Large plate welding equipment control system

Abstract

The present application relates to the technical field of welding control, in particular to a large plate welding equipment control system, comprising a space normalization module, an address generation module, a path screening module, a structure verification module and an interconnection output module.In the present application, in the multi-machine collaborative working environment under strong electromagnetic interference of arc welding, the three-dimensional coordinates of the welding torch contact point are collected with high precision and space normalization processing is performed, which fundamentally eliminates the process data differences caused by different welding postures, a unified sequence number is constructed in combination with the starting timing of the core equipment of the welding power source and the wire feeder, a unique control address is generated by fusing the sequence identifier, the accurate mapping of the physical location of the equipment and the network address is realized, the logical connection sequence is intelligently constructed according to the proximity of the coordinate space, the node and path binding is completed synchronously, the rationality of the connection path and the stability of the communication structure are significantly improved, and the logical order, spatial clarity and control uniformity of the arc welding equipment group collaborative work are ensured.

Description

Technical Field

[0001] This invention relates to the field of welding control technology, and in particular to a control system for equipment used in welding large plate components. Background Technology

[0002] The field of welding control technology involves the precise control and coordination of various parameters during the welding process, including the setting and adjustment of control variables such as welding current, voltage, speed, heat input, welding sequence, and weld quality. It also includes monitoring the operating status of welding equipment, welding path planning, welding defect identification, and feedback control. Typically, closed-loop control of the entire welding process is achieved by setting welding process specifications, using sensors for real-time parameter acquisition, applying control algorithms to adjust process variables, and using controllers to drive the welding equipment. Specifically, a welding control system for large plate welding equipment refers to a system that connects and centrally controls multiple welding devices processing large-size welded structures via a network. It typically uses bus communication combined with control logic programming to achieve equipment numbering, instruction synchronization, and workflow linkage. Common methods include establishing device interconnection through serial links based on the RS485 communication protocol and using pre-set PLC programs to achieve sequential execution of task logic and status feedback for each device.

[0003] In the process of arc welding control, existing welding equipment lacks the ability to identify the physical distribution of welding equipment in real time when using bus communication and preset programs to build inter-equipment linkage. It relies on static numbering and fixed logic configuration. In complex welding scenarios, changes in equipment position or tasks can easily lead to connection logic confusion and command failure. Especially when dealing with multi-equipment interaction of large workpieces, path conflicts and communication bottlenecks are more prominent, making it difficult to ensure the integrity of the communication structure and the accuracy of the order of command transmission. Ultimately, this affects the continuity of the welding process and the consistency of equipment response. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a control system for large plate welding equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The control system for large plate welding equipment includes:

[0006] The normalization positioning module obtains the coordinate information of the first contact point of the welding torch of the mobile welding equipment in the welding area of ​​the large plate. Based on the distribution characteristics of the welding equipment, it sets the coordinate position normalization conditions and filters the reference point set. Combined with the start identifier of the welding equipment, it constructs the corresponding sorting number of the equipment in sequence to obtain the normalization control number.

[0007] The address generation module combines the sorted number in the normalized control number with the unique serial identifier information of the welding equipment to encode the two and construct the control address code of the welding equipment. The coordinate information is then bound and uploaded to the main control platform to obtain the address mapping structure.

[0008] Based on the address mapping structure, the path filtering module performs a combination sorting according to the spatial proximity relationship between coordinate points, arranges the welding equipment in sequence to construct a preliminary connection path for the welding equipment, and establishes a path marking sequence to output a path number sequence.

[0009] Based on the preliminary connection path data in the path number sequence, the structure verification module compares the spatial positions of the existing path structures each time a new connection is established, retains all connection chains that do not produce structural intersections, and marks them as usable communication path structures to obtain a chain-like communication structure.

[0010] Based on all path connection information in the chained communication structure, the interconnected output module synchronously completes node binding and path logic confirmation in the network topology, establishes unified linkage control information for welding equipment, and outputs welding control scheme for large plate welding equipment.

[0011] As a further aspect of the present invention, the normalization condition is that all first contact point coordinates recorded in the same welding task must be limited to the same plate plane reference frame, and meet the basic spatial calibration standards of unified coordinate units, consistent reference origins, and consistent coordinate dimensions.

[0012] As a further aspect of the present invention, the normalized control number includes welding equipment sorting parameters, reference point identifiers, and spatial normalization labels; the address mapping structure includes a control address mapping table, a coordinate binding information set, and a device address index library; the path number sequence includes a path identifier code set, a connection order sequence, and a candidate path index; the available communication path structure includes non-cross-connection chains, a set of valid communication nodes, and path verification identifiers; and the welding control scheme for large plate welding equipment includes control link configuration data, node path logical mapping results, and a unified linkage instruction set.

[0013] As a further aspect of the present invention, the normalization positioning module includes:

[0014] The coordinate element extraction submodule obtains the coordinate information of the first contact point of the welding equipment, extracts the horizontal and vertical elements in each set of coordinates, and sets coordinate normalization conditions based on the spatial distribution characteristics of the welding equipment. The normalization conditions include limiting the first contact point coordinates to be under the plate plane reference frame, having consistent coordinate units, consistent reference origins, and consistent coordinate dimensions. The extracted coordinates are then restructured and elements are merged to generate a unified coordinate matrix for the plate.

[0015] The reference point filtering submodule, based on the unified coordinate matrix of the board, calculates the relative offset difference of each coordinate point under the reference frame according to the spatial distribution law of the first contact point coordinates, determines whether the horizontal and vertical offset difference is within the reference point filtering threshold range, filters all coordinate point sets that meet the conditions, and generates a reference point set within the board.

[0016] The control number construction submodule establishes a pairing sequence between the start order and the reference point position based on the set of reference points within the board and the start identifier corresponding to each welding device. It calculates the corresponding number sequence value based on the combination order of the identifier and the point in the set in the pairing sequence, and reconstructs the identification number of the welding device according to the number sequence value to generate a normalized control number.

[0017] As a further aspect of the present invention, the address generation module includes:

[0018] The sorting and coding combination submodule obtains the normalized control number and the unique sequence identifier information of the welding equipment. Based on the one-to-one pairing principle, it reads the sorting value in the number sequence and the unique identifier of the corresponding equipment and concatenates the characters. The concatenation form is to use the unique identifier as a prefix and the sorting number as a suffix to form a combination code, and generates a welding equipment combination code set.

[0019] The control address construction submodule is based on the welding equipment combination code set. It sets the address field structure to a three-segment structure, namely the equipment identification segment, the sorting identification segment, and the verification segment. It combines the contents of each item in the combination code as the first two segment field contents, performs cyclic redundancy check on the combination code, splices the three segment field contents to generate a unique address code, and establishes a control address code list.

[0020] The address binding upload submodule reads each set of coordinate data in the normalized coordinate matrix according to the control address code list, and performs binding mapping operations with each control address code in sequence. Each item in the mapping structure consists of an address code and two-dimensional coordinates, which are encapsulated as a data packet structure in the form of key-value pairs and uploaded to the main control platform to obtain the address mapping structure.

[0021] As a further aspect of the present invention, the path filtering module includes:

[0022] The coordinate proximity calculation submodule obtains all coordinate data in the address mapping structure, performs Euclidean distance calculation on any two coordinate points, calculates the horizontal and vertical differences of each coordinate pair, calculates the spatial proximity value, filters out all point pairs whose distance is less than or equal to the spatial proximity judgment threshold, records the corresponding device address number pairs, and generates a set of device proximity pairs.

[0023] The connectivity sorting identification submodule, based on the set of device proximity pairs, sets the connectivity priority rule as the starting device prioritizes approaching the nearest unconnected device, and recursively constructs the connection order by removing connected devices after each round of connection. It records the mapping order number of the starting point and the ending point in each step of the connection relationship and forms a sorting array to obtain the device connectivity sorting matrix.

[0024] The path sequence construction submodule sets path marker sequence numbers based on each connection pair in the device connectivity sorting matrix, combines each pair of device address numbers and connectivity order into a path identifier pair and binds it to the path number, encapsulates it into a structure array, and establishes a path number sequence.

[0025] As a further aspect of the present invention, the structural verification module includes:

[0026] The path intersection detection submodule obtains the coordinates of the start and end points of each connected path in the path number sequence, constructs a set of path segments, performs spatial intersection judgment operation on each newly added path segment and existing path segment, calculates the path intersection strength value, records the path segment number and adds it to the conflict set, and generates a path conflict identifier list.

[0027] The cross-path elimination submodule compares the path segment numbers item by item according to the path conflict identifier list, performs elimination operations on conflicting path segments, removes conflicting paths from the path number sequence, and at the same time reads the path segments that have not participated in the cross-path elimination and builds a retention index table to establish a set of available path numbers.

[0028] The communication path identification submodule generates a chained communication structure by setting a structure state value and combining it with the path number to form an identification pair based on the path segment number and its corresponding device address code information in the available path number set.

[0029] As a further aspect of the present invention, the formula for calculating the path intersection strength value is as follows:

[0030] ;

[0031] in, , Represents the start and end coordinates of path segment i. , This represents the start and end coordinates of path segment j. This represents the intersection strength value between path segment i and path segment j.

[0032] As a further aspect of the present invention, the interconnection output module includes:

[0033] The path configuration writing submodule obtains all path segment numbers and corresponding start and end address codes in the chain communication structure, sets a data structure template for each record, and writes the content into the network control link configuration area in sequence. For each path record written, uniqueness verification and address correspondence confirmation are performed. After removing duplicates and abnormal path segments, a path mapping configuration table dataset is established.

[0034] The node binding synchronization submodule classifies nodes according to the logical structure of the path to which the address belongs based on all device address information in the path mapping configuration table dataset. Devices within the same path are set as a group of binding units. A logical link index number is set for each group of units to form a one-to-one correspondence between path groups and device nodes, and the path node binding index matrix is ​​obtained.

[0035] The linkage control generation submodule sets linkage triggering mechanisms and response delay control parameters for each bound group of devices based on the path node binding index matrix. The parameter settings are numbered and archived according to the position of the node in the path, and the linkage sequence generation action is executed to establish a welding control scheme for large plate welding equipment.

[0036] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0037] In this invention, the coordinates of the welding torch contact points of the welding equipment are collected and spatial normalization is performed. A unified sorting number is constructed based on the equipment startup sequence. Then, a control address is generated using the sequence identifier and the sorting number. The correspondence between the physical location of the equipment and the network address is mapped based on the coordinate information. Then, a logical connection sequence is constructed based on the spatial proximity of the coordinates and path intersection conflicts are eliminated. Finally, the node and path binding is completed synchronously, and the data is uniformly written into the control network to realize multi-device linkage control. This improves the rationality of the connection path and the stability of the communication structure, avoids welding equipment connection failure due to path conflicts, and ensures the logical sequence, spatial clarity, and control uniformity of the collaborative work between welding equipment. Attached Figure Description

[0038] Figure 1 This is a system flowchart of the present invention;

[0039] Figure 2 This is a flowchart of the normalization positioning module of the present invention;

[0040] Figure 3 This is a flowchart of the address generation module of the present invention;

[0041] Figure 4 This is a flowchart of the path filtering module of the present invention;

[0042] Figure 5 This is a flowchart of the structure verification module of the present invention;

[0043] Figure 6This is a flowchart of the interconnection output module of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0045] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] Please see Figure 1 The control system for large plate welding equipment includes:

[0047] The normalization positioning module obtains the coordinate information of the first contact point of the welding torch of the mobile welding equipment in the welding area of ​​the large plate, extracts the horizontal and vertical elements in all coordinates, sets the coordinate position normalization conditions according to the distribution characteristics of the welding equipment (the normalization condition is that all first contact point coordinates recorded in the same welding task must be limited to the same plate plane reference frame, and meet the basic spatial calibration standards of unified coordinate units, consistent reference origin, and consistent coordinate dimensions), and filters the reference point set. Combining the start identifier of the welding equipment with the execution order of the reference point set, the module constructs the corresponding sorting number of the equipment and obtains the normalization control number.

[0048] The address generation module combines the sorted number in the normalized control number with the unique serial identifier information of the welding equipment to encode the two and construct the control address code of the welding equipment. The coordinate information is bound to the control address code and uploaded to the main control platform to obtain the address mapping structure.

[0049] The path filtering module performs a combined sorting based on the spatial proximity between coordinate points, based on all coordinate data in the address mapping structure. The welding equipment pairs that meet the connectivity priority rule in the combined sorting results are arranged sequentially to construct the preliminary connection path of the welding equipment and to establish a path marking sequence and output the path number sequence.

[0050] The structure verification module compares the spatial position of the existing path structure with the preliminary connection path data in the path number sequence each time a new connection is established, and determines whether the new connection has path intersection. If an intersection is found, the corresponding path is canceled and the next connection number is read again. All connection chains that do not produce structural intersections are retained and marked as usable communication path structures, thus obtaining a chain communication structure.

[0051] The interconnection output module, based on all path connection information in the chain communication structure, uniformly writes the path relationship of welding equipment into the network control link configuration area, synchronously completes node binding and path logic confirmation in the network topology, establishes unified linkage control information for welding equipment, and outputs welding control scheme for large plate welding equipment.

[0052] The unified control number includes welding equipment sorting parameters, reference point identifiers, and spatial unified labels; the control address code includes equipment sequence information, address binding labels, and control node identifiers; the address mapping structure includes a control address mapping table, a coordinate binding information set, and an equipment address index library; the initial connection path for welding equipment includes a spatial proximity path sequence, equipment connection pair information, and connectivity priority order markers; the path number sequence includes a path identifier code set, a connection order sequence, and a candidate path index; the available communication path structure includes non-cross-connection chains, a set of valid communication nodes, and path verification identifiers; and the welding control scheme for large plate welding equipment includes control link configuration data, node path logical mapping results, and a unified linkage instruction set.

[0053] Please see Figure 2 The normalized positioning module includes:

[0054] The coordinate element extraction submodule obtains the coordinate information of the first contact point of the welding equipment, extracts the horizontal and vertical elements in each set of coordinates, and sets coordinate normalization conditions based on the spatial distribution characteristics of the welding equipment. The normalization conditions include limiting the first contact point coordinates to be under the plate plane reference frame, having consistent coordinate units, consistent reference origins, and consistent coordinate dimensions. The extracted coordinates are then restructured and elements are merged to generate a unified coordinate matrix for the plate.

[0055] To obtain the initial contact point coordinates of the welding equipment, it is necessary to collect the three-dimensional coordinate data of the contact position between the welding torch and the workpiece when the welding equipment is first activated. The coordinate data should include the horizontal coordinates. Axis, longitudinal Axis and vertical The numerical content of the axis, when selecting coordinate information, requires extracting a one-time data snapshot using the initial start flag set in the equipment control system as the trigger point. For example, if the equipment start record is W01, its corresponding welding torch contact record is... After extracting the coordinates of the first contact points of all recording devices, the coordinates of each group are then... shaft and The axis values ​​are sequentially constructed into a two-dimensional vector set. The resulting two-dimensional coordinate vectors serve as the base set for subsequent normalization processing. When setting coordinate normalization conditions, it's necessary to consider the potential for inconsistencies in coordinate units, different origin reference positions, and missing coordinate dimensions in the actual operation of welding plates at various workstations. Therefore, coordinate elements need to be standardized. The normalization conditions are set as follows: First, unified coordinate units, i.e., all coordinate data are converted to millimeters (e.g., 1cm is converted to 10mm); second, consistent reference origin, selecting the lower left corner of the plate edge as the unified origin; and third, consistent coordinate dimensions, all data should be converted to two-dimensional planar coordinates, eliminating non-planar coordinate data. During the standardization conversion process, the unit label field in the original coordinate data needs to be compared to determine if it is cm, mm, or inch, and unit conversion is performed according to the unit conversion factor. For example, the original point... After conversion, it should be: During the process of unifying the reference origin, a global translation transformation is required based on the offset value of the reference origin position in the original coordinate system. If the original reference point is the center of the plate and the plate width is... Height is Then the translation transformation amount is The translation is accomplished by subtracting from each coordinate point, such as the origin. After unification To unify the coordinate dimensions, points with missing dimensions need to be removed. For example, points with a non-zero z-axis or missing z-axis data should be excluded. After completing all normalization rule processing, the normalized two-dimensional coordinates are restructured into a matrix to construct a two-dimensional coordinate matrix at the board level. The matrix structure is as follows: ,in The first contact point is represented by 2, which represents both the horizontal and vertical dimensions. Table 1 lists the comparison data of the first contact points of the three welding devices before and after coordinate normalization. See Table 1.

[0056] Table 1 Comparison of Coordinate Normalization Processing

[0057]

[0058] As shown in Table 1, the original unit of equipment number W03 is inches, which needs to be converted to millimeters before it can participate in the normalization process. All the resulting coordinate points are unified to the same unit, reference origin and dimension standard, and finally a unified coordinate matrix of the board is generated.

[0059] The reference point filtering submodule is based on the unified coordinate matrix of the board. According to the spatial distribution law of the first contact point coordinates, it calculates the relative offset difference of each coordinate point under the reference frame, determines whether the horizontal and vertical offset difference is within the reference point filtering threshold range, filters all coordinate point sets that meet the conditions, and generates a reference point set within the board.

[0060] Based on the unified coordinate matrix of the board, the horizontal coordinates of the points in the two-dimensional coordinate set are... Axis and longitudinal To construct a planar point distribution map based on axis positions, first extract the coordinate values ​​of each welding first contact point row by row from the matrix, and obtain the lateral difference between adjacent points. Longitudinal difference Through formula , When calculating the relative positional offset between points, a reference point filtering threshold needs to be set during the judgment process. The reference point filtering threshold range is set based on the board layout density and the design distance of the welding points. In the example, the upper limit of the offset difference in both the horizontal and vertical directions is set to 0. The lower limit is When a point and its neighboring points are in and When all values ​​are less than or equal to the upper limit of the threshold and are not 0, they are considered members of the same reference point set. This judgment operation needs to be performed until all adjacent point pairs in the coordinate matrix are traversed. The following example illustrates this: if the coordinates of point P1 are... P2 is Then its lateral offset is The vertical offset is If all points are within the reference interval, then P2 can be included in the reference point set starting from P1. Further filtering of outliers from the set of points meeting certain conditions is then performed; for example, some points may have extremely small offsets. There is a possibility of accidental recording of repeated welding starts. A minimum offset rejection threshold of 5mm can be set to reject point pairs with offsets less than this value to avoid interference. Then, each set of reference points is numbered and labeled in the format R1, R2…Rn, where n is the number of reference point sets to be selected. Finally, all selected and labeled coordinate points are output as a two-dimensional array with the following structure: Where k is the reference point set number and m is the number of points in the set, Table 2 lists the number of each reference point set and the number of points in a certain batch of actual test data. See Table 2.

[0061] Table 2. Statistics of Reference Point Sets within Panels

[0062]

[0063] As shown in Table 2, each set of reference points consists of several welding first contact points in close proximity. The points are filtered and numbered based on the judgment that the offset screening threshold range is met, and finally, a set of reference points within the board is generated.

[0064] The control number construction submodule establishes a pairing sequence between the start order and the reference point position based on the set of reference points within the board and the start identifier corresponding to each welding device. It calculates the corresponding number sequence value based on the combination order of the identifier and the point in the set in the pairing sequence, and reconstructs the identification number of the welding device according to the number sequence value to generate a normalized control number.

[0065] Based on the sequence of numbered two-dimensional coordinate points in the reference point set within the plate, pairing operations are performed according to the preset start-up identifier order of the welding equipment in the control system. Each welding equipment is accompanied by a unique identifier upon its first start-up, such as W01, W02, W03, etc. This identifier is combined with its corresponding reference point set number, and the pairing relationship is recorded according to the actual start-up order of the equipment, establishing a pairing sequence in the form of... To ensure consistency between the device numbering and physical location, the pairing sequence needs to be sorted according to the original coordinate order of the points in the reference point set. Specifically, it is sorted in ascending order according to the horizontal coordinate value of the first point in each reference point set. After obtaining the sorting order, the sorting index is reconstructed based on the device identifier. The index calculation method is to set the initial numbering base value N=100, and increment by 10 for each digit to the right, assigning values ​​of 110, 120, 130... in sequence. Then, the sorted device numbers are W02→110, W01→120, W03→130 respectively. During the numbering construction process, pairings that do not match or are duplicated between the device identifier and the reference point number must be removed to ensure that the numbers correspond one-to-one. After that, all numbers are written into the device control system numbering library. The numbering format is CN+number value, for example, CN110. The final constructed numbering sequence is in the form of an array. This represents the unified control number corresponding to the three devices. By combining the location and quantity of each reference point set in Table 2, a one-to-one mapping relationship between the number and the physical distribution of the devices can be achieved, and finally, a unified control number sequence is generated.

[0066] Please see Figure 3 The address generation module includes:

[0067] The sorting and coding combination submodule obtains the normalized control number sequence and the unique sequence identifier information of the welding equipment. Based on the one-to-one pairing principle, it reads the sorting value in the number sequence and the unique identifier of the corresponding equipment and concatenates the characters. The concatenation form is to use the unique identifier as a prefix and the sorting number as a suffix to form a combination code, and generates a welding equipment combination code set.

[0068] To obtain the unified control number and the unique sequence identifier information of the welding equipment, firstly, extract the corresponding number information for each welding equipment. The unified control number sequence is set to a three-digit number structure, such as 110, 120, 130. The unique identifier of the welding equipment is a combination of English letters and a number structure, such as W01, W02, W03. The concatenation logic is set as unique identifier first, followed by sequence number, separated by a hyphen (_), forming a preliminary combined encoding structure. To verify the correctness of the combination logic, it is necessary to check whether the total length of the characters before and after concatenation does not exceed the set maximum address length limit, which is set to within 16 characters. For example, concatenating W01 and 110 results in W01_110, which has a combined address length of 7 characters, satisfying the limit. Subsequently, the concatenation operation is performed on all equipment in sequence, and the combined results are uniformly stored in an array structure. The array structure is a one-dimensional string array, with the format as follows: Each item represents a combined code for device address identification. It is necessary to avoid issues such as null values, format errors, or duplicate numbers during concatenation. A verification condition is set: the concatenated field must not be NULL, duplicate, or contain illegal characters. If any of these conditions are found, the field is removed from the combined address array and an error flag is triggered. The processed data is imported into a cache structure, which is set as a key-value pair. The key is the unique identifier of the device, and the value is its combined code for subsequent retrieval. An example of this operation is as follows: W01 and 110 are combined, resulting in the combined code W01_110, stored in the structure {W01:W01_110}. The remaining devices are processed similarly and written into the same structure. Table 3 lists the identifiers, normalized numbers, and combined codes of the three devices.

[0069] Table 3 Examples of Welding Equipment Combination Coding

[0070]

[0071] As shown in Table 3, the equipment identification and unified number have been successfully spliced ​​and coded to obtain the welding equipment combination code set.

[0072] The control address construction submodule is based on the welding equipment combination code set. The address field structure is set to a three-segment structure, namely the equipment identification segment, the sorting identification segment, and the verification segment. The contents of each item in the combination code are used as the first two segment field contents. Cyclic redundancy check is performed on the combination code, and the three segment field contents are concatenated to generate a unique address code and establish a control address code list.

[0073] Based on the welding equipment combination code set, the control address structure is set to a three-segment structure, consisting of an equipment identification segment, a number segment, and a check segment. First, the original content is extracted from the combination code and parsed into the first two segments: the equipment identification field and the number field. The check segment is generated by performing a CRC8 logical check on the combination code string. The CRC8 check logic uses a fixed generator polynomial. The corresponding hexadecimal polynomial is 0x07. The input data is a string of ASCII codes, for example, the combined code W01_110 corresponds to the ASCII code 0x07. An 8-bit cyclic redundancy division operation is performed on the sequence, and the remainder is the check segment value. For example, the CRC8 value of W01_110 is 0x42, which is 66 in decimal. The final address code format is set to device identifier segment plus number segment plus decimal CRC value, connected by hyphens. An example address code of W01-110-66 is generated. Then, the same logic is applied to all combined codes to generate control address codes one by one and store them in an array structure. The array format is... During the generation process, each address code needs to be verified to ensure that the field format is complete, the length is within 16 characters, and the verification segment is unique. Data that does not meet the conditions is automatically discarded or an error recalculation mechanism is triggered. Table 4 lists the combined encoding, ASCII sequence, and corresponding CRC8 results and control address codes.

[0074] Table 4 Control Address Construction Data Table

[0075]

[0076] As shown in Table 4, the control address code list is obtained after the control address code is constructed by concatenating three segments and performing CRC check.

[0077] The address binding upload submodule reads each set of coordinate data in the normalized coordinate matrix according to the control address code list, and performs binding mapping operations with each control address code in sequence. Each item in the mapping structure consists of an address code and two-dimensional coordinates, which are encapsulated into a data packet structure in the form of key-value pairs and uploaded to the main control platform to obtain the address mapping structure.

[0078] Based on the control address code list, the two-dimensional coordinate points of each welding device in the normalized coordinate matrix are retrieved. The coordinate values ​​are then bound one-to-one with their corresponding address codes. The binding structure is a key-value pair structure with the control address code as the key and the two-dimensional coordinates as the values. During the mapping process, the coordinate order must be consistent with the address code order according to the device startup sequence. Mismatched entries are sorted, adjusted, or re-paired. For example, address code W01-110-66 corresponds to two-dimensional coordinates... After pairing, the key-value pair structure is {W01-110-66: (120.0, 350.0)}. This completes the binding of all addresses and coordinates. The resulting mapping structure is uniformly encapsulated as a JSON structure array. Each structure contains the field name addr_code and position, as shown in the example below: {addr_code: W01-110-66, position: [120.0, 350.0]}. Integer groups are constructed sequentially based on this structure. Before importing this data packet into the upload interface, structure verification is required. Verification items include whether the key field names are consistent, whether the coordinate dimension is two-dimensional, and whether the values ​​are in floating-point format. After all verifications pass, it is encapsulated into an upload data packet structure and sent to the main control platform API address / upload / position-map. After receiving the data packet, the platform interface returns a 200 status code indicating successful upload. Table 5 lists each control address code, its bound coordinate points, and the JSON structure data format.

[0079] Table 5 Address Binding Upload Structure Table

[0080]

[0081] As shown in Table 5, after the data upload operation is completed, the address mapping structure is obtained.

[0082] Please see Figure 4 The path filtering module includes:

[0083] The coordinate proximity calculation submodule obtains all coordinate data in the address mapping structure, performs Euclidean distance calculation on any two coordinate points, calculates the horizontal and vertical differences of each coordinate pair, and applies the formula... Calculate the spatial proximity value, filter all point pairs whose distance is less than or equal to the spatial proximity judgment threshold, record the corresponding device address number pairs, and generate a set of device proximity pairs;

[0084] To obtain all coordinate data in the address mapping structure, first perform data extraction on each record within the structure. The extracted items include the control address code and two-dimensional coordinate point values, where the two-dimensional coordinate format is as follows: After numbering all coordinate points sequentially to form an index set, two sets of coordinates are randomly selected from the index set, and a spatial distance measurement operation is performed. The measurement formula uses the Euclidean distance calculation method, and its calculation formula is as follows: ,in, and Let be the horizontal position of the i-th and j-th coordinates. and To correspond to the longitudinal position, the purpose of the calculation is to clarify the proximity of the physical locations between devices, for example, for coordinate point A. With B Substitute the values ​​into the formula above to perform the calculation:

[0085] ;

[0086] The proximity threshold is set to 250 mm, meaning that two points are considered close when the distance between them is less than or equal to this value. This threshold is set based on the welding station layout design and human-machine collaboration safety distance standards, and falls within the practical engineering range. After calculating the distance between all point pairs, coordinate pairs that meet the threshold condition are selected, and their corresponding control address code pairs are recorded. For example, if point A corresponds to device W01-110-66 and point B corresponds to W02-120-38, then the generated record pair is (W01-110-66, W02-120-38). All proximity pairs are established in this way. This set is used as the basis for constructing the sorting sequence later. Table 6 lists the distance calculation process and judgment results for three coordinate point pairs.

[0087] Table 6. Distance Judgment Table for Coordinate Points

[0088]

[0089] As shown in Table 6, it has been determined whether all distance values ​​meet the proximity requirements, and the set of device proximity pairs has been obtained.

[0090] The connectivity sorting identification submodule is based on the set of device proximity pairs. It sets the connectivity priority rule to prioritize the starting device to approach the nearest unconnected device. It recursively constructs the connection order by removing connected devices after each round of connection. It records the mapping order number of the starting point and the ending point in each step of the connection relationship and forms a sorting array to obtain the device connectivity sorting matrix.

[0091] Based on the set of device proximity pairs, a connectivity priority rule is set so that welding equipment should be connected to the nearest unconnected device first. The connectivity paths for all devices are constructed iteratively. First, all device control address codes are included in the candidate set. Starting with any device, for example, W01-110-66, all records starting from that device are extracted from the device proximity pairs, such as (W01-110-66, W02-120-38) and (W01-110-66, W03-130-94). The Euclidean distance between their corresponding point pairs is calculated, and the device with the minimum distance is selected as the first connection target. For example, if the distance between W02-120-38 is 92.20mm and the distance between W03-130-94 is 122.50mm, then W02 is selected as the connectivity target. After completing the first round of connections, W01 and W02 are removed from the candidate set, and the next iteration begins. Starting with W02 as the new starting point, the system continues to filter the unconnected devices with the smallest distance from the nearest pair set as the next target. This process is repeated until all devices are connected. In each round of connections, the starting and target device pairs are recorded in a sequential structure and simultaneously written into the connection sequence number marker array. For example, the first round is sequence number 1, the second round is 2, and so on. An example structure is: [(W01-110-66, W02-120-38, 1), (W02-120-38, W03-130-94, 2)]. Finally, this structure forms a two-dimensional matrix with columns for the starting device, the ending device, and the connection sequence number. Table 7 lists the connectivity identification results and connection sorting sequence numbers for a certain batch.

[0092] Table 7 Device Connectivity Sorting Matrix

[0093]

[0094] As shown in Table 7, the device connectivity sorting matrix is ​​obtained by step-by-step recursion according to the connectivity priority rule.

[0095] The path sequence construction submodule sets the path marker sequence number according to each connection pair in the device connectivity sorting matrix, combines each pair of device address numbers and connectivity order into a path identifier pair and binds it with the path number, encapsulates it into a structure array, and establishes the path number sequence.

[0096] Based on each connection pair recorded in the device connectivity sorting matrix, path numbering is performed in ascending order of connection sequence number. The path numbering format is set to P + two-digit sequence number, with an initial number of P01. Each increment adds one digit to the number value. Following the connection sequence, starting from the first row of Table 9 (P01), corresponding to the path W01-110-66→W02-120-38, path numbers P02, P03, etc., are generated sequentially. The path numbers are then encapsulated and bound to the connected device address pairs. The encapsulation structure uses a key-value dictionary format, where the key is the path number and the value is the device connection pair, such as {P01: [W01-110-66, W02-120-38]}. All encapsulated items are integrated into... The array structure is output, with each item having a unique number and corresponding device path. After the structure is generated, it is necessary to verify whether the path number is duplicated, whether there are isolated devices that have not been numbered, and whether there are redundant connection pairs that have not been included in the marking. If any of the above abnormal items exist, a path integrity check is triggered and an error message is displayed indicating the missing item number. All path numbers are output in numerical order. The structure example is as follows: [{path_id: P01, from: W01-110-66, to: W02-120-38}, {path_id: P02, from: W02-120-38, to: W03-130-94}]. Table 8 lists the path structure after numbering and the corresponding connected devices.

[0097] Table 8 Path Number Sequence Table

[0098]

[0099] As shown in Table 8, after the path construction and numbering rules are executed, a path numbering sequence is established.

[0100] Please see Figure 5 The structural verification module includes:

[0101] The path intersection detection submodule obtains the start and end coordinates of each connected path in the path number sequence, constructs a set of path segments, and performs a spatial intersection judgment operation on each newly added path segment and existing path segments, using the formula:

[0102] ;

[0103] The path intersection strength value is calculated. When the path intersection strength value is zero and there are intersecting intervals between line segments, it is considered a path intersection. The path segment number is recorded and added to the conflict set, generating a path conflict identifier list. , Represents the start and end coordinates of path segment i. , This represents the start and end coordinates of path segment j. This represents the intersection strength value between path segment i and path segment j.

[0104] To obtain the start and end coordinates of each connected path in the path number sequence, first extract the address mapping coordinates of the starting and ending devices in each path segment, construct a set of line segments, and represent each path segment as a two-dimensional coordinate pair sequence. Then, in the order of addition, each path segment is paired with all previously established path segments to perform a cross-judgment operation. The judgment condition is whether the path segments have an intersection point on the two-dimensional plane and the intersection point is not the end point of the path. In order to quantify the cross-judgment strength, the cross-judgment characteristic value needs to be calculated. The coordinate values ​​of the path segment i and the path segment j to be judged are taken out in sequence, and the cross-judgment strength parameter is expressed by calculating the absolute value of the plane cross product.

[0105] when If the paths are parallel or collinear, further analysis is needed to determine whether the two line segments overlap and whether an intersection occurs. For example, path segment A: Path segment B: Substituting the values ​​into the calculation, we get:

[0106]

[0107] because This indicates that the two segments are not parallel. Further, we perform a judgment on the existence of line segment intersections. We use the interval inclusion relationship to judge whether the horizontal and vertical projection intervals overlap. If they overlap, they are intersecting paths. We add the path segment number to the intersecting path list. We then judge whether all new path segments intersect with the connected path segments. We record the number and coordinate index of all intersecting path segments. Table 9 lists the coordinates of some path segments and the results of the intersection judgment.

[0108] Table 9 Path Segment Intersection Judgment Results

[0109]

[0110] As shown in Table 9, the intersection status is determined based on the overlap between the cross product value and the coordinate interval, and a list of path conflict identifiers is obtained.

[0111] This formula is the expression for calculating path intersection strength: Its operational logic is based on the two-dimensional vector cross product theory, used to determine whether two path segments have directional differences or potential intersections. and This represents the coordinates of the start and end points of path segment i. and Let i be the coordinates of the start and end points of path segment j. The two multiplication terms in the expression construct the cross product operation between the direction vectors of path segment i and path segment j in the two-dimensional plane. The first term... The second term represents the product of the x-axis component of path segment i and the y-axis component of path segment j. The product of the x-direction component of path segment j and the y-direction component of path segment i is the cross product. The difference between the two product terms is the numerical result of the two-dimensional cross product. Its absolute value expresses the strength of the directional relationship between the path segments. When the value is 0, it indicates that the two path segments are parallel or collinear. If it is non-zero, it indicates that there is a potential intersection point. Therefore, this formula quantifies the directional differences between path segments in the form of the component product difference between line segment coordinates, and is used to determine the risk of intersection.

[0112] The path intersection strength value is used to characterize the degree of spatial relationship between any two welding path segments in two-dimensional space, where they are close to or intersect each other. Its value reflects the magnitude of the cross product formed by the direction vectors between the path segments. Specifically, when the path intersection strength value is 0, it means that the direction vectors of the two path segments are collinear, and there may be a risk of intersection or overlap. When the strength value is not 0, it means that there is an angle between the two path segments in space. The larger the value, the greater the directional difference between the path segments and the lower the possibility of spatial intersection. Therefore, the path intersection strength value is not only used to determine whether there is an intersection behavior, but also as a quantitative indicator to eliminate spatial conflicts in path design. It is a key computational quantity for realizing the continuity of path planning and the feasibility judgment of spatial structure.

[0113] The cross-path elimination submodule compares the path segment numbers item by item according to the path conflict identifier list, performs elimination operations on conflicting path segments, removes conflicting paths from the path number sequence, and at the same time reads the path segments that have not participated in the cross-path elimination and builds a retention index table to establish a set of available path numbers.

[0114] The path segment numbers are compared item by item in the path conflict identifier list. All path segment records marked as intersecting are removed from the path number sequence structure. The path number corresponding to each non-intersecting path segment is called in turn to build an index set. Combined with the device address information and connection order of the remaining path segments, a number mapping table is established for subsequent structure identifier generation. The path segment removal operation is determined by a Boolean value based on whether it exists in the intersection identifier list. The determination method is set as follows: if the path segment number exists in the conflict list, the Boolean value is 1, indicating that it needs to be removed; otherwise, it is 0, indicating that it should be retained. For example, if path P02 exists in the intersection list, it will be deleted from the set. Finally, a set of usable path numbers is generated.

[0115] The communication path identification submodule generates a chained communication structure by setting a structural status value and combining it with the path number to form an identification pair based on the path segment number and its corresponding device address code information in the set of available path numbers.

[0116] Based on the path segment numbers in the available path number set and simultaneously extracting the start and end device control address codes of the corresponding path connections, the path structure status value is defined according to the path existence status, and the structure status field link_status is set. If the path is reserved, the link_status field is assigned a value of 1. Then, the path_id field and the link_status field are encapsulated in a structure. Each record generates a structure object and writes it into a structure array. At the same time, an integrity check operation is performed on each record. The check items are whether the path number is unique, whether the status value is a boolean, and whether the device address code corresponds to the start and end points in the original path number. If the conditions are met, the data is written into the structure array and output uniformly. This array is defined as the chain communication path structure identification information set. Table 10 lists each path number and corresponding structure status in the encapsulated structure.

[0117] Table 10 Identifier of Chain Communication Structure

[0118]

[0119] As shown in Table 10, a chain communication structure is established after the structure identifier is generated.

[0120] Please see Figure 6 The interconnect output module includes:

[0121] The path configuration writing submodule obtains all path segment numbers and corresponding start and end address codes in the chain communication structure, sets a data structure template for each record, and writes the content into the network control link configuration area in sequence. For each path record written, uniqueness verification and address correspondence confirmation are performed. After removing duplicates and abnormal path segments, a path mapping configuration table dataset is established.

[0122] To obtain all path segment numbers and corresponding start and end address codes in the chained communication structure, first read the `path_id` field and the start and end node address fields from the structure. Perform a path structure integrity check on each path segment, determining if the fields are empty, duplicated, or have format errors. Path segments that pass the check proceed to the writing stage. Before writing, construct a configuration area data structure template, setting the `path_id` field to a string type and `from_node` and `to_node` to standard address codes, such as "W01-110-66". Immediately after writing each path, set a successful write flag in the configuration area. The write flag is a boolean value: 1 for success and 0 for failure. In the example, path segment P01 starts at W01-11. The path range is 0-66, with the destination being W02-120-38. The structure written according to the template is {path_id: P01, from_node: W01-110-66, to_node: W02-120-38}. After successful writing, the writing status 1 is returned. After performing the above operation on all path segments, the writing result status field is bound and merged with the main structure of the path segment. The merged field format is a five-field structure, namely path number, starting address, ending address, structure index number, and writing status value. The merged structure is numbered and indexed for subsequent operations. The number field is an auto-incrementing integer starting from 1, and finally a unified and callable structured path configuration record set is formed. Table 11 lists an example of the path segment writing structure.

[0123] Table 11 Path Configuration Write Structure Table

[0124]

[0125] As shown in Table 11, after completing the structure generation and configuration area storage of the path segments, a path mapping configuration table dataset is established.

[0126] The node binding synchronization submodule collects all device address information in the path mapping configuration table dataset, classifies nodes according to the logical structure of the path to which the address belongs, sets devices within the same path as a group of binding units, sets a logical link index number for each group of units, forms a one-to-one correspondence between path groups and device nodes, and obtains the path node binding index matrix.

[0127] Based on the centralized device address information in the path mapping configuration table dataset, the `from_node` and `to_node` fields of each path segment are first grouped into path groups. A path unit set is then established based on the uniqueness of each path group. Address classification is performed on the device nodes within the set. The two nodes of each path segment are treated as a binding pair. A binding index structure is constructed sequentially for all path segments, assigning a binding number to each path group, identified in the form of "G + two-digit number". The number is incremented by 1 for each group constructed. In the example, path segment P01 contains nodes W01-110-66 and W02-120-38, belonging to path group G01. P03 corresponds to nodes W02-120-38 and... W04-140-55, belonging to G02, organizes all device nodes into groups according to their path binding relationships, constructs structure fields, and the field content includes path group number, node number, and path segment number. The structure is encapsulated in the order of the path structure, and finally forms a binding index structure array. The array structure fields are group_id, node_id, and path_id. The field values ​​are uniformly in string format. The field value validation requirements include path number existence verification, node format matching verification, and number uniqueness verification. After all are satisfied, the structure group is generated, and the one-to-one mapping binding relationship between device nodes and path groups is completed, finally obtaining the path node binding index matrix.

[0128] The linkage control generation submodule sets linkage triggering mechanisms and response delay control parameters for each bound group of devices based on the path node binding index matrix. The parameter settings are numbered and archived according to the position of the node in the path. The linkage sequence generation action is executed to establish a welding control scheme for large plate welding equipment.

[0129] Based on the path node binding index matrix, the `group_id` and `node_id` fields are read. For each path segment categorized by `group_id`, the device nodes are sequentially set with linkage control parameters according to their path order. The control parameter settings include the trigger sequence number `trigger_seq` and the response delay value `delay_val`. `trigger_seq` is numbered sequentially along the path, starting with 1 for the first node and incrementing by 1 for each subsequent node. `delay_val` is a floating-point value, calculated by multiplying the sequence number by a fixed time base of 0.3 seconds. For example, the delay_val for the second node is 0.3 multiplied by 1, equal to 0.3 seconds. The third node is 0.6 seconds, and so on. A control parameter structure field is generated for each node, and the encapsulated structure fields are node_id, trigger_seq, delay_val, and group_id. The field values ​​are written into a structure array. Each item in the array has the same structure and field format. The control field values ​​must meet the following conditions: trigger_seq must be a positive integer, delay_val must be a non-negative floating-point number, and the node number must not be repeated. After the control structure is generated, data integrity and order verification are performed. After passing the verification, the structure set is output, and finally the welding control scheme of the large plate welding equipment is established.

[0130] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A control system for large plate welding equipment, characterized in that the system... include: The normalization positioning module obtains the coordinate information of the first contact point of the welding torch of the mobile welding equipment in the welding area of ​​the large plate. Based on the distribution characteristics of the welding equipment, it sets the coordinate position normalization conditions and filters the reference point set. Combined with the start identifier of the welding equipment, it constructs the corresponding sorting number of the equipment in sequence to obtain the normalization control number. The address generation module combines the sorted number in the normalized control number with the unique serial identifier information of the welding equipment to encode the two and construct the control address code of the welding equipment. The coordinate information is then bound and uploaded to the main control platform to obtain the address mapping structure. Based on the address mapping structure, the path filtering module performs a combination sorting according to the spatial proximity relationship between coordinate points, arranges the welding equipment in sequence to construct a preliminary connection path for the welding equipment, and establishes a path marking sequence to output a path number sequence. Based on the preliminary connection path data in the path number sequence, the structure verification module compares the spatial positions of the existing path structures each time a new connection is established, retains all connection chains that do not produce structural intersections, and marks them as usable communication path structures to obtain a chain-like communication structure. Based on all path connection information in the chain communication structure, the interconnection output module synchronously completes node binding and path logic confirmation in the network topology, sets linkage triggering mechanism and response delay control parameters for each bound group of devices, sets linkage control parameters in sequence according to their path order, establishes unified linkage control information for welding equipment, and outputs welding control scheme for large plate welding equipment. The structural verification module includes: The path intersection detection submodule obtains the coordinates of the start and end points of each connected path in the path number sequence, constructs a set of path segments, performs spatial intersection judgment operation on each newly added path segment and existing path segment, calculates the path intersection strength value, records the path segment number and adds it to the conflict set, and generates a path conflict identifier list. The cross-path elimination submodule compares the path segment numbers item by item according to the path conflict identifier list, performs elimination operations on conflicting path segments, removes conflicting paths from the path number sequence, and at the same time reads the path segments that have not participated in the cross-path elimination and builds a retention index table to establish a set of available path numbers. The communication path identification submodule generates a chained communication structure by setting a structural status value and combining it with the path number to form an identification pair based on the path segment number and its corresponding device address code information in the set of available path numbers. The formula for calculating the path intersection strength value is as follows: ； in, , Represents the start and end coordinates of path segment i. , This represents the start and end coordinates of path segment j. This represents the intersection strength value between path segment i and path segment j.

2. The control system for large plate welding equipment according to claim 1, characterized in that, The normalization condition is that all first contact point coordinates recorded in the same welding task must be limited to the same plate plane reference frame, and meet the basic spatial calibration standards of unified coordinate units, consistent reference origin, and consistent coordinate dimensions.

3. The control system for large plate welding equipment according to claim 1, characterized in that, The unified control number includes welding equipment sorting parameters, reference point identifiers, and spatial unified labels. The address mapping structure includes a control address mapping table, a coordinate binding information set, and a device address index library. The path number sequence includes a path identifier code set, a connection order sequence, and a candidate path index. The available communication path structure includes non-cross-connection chains, a set of valid communication nodes, and path verification identifiers. The welding control scheme for large plate welding equipment includes control link configuration data, node path logical mapping results, and a unified linkage instruction set.

4. The control system for large plate welding equipment according to claim 1, characterized in that, The normalized positioning module includes: The coordinate element extraction submodule obtains the coordinate information of the first contact point of the welding equipment, extracts the horizontal and vertical elements in each set of coordinates, and sets coordinate normalization conditions based on the spatial distribution characteristics of the welding equipment. The normalization conditions include limiting the first contact point coordinates to be under the plate plane reference frame, having consistent coordinate units, consistent reference origins, and consistent coordinate dimensions. The extracted coordinates are then restructured and elements are merged to generate a unified coordinate matrix for the plate. The reference point filtering submodule, based on the unified coordinate matrix of the board, calculates the relative offset difference of each coordinate point under the reference frame according to the spatial distribution law of the first contact point coordinates, determines whether the horizontal and vertical offset difference is within the reference point filtering threshold range, filters all coordinate point sets that meet the conditions, and generates a reference point set within the board. The control number construction submodule establishes a pairing sequence between the start order and the reference point position based on the set of reference points within the board and the start identifier corresponding to each welding device. It calculates the corresponding number sequence value based on the combination order of the identifier and the point in the set in the pairing sequence, and reconstructs the identification number of the welding device according to the number sequence value to generate a normalized control number.

5. The control system for large plate welding equipment according to claim 1, characterized in that, The address generation module includes: The sorting and coding combination submodule obtains the normalized control number and the unique sequence identifier information of the welding equipment. Based on the one-to-one pairing principle, it reads the sorting value in the number sequence and the unique identifier of the corresponding equipment and concatenates the characters. The concatenation form is to use the unique identifier as a prefix and the sorting number as a suffix to form a combination code, and generates a welding equipment combination code set. The control address construction submodule is based on the welding equipment combination code set. It sets the address field structure to a three-segment structure, namely the equipment identification segment, the sorting identification segment, and the verification segment. It combines the contents of each item in the combination code as the first two segment field contents, performs cyclic redundancy check on the combination code, splices the three segment field contents to generate a unique address code, and establishes a control address code list. The address binding upload submodule reads each set of coordinate data in the normalized coordinate matrix according to the control address code list, and performs binding mapping operations with each control address code in sequence. Each item in the mapping structure consists of an address code and two-dimensional coordinates, which are encapsulated as a data packet structure in the form of key-value pairs and uploaded to the main control platform to obtain the address mapping structure.

6. The control system for large plate welding equipment according to claim 1, characterized in that, The path filtering module includes: The coordinate proximity calculation submodule obtains all coordinate data in the address mapping structure, performs Euclidean distance calculation on any two coordinate points, calculates the horizontal and vertical differences of each coordinate pair, calculates the spatial proximity value, filters out all point pairs whose distance is less than or equal to the spatial proximity judgment threshold, records the corresponding device address number pairs, and generates a set of device proximity pairs. The connectivity sorting identification submodule, based on the set of device proximity pairs, sets the connectivity priority rule as the starting device prioritizes approaching the nearest unconnected device, and recursively constructs the connection order by removing connected devices after each round of connection. It records the mapping order number of the starting point and the ending point in each step of the connection relationship and forms a sorting array to obtain the device connectivity sorting matrix. The path sequence construction submodule sets path marker sequence numbers based on each connection pair in the device connectivity sorting matrix, combines each pair of device address numbers and connectivity order into a path identifier pair and binds it to the path number, encapsulates it into a structure array, and establishes a path number sequence.

7. The control system for large plate welding equipment according to claim 1, characterized in that, The interconnection output module includes: The path configuration writing submodule obtains all path segment numbers and corresponding start and end address codes in the chain communication structure, sets a data structure template for each record, and writes the content into the network control link configuration area in sequence. For each path record written, uniqueness verification and address correspondence confirmation are performed. After removing duplicates and abnormal path segments, a path mapping configuration table dataset is established. The node binding synchronization submodule classifies nodes according to the logical structure of the path to which the address belongs based on all device address information in the path mapping configuration table dataset. Devices within the same path are set as a group of binding units. A logical link index number is set for each group of units to form a one-to-one correspondence between path groups and device nodes, and the path node binding index matrix is ​​obtained. The linkage control generation submodule sets linkage triggering mechanisms and response delay control parameters for each bound group of devices based on the path node binding index matrix. The parameter settings are numbered and archived according to the position of the node in the path, and the linkage sequence generation action is executed to establish a welding control scheme for large plate welding equipment.

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