajectory, extract the key features of the weld based on the weld trajectory, and determine the key points of the weld. The tangent and normal calculation module is used to calculate the tangent and normal directions of each key point of the weld. The attitude planning module is used to perform segmented path planning for different types of welds, combining the key features of the welds to obtain the ideal motion trajectory of the welding torch. Based on the ideal motion trajectory of the welding torch, the attitude of the welding torch is determined by combining the tangent and normal directions of each key point of the weld. The adaptive adjustment module is used to calculate the deviation between the welding torch and the weld seam based on the real-time collected point cloud data and the ideal trajectory of the weld seam. Based on the deviation calculation results, it generates attitude correction commands to adjust the path and attitude of the welding torch to ensure that the welding torch always maintains the optimal angle with the weld seam surface.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements a welding torch posture adaptive adjustment method for complex welds as described in any one of claims 1-5.

8. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements a welding torch posture adaptive adjustment method for complex welds as described in any one of claims 1-5.

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