Tool working track generation method and device and electronic equipment

Abstract

The invention provides a tool working track generation method and device and electronic equipment, and relates to the technical field of computers.The method comprises the steps that a reference workpiece model and a workpiece information file corresponding to a to-be-processed workpiece are obtained, the reference workpiece model is a wireframe model, and the workpiece information file comprises tool working point position information; the reference workpiece model is subjected to model conversion, a target workpiece model is obtained, and the target workpiece model is a triangular plate model; performing model surface screening on the target workpiece model according to the tool working point position information to obtain a plurality of target model surfaces; according to the tool working point position information and the multiple target model surfaces, a tool working track corresponding to the to-be-processed workpiece and the tool working point position information is generated, and the tool working track is used for indicating the pose information of the tool working point in the process that the tool processes the to-be-processed workpiece. The problem that actual and accurate work cannot be carried out on the track generated by an existing tool working track generation method is solved.

Description

Technical Field

[0001] This application relates to the field of work technology, specifically to a method, apparatus, and electronic device for generating tool work trajectories. Background Technology

[0002] Welding (a type of tool welding) is a process that uses heating, pressurization, or both to create atomic bonds between separated workpieces. As a key joining technology, welding plays an irreplaceable role in industrial production and daily life.

[0003] In existing technologies, when generating tool work trajectories, such as the scheme disclosed in CN 120326640A, the overall point cloud data of the workpiece point cloud model is usually input into the model. The model is then used to distinguish between weld seam point clouds and non-weld seam point clouds in the point cloud model. After that, the non-weld seam point cloud data is processed in a targeted manner to form the weld seam trajectory corresponding to the workpiece. However, this method cannot generate the tool work trajectory based solely on the tool's working point. Moreover, this method can only find the weld seam in the workpiece. But when there are multiple workpiece surfaces in the workpiece, and there are weld seams that need to be processed between the close-knit surfaces, the generated tool work trajectory will not be able to perform actual and accurate work because the tool will collide with the workpiece surface.

[0004] There is currently no effective technical solution to the problem that the trajectories generated by existing tool trajectory generation methods cannot be used for actual and accurate work. Summary of the Invention

[0005] This application provides a method, apparatus, and electronic device for generating tool work trajectories, relating to the field of computer technology, and solves the problem that existing methods for generating tool work trajectories cannot generate trajectories that are accurate for actual work.

[0006] According to one aspect of the embodiments of this application, a method for generating a tool work trajectory is provided, comprising: acquiring a reference workpiece model and a workpiece information file corresponding to a workpiece to be processed, wherein the reference workpiece model is a wireframe model and the workpiece information file includes tool workpoint position information; performing model conversion on the reference workpiece model to obtain a target workpiece model, wherein the target workpiece model is a triangular piece model; filtering model faces of the target workpiece model according to the tool workpoint position information to obtain multiple target model faces corresponding to the tool workpoint position information; generating a tool work trajectory corresponding to the workpiece to be processed and the tool workpoint position information according to the tool workpoint position information and the multiple target model faces, wherein the tool work trajectory is used to indicate the pose information of the tool workpoint during the process of the tool processing the workpiece to be processed.

[0007] According to another aspect of the embodiments of this application, a tool work trajectory generation apparatus is provided, comprising: an acquisition unit, configured to acquire a reference workpiece model and a workpiece information file corresponding to a workpiece to be processed, wherein the reference workpiece model is a wireframe model and the workpiece information file includes tool work point position information; a model conversion unit, configured to perform model conversion on the reference workpiece model to obtain a target workpiece model, wherein the target workpiece model is a triangular piece model; a filtering unit, configured to filter the model faces of the target workpiece model according to the tool work point position information to obtain multiple target model faces corresponding to the tool work point position information; and a trajectory generation unit, configured to generate a tool work trajectory corresponding to the workpiece to be processed and the tool work point position information according to the tool work point position information and the multiple target model faces, wherein the tool work trajectory is used to indicate the pose information of the tool work point during the process of the tool processing the workpiece to be processed.

[0008] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, which stores computer instructions for causing a computer to execute the method for generating the tool's work trajectory as described above.

[0009] According to another aspect of the embodiments of this application, an electronic device is also provided, the electronic device including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the above-described method for generating tool work trajectories.

[0010] Compared with the prior art, the technical solution provided in this application embodiment may include the following beneficial effects:

[0011] The above-described method for generating tool work trajectories solves the problem that existing methods cannot generate trajectories that are actually accurate for work. It can generate tool work trajectories based solely on the tool's work point location information and automatically avoid collisions between the tool and the workpiece surface, thereby achieving accurate work. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the hardware environment for an optional method of generating a tool work trajectory according to an embodiment of the present invention;

[0014] Figure 2 This is a flowchart of an optional method for generating a tool work trajectory according to an embodiment of the present invention;

[0015] Figures 3a-3c This is a schematic diagram of an optional method for generating a tool work trajectory according to an embodiment of the present invention;

[0016] Figures 4a-4b This is a schematic diagram of an obstacle avoidance method in an optional tool work trajectory generation method according to an embodiment of the present invention;

[0017] Figure 5 This is a schematic diagram of the structure of an optional tool work trajectory generation device according to an embodiment of the present invention;

[0018] Figure 6 This is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present invention. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, 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 terms can be interchanged where appropriate so that embodiments of the invention 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 a 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.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] To address the problem that existing methods for generating tool work trajectories often fail to produce accurate results during actual operation, this application provides a method for generating tool work trajectories. As an optional implementation, this method can be applied, but is not limited to, methods such as... Figure 1 The tool work trajectory generation system shown consists of terminal device 102 and server 104. For example... Figure 1 As shown, terminal device 102 is connected to server 104 via network 110. Network 110 may include, but is not limited to, wired networks and wireless networks. The wired network includes local area networks (LANs), metropolitan area networks (MANs), and wide area networks (WANs). The wireless network includes Bluetooth, Wi-Fi, and other networks that enable wireless communication. Terminal device 102 may include, but is not limited to, at least one of the following: mobile phones (such as Android phones, iOS phones, etc.), laptops, tablets, handheld computers, MIDs (Mobile Internet Devices), tablets, desktop computers, smart TVs, etc.

[0023] The terminal device 102 is further equipped with a display 106, a processor 108, and a memory 112. The display 106 can be used to display the area where the tool's working trajectory is generated. The processor 108 can be used to process the workpiece model to be worked on. The memory 112 can be used to store various models and data involved in this application. The server 104 can be a single server, a server cluster composed of multiple servers, or a cloud server. The server 104 includes a database 114 and a processing engine 116. The database 114 can be used to store various models and data involved in this application, and the processing engine 116 is used to process the model surface data and triangles corresponding to the various models.

[0024] According to one aspect of the present invention, the above-described tool trajectory generation system may further perform the following steps: First, the terminal device 102 executes S102, sending a tool trajectory generation request to the server 104 via the network 110; then the server 104 executes S104 to S110: obtaining a reference workpiece model and a workpiece information file corresponding to the workpiece to be processed, wherein the reference workpiece model is a wireframe model, and the workpiece information file includes tool working point position information; performing model conversion on the reference workpiece model to obtain a target workpiece model, wherein the target workpiece model is a triangular piece model; filtering the model faces of the target workpiece model according to the tool working point position information to obtain multiple target model faces corresponding to the tool working point position information; generating a tool trajectory corresponding to the workpiece to be processed and the tool working point position information according to the tool working point position information and the multiple target model faces, wherein the tool trajectory is used to indicate the pose information of the tool working point during the process of the tool processing the workpiece to be processed.

[0025] In the above embodiments of the present invention, the above-described method for generating tool work trajectories solves the problem that the trajectories generated by existing methods for generating tool work trajectories cannot perform actual and accurate work. The tool work trajectory can be generated based solely on the tool work point position information and automatically avoids collisions between the tool and the workpiece surface, thereby achieving actual and accurate work.

[0026] The above is merely an example, and no limitations are made in this embodiment.

[0027] As an alternative implementation method, please refer to Figure 2 This document illustrates a flowchart of a method for generating a tool work trajectory according to an embodiment of this application. The execution entities for each step of this method can be the terminal devices and servers described above. In the following method embodiments, for ease of description, only the execution entity for each step is referred to as a "computer device." The method may include at least one of the following steps (S202 to S208): S202, obtaining a reference workpiece model and a workpiece information file corresponding to the workpiece to be processed, wherein the reference workpiece model is a wireframe model, and the workpiece information file includes tool workpoint position information; S204, performing model conversion on the reference workpiece model to obtain a target workpiece model, which is a triangular piece model; S206, filtering the model faces of the target workpiece model according to the tool workpoint position information to obtain multiple target model faces corresponding to the tool workpoint position information; S208, generating a tool work trajectory corresponding to the workpiece to be processed and the tool workpoint position information based on the tool workpoint position information and the multiple target model faces, wherein the tool work trajectory is used to indicate the pose information of the tool workpoint during the process of the tool processing the workpiece to be processed.

[0028] It should be noted that welding processes (the work performed by the tool) include fusion welding, pressure welding, brazing, and other processing techniques that enable atomic bonding between metallic or non-metallic materials. In S202 above, when obtaining the reference workpiece model corresponding to the workpiece to be processed, the initial model of the workpiece to be processed is obtained first. The initial model can be a common three-dimensional model (such as a solid model), which can be obtained from other software, such as CAD software. Since common three-dimensional models contain complete geometric information (such as surface information, volume information, etc.), the data structure is relatively complex, which can easily lead to the simplification or loss of detailed features during calculation, resulting in inaccurate tool trajectory generation. Therefore, after obtaining the initial model, this application converts the initial model into a wireframe model to obtain the reference workpiece model. Since the wireframe model only stores vertex and edge information (such as vertex coordinates and edge connection relationships) and does not involve complex data structures of surfaces or volumes, detailed features can be completely preserved during calculation, ensuring the accuracy of the tool trajectory generation. In addition, the tool working point position information in S202 above includes the working start point position information and the working end point position. Position information (i.e., the position coordinates of the work start point and work end point on the reference workpiece model; for example, if the tool is performing welding work, the work start point position information and work end point position information are the welding start point and welding end point position information on the reference workpiece model). In actual operation, the start point position and end point position of the work can be automatically or manually set and distinguished according to different process requirements, work path planning or quality control standards. The tool work point position information can be obtained in various forms such as tables (e.g., parsed from Excel spreadsheets, Word documents, etc.). In S204 above, the process of converting the reference workpiece model into the target workpiece model includes, but is not limited to, converting the wireframe model into a triangular piece model. The triangular piece model refers to the splicing of a large number of triangular facets to form the surface of a complete workpiece. This step can be understood as adding a workpiece surface (triangular piece model) spliced ​​with small triangles to the outline and frame (wireframe model) of the workpiece. The purpose of obtaining the triangular piece model is to prepare for subsequent screening and other steps. The triangular piece model can be in STL format, OBJ format, etc.

[0029] In S206 above, the purpose of filtering the model surfaces of the target workpiece model based on the tool working point position information is to remove model surfaces unrelated to the working point (such as a welding point) and parts of the model surface where the working point is located that are unrelated to the actual work (such as actual welding), leaving only the multiple target model surfaces where the working point is located that participate in the actual work, i.e., the multiple target model surfaces corresponding to the tool working point position information. In S208 above, the pose information of the tool working point indicates the position and orientation information of the working point. The position information can be used to accurately locate the working point using coordinates, and the orientation information can indicate the angle and other orientation of the tool when processing the working point (such as welding the welding point). The tool mentioned above can be understood as, but is not limited to, a welding gun, and the work mentioned above can be understood as, but is not limited to, welding.

[0030] Through the above-described embodiments of this application, the above-described tool work trajectory generation method solves the problem that the trajectory generated by the existing tool work trajectory generation method cannot perform actual and accurate work. It can generate the tool work trajectory based solely on the tool work point position information and automatically avoid collisions between the tool and the workpiece surface, thereby achieving actual and accurate work.

[0031] As an optional implementation, the above-mentioned method of filtering the model faces of the target workpiece model based on the tool working point position information to obtain multiple model faces corresponding to the tool working point position information includes: S1, parsing the work start point position information and work end point position information included in the tool working point position information from the workpiece information file; S2, obtaining multiple first triangles and multiple first model faces included in the target workpiece model, and calculating the first distance between the target working point and the multiple first triangles to obtain multiple first distances, wherein the target working point is any point between the work start point and the work end point; S3, performing a first filtering operation on the multiple first model faces based on the multiple first distances to obtain multiple second model faces; S4, performing a second filtering operation on the multiple second model faces based on the work start point position information, the work end point position information, and the multiple second triangles included in the multiple second model faces to obtain multiple target model faces.

[0032] It should be noted that in this embodiment, the target working point needs to be determined according to the shape of the weld. If it is a straight weld, the target working point is any point between the working start point and the working end point (i.e., the target working point is either the working start point or the working end point). If it is an arc (curved) weld, the target working point is any point between the working start point and the working end point. The specific weld can be determined by parsing from the workpiece information file, or it can be determined by scanning and identifying the working start point and the working end point through a scanning device and then fitting the results. This application does not limit the specific method of determining the weld.

[0033] like Figure 3aAs shown, the workpiece 100 to be processed includes model surfaces 1 to 5. Model surface 1 is perpendicular to model surfaces 2, 3, and 4, and model surface 3 is perpendicular to model surfaces 2 and 4. The connection between model surface 1 and model surface 5 needs to be processed (such as welding). The part that needs to be processed forms a weld (i.e., line segment AB with points A and B as endpoints in the figure). First, the position information of the starting point A and the ending point B are parsed from the workpiece information file of the workpiece 100 to be processed. Second, the model surfaces 1-5 (i.e., the first model surfaces) in the workpiece 100 to be processed, and the first triangles (i.e., forming the target workpiece model) in the target workpiece model (triangular piece model) obtained by model transformation of the reference workpiece model, are obtained. Third, the starting point A and the ending point B are taken as the target working points (in the case of straight weld seam), and the vertical distance between the target working point and each of the first triangles that make up the model surfaces 1-5 is calculated. The obtained vertical distances are taken as multiple first distances: taking the starting point A as the target working point as an example, the vertical distance between the starting point A and any first triangle is calculated, and the vertical distance is taken as the first distance. If the first distance is 0, it means that the starting point A is on the model surface where the first triangle is located. If the first distance is not 0, it means that the starting point A is not on the model surface where the first triangle is located. Then, the ending point B is taken as the target working point and the same calculation is performed to obtain multiple first distances. After obtaining all the first distances, the first triangles are filtered based on these first distances, removing those whose first distance to the starting point A and / or ending point B is not 0. This step is equivalent to filtering out model faces that do not include the starting point A or ending point B (i.e., the first filtering operation): Taking model face 1 and model face 2 as examples, for model face 1, since both the starting point A and ending point B are on model face 1, the first distance (vertical distance) between all the first triangles on model face 1 and the starting point A and ending point B is 0, and the entire model face 1 is retained; for model face 2, since the starting point A is not on model face 2, the first distance (vertical distance) between all the first triangles on model face 2 and the starting point A is not equal to 0, therefore, the entire model face 2 is filtered out. Similarly, other model faces are judged, and finally, only model face 1 and model face 5 (i.e., Figure 3b In other words, through the first filtering operation in step S3, the model surfaces where the work start point A and the work end point B are located are retained as the second model surfaces, while other model surfaces are filtered out.

[0034] The operation in S3 above can be understood, but is not limited to, as the selection of triangles based on whether the target working point is on the model surface where the triangle is located. Specifically, the operation of calculating the first distance between the target working point and the multiple first triangles to obtain multiple first distances includes: projecting the target working point onto the multiple first triangles respectively to obtain multiple projection points; and calculating the distance between the target working point and the multiple projection points respectively to obtain multiple first distances.

[0035] As an optional implementation, a second filtering operation is performed on multiple second model surfaces based on the work start point location information, the work end point location information, and multiple second triangles included in multiple second model surfaces to obtain multiple target model surfaces. This includes: S1, calculating a first vector from the target work point to a reference work point, wherein the reference work point is a work point other than the target work point among the work start point and the work end point; S2, calculating a vector from the target work point to the center of multiple second triangles to obtain multiple second vectors; S3, calculating the angle between the first vector and the multiple second vectors to obtain multiple vector angles, and performing a second filtering operation on the multiple second model surfaces based on the multiple vector angles to obtain multiple target model surfaces.

[0036] like Figure 3b As shown, first, the work termination point B is taken as the target work point, and the work start point A is taken as the reference work point. The vector from the target work point B to the reference work point A is taken as the first vector (the direction of the first vector in the figure is BA→). Next, the vector from the target work point B to the center of the multiple second triangles that make up the second model surface is taken as the second vector. Then, the angle between the first vector and the multiple second vectors is calculated to obtain the angle between the multiple vectors. Figure 3b It can be concluded that the angle between the vector from the work termination point B to the center of the second triangular piece and the vector BA→ is the vector angle. The above-mentioned second filtering operation on multiple second model faces based on multiple vector angles can be, but is not limited to: if the vector angle is acute, then retain the second triangular piece; if the vector angle is not acute, then discard the second triangular piece. Finally, the retained second triangular pieces form multiple model faces, combined with... Figure 3b As can be seen, line segment PQ divides model surface 1 into left and right parts, and line segment PQ is perpendicular to vector BA→. On model surface 1, the vector angle corresponding to the second triangle on the left side of line segment PQ (the side of the starting point A) is an acute angle and is retained, while the vector angle corresponding to the second triangle on the right side of line segment PQ is not an acute angle and is completely eliminated. Finally, after the second filtering operation, the retained model surfaces are the left part 1' of model surface 1 and model surface 5 (e.g., Figure 3c (As shown). Based on the above analysis, it can be seen that the second screening operation further eliminated the parts of the second model surface that are unrelated to weld AB (the second triangular piece whose vector angle is not acute).

[0037] As an optional implementation, the above-mentioned generation of a tool working trajectory corresponding to the workpiece to be processed and the tool working point position information based on the tool working point position information and multiple model surfaces includes: determining the common model surface where the working start point and the working end point are located from multiple target model surfaces; determining the weld shape between the working start point and the working end point based on the target model surface; determining the normal vectors of multiple target model surfaces respectively, and determining the tool working trajectory based on the weld shape, multiple normal vectors, and multiple target model surfaces.

[0038] The above-mentioned determination of the tool's working trajectory based on the weld shape, multiple normal vectors, and multiple target model surfaces specifically includes: S1, determining the tool's horizontal axis direction based on the weld shape; S2, determining the angle bisector direction of multiple target model surfaces based on multiple normal vectors, and determining the angle bisector direction as the tool's initial vertical axis direction; S3, determining the tool's initial vertical axis direction based on the horizontal axis direction and the initial vertical axis direction using the right-hand rule or the right-hand screw rule; S4, obtaining the robot's axis length information, and binding and adjusting the initial vertical axis direction and the initial vertical axis direction based on the axis length information, multiple target model surfaces, the starting point position information, and the ending point position information to obtain the tool's working trajectory.

[0039] according to Figure 3cIt can be seen that the common model surfaces where the starting point A and ending point B of the workpiece 100 are located are model surface 1' and model surface 5. The weld shape between these two surfaces can be confirmed through model surface 1' and model surface 5, i.e., line segment AB in the figure. The vector AB→ is taken as the X-axis direction of the tool. In this embodiment, the X-axis direction is the direction in which the tool moves along the weld. Next, the normal vectors of model surface 1' and model surface 5 are determined respectively, and the angle bisector of model surface 1' and model surface 5 is obtained based on the two normal vectors. Since model surface 1' and model surface 5 are perpendicular to each other in this embodiment, the angle bisector is perpendicular to model surface 1' and model surface 5. Model surface 5 is at a 45° angle. The angle bisector is used as the initial vertical axis of the tool, i.e., the Y-axis in the diagram. The Y-axis indicates the initial direction the tool is pointing towards the weld. By using the angle bisector as the initial vertical axis, the tool is aligned with the center of the weld, ensuring the weld metal is evenly deposited on both sides of the model surface. After confirming the X and Y axes, the initial longitudinal axis of the tool, i.e., the Z-axis in the diagram, can be obtained using the right-hand rule or the right-hand screw rule. As shown in the above analysis, confirming the X, Y, and Z axes confirms the tool's complete initial three-dimensional spatial posture. The axis length information in S4 represents the physical parameters of the robot (such as the length and dimensions of each joint). By binding and adjusting the initial vertical and longitudinal axes based on the axis length information, multiple target model surfaces, the starting point position information, and the ending point position information (i.e., adjusting the tool angle to avoid collisions), the tool's working trajectory can be obtained.

[0040] It should be noted that the weld shape in S1 above includes, but is not limited to, the straight weld in the embodiment, and may also include the circular arc weld. If it is a straight weld, the horizontal axis direction is set to the direction from the working start point to the working end point. If it is a curved weld, the horizontal axis direction is set to the tangent direction of the weld.

[0041] As an optional implementation, the above-mentioned binding and adjustment of the initial vertical axis direction and the initial longitudinal axis direction based on axis length information, multiple target model surfaces, work start point position information, and work end point position information to obtain the tool work trajectory includes: S1, determining the adjacent model surfaces of multiple target model surfaces in the target direction, wherein the target direction is the direction perpendicular to the first vector, and the first vector is the vector from the target work point to the reference work point; S2, taking any work point as the center point of the obstacle avoidance model, and establishing the obstacle avoidance model based on the axis length information and the safety margin, wherein the safety margin includes the work... The tool has a preset distance between the nozzle and the working point, and a preset minimum distance between the tool and the adjacent model surface. The obstacle avoidance model includes a cylindrical model and a spherical model. S3, determine whether there is an intersection between the obstacle avoidance model and the adjacent model surface. If there is an intersection, adjust the initial vertical axis direction and the initial longitudinal axis direction according to the intersection, and determine the vertical axis direction, longitudinal axis direction and horizontal axis direction obtained after the adjustment as the tool working trajectory when the tool processes the weld. S4, if there is no intersection, determine the horizontal axis direction, the initial vertical axis direction and the longitudinal axis direction as the tool working trajectory when the tool processes the weld.

[0042] The aforementioned safety margin can be understood, but is not limited to, as the preset distance between the welding torch nozzle and the welding point. Figure 4a and Figure 4b In this model, the adjacent model surface to the target model surface is model surface 2. Taking the working point C between the starting point A and the ending point B as an example, a cylindrical obstacle avoidance model M is constructed with working point C as the center point. Working point C is the axial center of the cylindrical obstacle avoidance model M, and the axial direction of the cylindrical obstacle avoidance model M is determined by different weld types, workpiece positions, and other actual conditions, including but not limited to: when the possible collisions are mainly in the vertical direction of the tool, the axial direction of the cylindrical obstacle avoidance model M coincides with weld AB (e.g., ...). Figure 4a As shown), when the possible collisions are mainly on the left and right sides of the tool, the axis of the cylindrical obstacle avoidance model M is perpendicular to the angle bisectors of weld AB, model surface 1', and model surface 5 (as shown). Figure 4b(As shown). The height and radius of the cylindrical obstacle avoidance model M are determined by the axis length information and the safety margin. The axis length information is the physical parameters of the working robot body (such as the length and size of each joint), including but not limited to the distance from the tool handle to the nozzle and the height of the tool's gun body. The safety margin includes but is not limited to the preset distance from the tool nozzle to the welding point (this preset distance is determined by factors such as the working current (such as the welding current) and the working method (such as the welding method)) and the preset minimum distance between the tool and the adjacent model surface (this distance can be a safety distance defined by the tool before it works). In other words, the cylindrical obstacle avoidance model M includes the overall range of motion of the tool during the processing of the working point C. If the distance between work point C and work termination point B is relatively far, and the cylindrical obstacle avoidance model M at work point C does not intersect with model surface 2, it means that there is no risk of the tool colliding with model surface 2 during the processing of work point C. The tool can then perform normal work according to the initial vertical axis and initial longitudinal axis. If the distance between work point C and work termination point B is very close, and the cylindrical obstacle avoidance model M at work point C intersects with model surface 2, it means that there is a greater risk of the tool colliding with model surface 2 during the processing of work point C. The tool handle needs to be adjusted towards the work start point A, and obstacle avoidance drag welding should be performed on work point C to avoid collision.

[0043] It should be noted that the shape of the obstacle avoidance model includes, but is not limited to, cylinders, spheres, etc., and can be selected according to the working requirements of different processes (such as welding requirements).

[0044] Through the above-described embodiments of this application, the above-described tool work trajectory generation method solves the problem that the existing tool work trajectory generation methods cannot generate trajectories that are actually accurate for work. The tool work trajectory can be generated based solely on the tool work point and collisions between the tool and the workpiece surface can be automatically avoided, thereby achieving actual accurate work.

[0045] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0046] According to another aspect of the present invention, an apparatus for generating tool work trajectories for implementing the above-described method for generating tool work trajectories is also provided, such as... Figure 5 As shown, the device includes:

[0047] The acquisition unit 502 is used to acquire the reference workpiece model and workpiece information file corresponding to the workpiece to be processed. The reference workpiece model is a wireframe model, and the workpiece information file includes tool working point position information.

[0048] The model conversion unit 504 is used to convert the reference workpiece model to obtain the target workpiece model, which is a triangular piece model.

[0049] The filtering unit 506 is used to filter the model surfaces of the target workpiece model according to the tool working point position information, and obtain multiple target model surfaces corresponding to the tool working point position information.

[0050] The trajectory generation unit 508 is used to generate a tool working trajectory corresponding to the workpiece to be processed and the tool working point position information based on the tool working point position information and multiple target model surfaces. The tool working trajectory is used to indicate the pose information of the tool working point during the process of the tool processing the workpiece to be processed.

[0051] The specific methods of execution of each unit in the above device embodiments have been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0052] According to another aspect of the present invention, an electronic device for implementing the above-described method for generating tool work trajectories is also provided. This electronic device may be as follows: Figure 6 The terminal device or server shown. This embodiment uses this electronic device as an example for illustration. Figure 6 As shown, the electronic device includes: at least one processor 604; and a memory 602 communicatively connected to the at least one processor 604; wherein the memory 602 stores a computer program executable by the at least one processor 604, the computer program being executed by the at least one processor 604 to cause the at least one processor 604 to perform the steps in any of the above-described embodiments of the tool trajectory generation method. The electronic device may be located in at least one of a plurality of network devices in a computer network. The processor may be configured to execute the various steps in the above-described tool trajectory generation method via the computer program.

[0053] Alternatively, as those skilled in the art will understand, Figure 6 The structure shown is for illustrative purposes only. Electronic devices can also be smartphones, tablets, handheld computers, mobile internet devices (MIDs), PADs, and other terminal devices. Figure 6 This does not limit the structure of the aforementioned electronic devices. For example, the electronic device may also include components that are more... Figure 6 The more or fewer components shown (such as network interfaces, etc.), or having the same Figure 6 The different configurations shown.

[0054] The memory 602 can be used to store software programs and modules, such as the program instructions / modules corresponding to the tool work trajectory generation method and apparatus in this embodiment of the invention. The processor 604 executes various functional applications and data processing by running the software programs and modules stored in the memory 602, thereby realizing the above-mentioned tool work trajectory generation method. The memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 602 may further include memory remotely located relative to the processor 504, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Specifically, the memory 602 may be used, but is not limited to, to store various models and data involved in this application. As an example, such as Figure 6 As shown, the memory 602 may include, but is not limited to, the acquisition unit 502, model conversion unit 504, filtering unit 506, and trajectory generation unit 508 in the tool trajectory generation device. Furthermore, it may include, but is not limited to, other module units in the tool trajectory generation device, which will not be elaborated upon in this example.

[0055] Optionally, the transmission device 606 described above is used to receive or send data via a network. Specific examples of the network described above may include wired networks and wireless networks. In one example, the transmission device 606 includes a Network Interface Controller (NIC), which can be connected to other network devices and a router via a network cable to communicate with the Internet or a local area network. In one example, the transmission device 606 is a Radio Frequency (RF) module, used for wireless communication with the Internet. Furthermore, the electronic device described above also includes a display 608 and a connection bus 610 for connecting the various module components in the electronic device.

[0056] In other embodiments, the aforementioned terminal device or server can be a node in a distributed system, wherein the distributed system can be a blockchain system, which is a distributed system formed by connecting multiple nodes through network communication. The nodes can form a peer-to-peer (P2P) network, and any form of computing device, such as a server, terminal, or other electronic device, can become a node in the blockchain system by joining this peer-to-peer network.

[0057] According to one aspect of this application, a computer program product is provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions provided in embodiments of this application.

[0058] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0059] According to one aspect of this application, a computer-readable storage medium is provided, from which a processor of a computer device reads computer instructions, and executes the computer instructions, causing the computer device to perform the aforementioned method for generating a tool trajectory. The aforementioned computer-readable storage medium may be configured to store a computer program for performing the aforementioned method for generating a tool trajectory.

[0060] Those skilled in the art will understand that all or part of the processes in the above method 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 described in the above method embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory (FM), hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0061] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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 several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0062] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0063] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for generating a tool's working trajectory, characterized in that, include: Obtain the reference workpiece model and workpiece information file corresponding to the workpiece to be processed, wherein the reference workpiece model is a wireframe model and the workpiece information file includes tool working point position information; The reference workpiece model is transformed to obtain the target workpiece model, which is a triangular piece model; Based on the tool working point position information, the target workpiece model is filtered to obtain multiple target model surfaces corresponding to the tool working point position information; Based on the tool working point position information and multiple target model surfaces, a tool working trajectory corresponding to the workpiece to be processed and the tool working point position information is generated. The tool working trajectory is used to indicate the pose information of the tool working point during the process of the tool processing the workpiece to be processed.

2. The method according to claim 1, characterized in that, Based on the tool working point position information, the target workpiece model is filtered to obtain multiple target model surfaces corresponding to the tool working point position information, including: The tool working point position information, including the working start point position information and the working end point position information, is parsed from the workpiece information file. Obtain multiple first triangular pieces and multiple first model faces included in the target workpiece model, and calculate the first distance between the target working point and the multiple first triangular pieces to obtain multiple first distances, wherein the target working point is any point between the working start point and the working end point; A first filtering operation is performed on multiple first model surfaces based on multiple first distances to obtain multiple second model surfaces; Based on the work start point location information, the work end point location information, and the multiple second triangular pieces included in the multiple second model surfaces, a second filtering operation is performed on the multiple second model surfaces to obtain multiple target model surfaces.

3. The method according to claim 2, characterized in that, Calculate the first distances between the target working point and the plurality of first triangles to obtain a plurality of first distances, including: The target working point is projected onto multiple first triangular pieces respectively to obtain multiple projection points; The distances between the target working point and the multiple projection points are calculated respectively to obtain multiple first distances.

4. The method according to claim 3, characterized in that, Based on the work start point location information, the work end point location information, and the multiple second triangular pieces included in the multiple second model surfaces, a second filtering operation is performed on the multiple second model surfaces to obtain multiple target model surfaces, including: Calculate a first vector from the target working point to the reference working point, wherein the reference working point is a working point other than the target working point among the working start point and the working end point; Calculate the vector from the target working point to the centers of the multiple second triangular pieces to obtain multiple second vectors; Calculate the angle between the first vector and the plurality of second vectors to obtain the plurality of vector angles, and perform a second filtering operation on the plurality of second model surfaces according to the plurality of vector angles to obtain the plurality of target model surfaces, wherein the target model surface is the common model surface where the work start point and the work end point are located.

5. The method according to claim 2, characterized in that, Based on the tool working point position information and multiple target model surfaces, a tool working trajectory corresponding to the workpiece to be processed and the tool working point position information is generated, including: Determine the common model surface containing the work start point and the work end point from among the multiple target model surfaces; The weld shape between the working start point and the working end point is determined based on the target model surface; The normal vectors of the multiple target model surfaces are determined respectively, and the working trajectory of the tool is determined according to the weld shape, the multiple normal vectors, and the multiple target model surfaces.

6. The method according to claim 5, characterized in that, The tool's working trajectory is determined based on the weld shape, multiple normal vectors, and multiple target model surfaces, including: The transverse axis direction of the tool is determined based on the shape of the weld. The angle bisector directions of the multiple target model surfaces are determined based on the multiple normal vectors, and the angle bisector directions are determined as the initial vertical axis direction of the tool; The initial vertical axis direction of the tool is determined by the right-hand rule or the right-hand screw rule based on the horizontal axis direction and the initial vertical axis direction. The axis length information of the working robot is obtained, and the initial vertical axis direction and the initial longitudinal axis direction are bound and adjusted according to the axis length information, multiple target model surfaces, the working start point position information, and the working end point position information to obtain the tool working trajectory.

7. The method according to claim 6, characterized in that, Based on the axis length information, multiple target model surfaces, the work start point position information, and the work end point position information, the initial vertical axis direction and the initial longitudinal axis direction are bound and adjusted to obtain the tool's working trajectory, including: Determine the adjacent model surfaces of the multiple target model surfaces in the target direction, wherein the target direction is the direction perpendicular to the first vector, and the first vector is the vector from the target working point to the reference working point; Using any working point as the center point of the obstacle avoidance model, and establishing the obstacle avoidance model based on the axis length information and safety margin, wherein the safety margin includes a preset distance between the tool and the working point and a preset minimum distance between the tool and the adjacent model surface, and the obstacle avoidance model includes a cylindrical model and a spherical model; Determine whether there is an intersection between the obstacle avoidance model and the adjacent model surface. If there is an intersection, adjust the initial vertical axis direction and the initial longitudinal axis direction according to the intersection. Then, determine the vertical axis direction, longitudinal axis direction and the transverse axis direction obtained after the adjustment as the tool working trajectory when the tool processes the weld. If there is no intersection, the horizontal axis direction, the initial vertical axis direction, and the longitudinal axis direction are determined as the tool working trajectory when the tool processes the weld.

8. A tool trajectory generation device, characterized in that, include: The acquisition unit is used to acquire a reference workpiece model and a workpiece information file corresponding to the workpiece to be processed, wherein the reference workpiece model is a wireframe model and the workpiece information file includes tool working point position information. The model conversion unit is used to convert the reference workpiece model to obtain the target workpiece model, wherein the target workpiece model is a triangular piece model. The filtering unit is used to filter the model surfaces of the target workpiece model according to the tool working point position information, so as to obtain multiple target model surfaces corresponding to the tool working point position information. The trajectory generation unit is used to generate a tool working trajectory corresponding to the workpiece to be processed and the tool working point position information based on the tool working point position information and multiple target model surfaces. The tool working trajectory is used to indicate the pose information of the tool working point during the process of the tool processing the workpiece to be processed.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the method for generating the tool work trajectory according to any one of claims 1-7.

10. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the tool work trajectory generation method according to any one of claims 1-7.

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