A welding pose acquisition method and related device

Abstract

The present application provides a welding pose acquisition method and related equipment, determines the welding seam type of the target welding seam; according to the welding seam type, the effectiveness of the target welding seam is verified; in the case of verifying the effectiveness of the target welding seam, according to the face structure type of the target point position in the target welding seam, the related plane normal vector of the target point position is acquired; according to the related plane normal vector of the target point position, the welding pose of the target welding seam at the target point position is determined. By using the face structure information in the welding end point positioning process, the recommended welding gun attitude is automatically calculated, thereby reducing the probability of manual intervention, improving the system working efficiency and welding accuracy.

Description

Technical Field

[0001] This invention relates to the field of welding, and more specifically, to a method and related equipment for obtaining welding posture. Background Technology

[0002] Existing intelligent welding systems typically employ a collaborative architecture consisting of a 3D camera, a robotic arm, and an industrial control computer. The system uses the 3D camera to acquire weld seam point cloud data, accurately locates the points to be welded, and plans the robotic arm's welding trajectory to execute the welding operation. After identifying the weld seam endpoints, the system needs to calculate a suitable welding pose to guide the robotic arm's movement. However, current technologies largely rely on manual teaching to provide a reference pose, which is then fixed throughout the welding process. This reliance not only significantly reduces welding efficiency and increases the burden on manual operators, but also, due to insufficient accuracy in manual teaching, renders the welding pose unsuitable when inconsistencies or positional deviations occur in the welded workpiece, thus affecting the overall welding quality.

[0003] Therefore, how to calculate the recommended welding torch posture to reduce the probability of manual intervention and improve system efficiency and welding accuracy has become a problem of concern to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a welding pose acquisition method and related equipment to improve the above-mentioned problems.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, embodiments of the present invention provide a method for obtaining a welding pose, the method comprising: Determine the weld type of the target weld; The effectiveness of the target weld is verified according to the weld type. If the target weld is verified to be valid, the relevant plane normal vector of the target point is obtained according to the surface structure type of the target point in the target weld. When the target weld is a straight weld, the target point includes the start and end points of the straight weld; when the target weld is a full circular weld, the target point includes the specified midpoint on the full circular weld; when the target weld is a notched circular weld, the target point includes the specified midpoint, start and end points on the notched circular weld. Based on the relevant plane normal vector of the target point, the welding pose of the target weld at the target point is determined.

[0006] In a second aspect, embodiments of the present invention provide a welding pose acquisition device, the device comprising: The first processing unit is used to determine the weld type of the target weld. The first processing unit is used to verify the validity of the target weld according to the weld type; The first processing unit is used to obtain the relevant plane normal vector of the target point according to the surface structure type of the target point in the target weld when the target weld verification is valid; The first processing unit is configured such that when the target weld is a straight weld, the target point includes the start and end points of the straight weld; when the target weld is a full circular weld, the target point includes a specified midpoint on the full circular weld; and when the target weld is a notched circular weld, the target point includes a specified midpoint, start, and end point on the notched circular weld. The second processing unit is used to determine the welding pose of the target weld at the target point based on the relevant plane normal vector of the target point.

[0007] Thirdly, embodiments of the present invention provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0008] Fourthly, embodiments of the present invention provide an electronic device, the electronic device comprising: a processor and a memory, the memory being used to store one or more programs; when the one or more programs are executed by the processor, the above-described method is implemented.

[0009] Compared to existing technologies, the welding pose acquisition method and related equipment provided in this invention determine the weld type of the target weld; verify the validity of the target weld based on the weld type; if the target weld is verified as valid, obtain the relevant plane normal vector of the target point based on the surface structure type of the target point in the target weld; and determine the welding pose of the target weld at the target point based on the relevant plane normal vector of the target point. By utilizing the surface structure information during the weld endpoint positioning process, the recommended welding torch posture is automatically calculated, thereby reducing the probability of manual intervention and improving system efficiency and welding accuracy.

[0010] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of a concave-convex cylindrical surface provided in an embodiment of the present invention.

[0013] Figure 2 This is a schematic diagram of the surface structure provided in an embodiment of the present invention.

[0014] Figure 3 This is a schematic diagram of the overlapping structure provided in an embodiment of the present invention.

[0015] Figure 4 This is a schematic diagram of weld types provided for an embodiment of the present invention.

[0016] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0017] Figure 6 This is one of the flowcharts illustrating the welding pose acquisition method provided in an embodiment of the present invention.

[0018] Figure 7 This is a schematic diagram showing the parallelism between the plane and the tangent plane in the cylindrical structure provided in an embodiment of the present invention.

[0019] Figure 8 This is a schematic diagram of the welding posture provided in an embodiment of the present invention.

[0020] Figure 9 This is a second schematic flowchart of the welding pose acquisition method provided in an embodiment of the present invention.

[0021] Figure 10 This is a schematic diagram for determining concave and convex cylindrical surfaces according to an embodiment of the present invention.

[0022] Figure 11 This is a schematic diagram of a welding pose acquisition device provided in an embodiment of the present invention.

[0023] In the diagram: 10-Processor; 11-Memory; 12-Bus; 13-Communication interface; 701-First processing unit; 702-Second processing unit. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0026] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0028] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this 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. Therefore, they should not be construed as limiting this invention.

[0029] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] The following are relevant concepts in the embodiments of the present invention: A convex or concave cylindrical surface is determined by its apparent concavity or convexity as seen from the camera's perspective. This concavity or convexity affects the planar normal of the cut surface. Please refer to [reference needed]. Figure 1 , Figure 1 This is a schematic diagram of a concave-convex cylindrical surface provided in an embodiment of the present invention.

[0032] Surface structure: refers to a surface structure composed of the intersection of cylindrical surfaces and planes, or planes and planes. Broadly speaking, it can be categorized into planar structures and cylindrical surface structures based on whether it includes cylindrical surfaces. Please refer to [reference needed]. Figure 2 , Figure 2 This is a schematic diagram of the surface structure provided in an embodiment of the present invention.

[0033] Among them, there are two particularly special structures: Overlapping Structure: In an overlapping structure, there are two parallel planes with a small gap (usually considered to be 4 mm or less). The narrow region between these two parallel planes is called the overlapping plane. Because the width of the overlapping plane is narrow, it is difficult to directly inspect it; therefore, the normal to this plane is usually a calculated theoretical vector. Please refer to [reference needed]. Figure 3 , Figure 3 This is a schematic diagram of the lap joint structure provided in an embodiment of the present invention. The three-sided lap joint structure has a total of four planes, which, for ease of description, are referred to as plane 1, plane 2, plane 3, and the lap joint plane, respectively. Among them, plane 1, plane 2, and the lap joint plane constitute a two-sided lap joint structure. Plane 1 and the lap joint plane form a longer lap weld, and plane 3 and the lap joint plane form a shorter lap weld.

[0034] Tangent cylindrical structure: A tangent cylindrical structure consists of two tangent cylindrical surfaces and a plane, wherein the two cylindrical surfaces are a concave cylindrical surface and a convex cylindrical surface.

[0035] Weld type and welding point: Welds can be divided into three types: straight welds, full-circle welds, and notched circular welds. Please refer to [reference needed]. Figure 4 , Figure 4 This is a schematic diagram of weld types provided in an embodiment of the present invention. Welding points can be divided into weld endpoints (including start and end points) and intermediate points. A weld endpoint always corresponds to a surface structure, and specifically to the endpoint of a line of intersection within that surface structure (the common endpoint of the line of intersection for a three-sided structure, and a specific endpoint of the line of intersection for a two-sided structure). Intermediate points evenly divide the circular arc weld, and the order is counter-clockwise.

[0036] Straight weld: Two weld ends, each weld end corresponding to a planar or cylindrical structure; Full-circle weld: The midpoints of five equally divided arcs, with midpoint 1 and midpoint 5 coinciding, and all midpoints corresponding to a two-sided cylindrical structure; Notched circular weld: Two weld endpoints and three midpoints of equally divided arcs. Each weld endpoint corresponds to a cylindrical structure, and all midpoints correspond to a biplane cylindrical structure.

[0037] When calculating the welding pose, the welding pose needs to be determined based on the surface structure corresponding to the welding point.

[0038] After the average model identifies the weld seam, the system uses the results to calculate the welding pose and provides a recommended welding pose. These welding poses are then manually confirmed (only once for the same workpiece), and the system begins welding the identified weld seam.

[0039] The results of the average model recognition specifically include: weld endpoint coordinates, surface structure information corresponding to the weld endpoint, surface structure information corresponding to the weld endpoint including surface structure type, plane normal, plane centroid, cylindrical center, cylindrical radius, cylindrical axis, cylindrical centroid, camera coordinates (tcp) when the structure is detected, and weld endpoint used for the midpoint of the circular arc weld (i.e., whether the starting surface structure or the ending surface structure is used when generating the midpoint of the circular arc weld).

[0040] This invention provides an electronic device, which may be a computer, a mobile phone, or a server, etc. Please refer to... Figure 5 This is a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12. The processor 10 is used to execute executable modules, such as computer programs, stored in the memory 11.

[0041] Processor 10 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the welding pose acquisition method can be completed through integrated logic circuits in the hardware or software instructions within processor 10. The aforementioned processor 10 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0042] The memory 11 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage.

[0043] Bus 12 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus 12 or one type of bus 12.

[0044] The memory 11 is used to store programs, such as programs corresponding to a welding pose acquisition device. The welding pose acquisition device includes at least one software functional module that can be stored in the memory 11 in the form of software or firmware or embedded in the operating system (OS) of the electronic device. After receiving an execution instruction, the processor 10 executes the program to implement the welding pose acquisition method.

[0045] The electronic device provided in this embodiment of the invention may further include a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0046] It should be understood that, Figure 5 The structure shown is only a partial schematic diagram of the electronic device; the electronic device may also include components that are larger than... Figure 5 The more or fewer components shown, or having the same Figure 5 The different configurations shown. Figure 5 The components shown can be implemented using hardware, software, or a combination thereof.

[0047] The welding pose acquisition method provided in this embodiment of the invention can be applied to, but is not limited to, applications. Figure 5 For the specific process of the electronic devices shown, please refer to [link / reference]. Figure 6 The welding pose acquisition methods include S10, S20, S30 and S60, which are described in detail below.

[0048] S10, Determine the weld type of the target weld.

[0049] S20: Verify the validity of the target weld according to the weld type. If the target weld verification is valid, proceed to S30; if the target weld verification is invalid, issue an error message indicating that the detection result for the target weld is incorrect and the welding pose cannot be calculated.

[0050] S30: Based on the surface structure type of the target point in the target weld, obtain the relevant plane normal vector of the target point.

[0051] When the target weld is a straight weld, the target point includes the start and end points of the straight weld. When the target weld is a full circular weld, the target point includes the specified midpoint on the full circular weld. When the target weld is a notched circular weld, the target point includes the specified midpoint, start and end points on the notched circular weld.

[0052] The calculation process for the welding pose at the intermediate point is basically the same as that for the two-sided cylindrical structure (Type 1). It should be noted that the intermediate point is calculated using the center and radius of the circle in the two-sided cylindrical structure, and this point must lie on the intersection line of the circular arcs of the two-sided cylindrical structure (Type 1). When calculating the welding pose, the normal of the cylindrical tangent plane at this point should be used instead of the normal of the cylindrical tangent plane at the intersection line of the two-sided structures.

[0053] S60, determine the welding pose of the target weld at the target point based on the relevant plane normal vector of the target point.

[0054] Optionally, all relevant plane normal vectors are summed to obtain the welding pose of the target point.

[0055] In the welding posture acquisition method provided in the embodiments of the present invention, the surface structure information during the weld end point positioning process is used to automatically calculate and recommend the welding gun posture, thereby reducing the probability of manual intervention and improving the system's working efficiency and welding accuracy.

[0056] It should be noted that the target weld can be the i-th weld in the result of the average model identification. The initial value of i is 1. After the welding pose of all target points of the i-th weld is obtained or the i-th weld is determined to be invalid, let i = i + 1. If i is less than or equal to the total number of welds in the weld detection result, then the i-th weld is taken as the new target weld. Repeat the above steps until i is greater than the total number of welds, then stop.

[0057] Building upon the preceding text, this embodiment of the invention also provides an optional implementation method for S20, as detailed below. S20 verifies the validity of the target weld according to the weld type, including any one or more steps from S21, S22, and S23.

[0058] S21, When the target weld is a straight weld, if it is determined that each endpoint of the straight weld corresponds to a unique surface structure, then the verification of the straight weld is confirmed to be valid.

[0059] S22, When the target weld is a full-circle weld, if it is determined that the full-circle weld corresponds to a unique two-sided cylindrical structure, then the verification of the full-circle weld is confirmed to be valid.

[0060] S23, when the target weld is a notched circular weld, if it is determined that the endpoint of the notched circular weld corresponds to a unique cylindrical structure, then the notched circular weld verification is confirmed to be valid.

[0061] Building upon the preceding text, this embodiment of the invention also provides an optional implementation method to ensure the accuracy of the welding pose calculation results, as detailed below. S60, Based on the relevant plane normal vector of the target point, determine the welding pose of the target weld at the target point, including: S61-S64, as detailed below.

[0062] S61, when the number of relevant plane normal vectors is greater than 2, determine whether there are similar vectors among all relevant plane normal vectors whose included angle is less than the included angle threshold. If they exist, proceed to S62; otherwise, proceed to S64.

[0063] The included angle threshold can be, but is not limited to, 5 degrees.

[0064] Please refer to Figure 7 , Figure 7 This is a schematic diagram illustrating the parallelism between a plane and a tangent plane in a cylindrical structure provided by an embodiment of the present invention. When the plane and the tangent plane are parallel in the cylindrical structure, their planar normals are the same.

[0065] S62 adds similar vectors together and normalizes the result of the addition.

[0066] S63, add the normalized summation result to the remaining relevant plane normal vector to obtain the welding pose of the target weld at the target point.

[0067] S64, directly add all the relevant plane normal vectors to obtain the welding pose of the target weld at the target point.

[0068] By adding similar vectors and normalizing the result of the addition, the numerical influence of the final welding pose during the vector addition process can be prevented.

[0069] Regarding the relevant plane normal vectors for different surface structures, this embodiment of the invention also provides an optional implementation method, please refer to... Figure 8 , Figure 8 This is a schematic diagram of the welding posture provided in an embodiment of the present invention.

[0070] When the surface structure type of the target point is a non-overlapping two-plane structure, the relevant plane normal vectors include the normal vectors of the two planes constituting the target point.

[0071] When the surface structure type of the target point is an overlapping two-plane structure, the relevant plane normal vectors include the normal vector of one of the planes constituting the target point and the normal vector of the overlapping plane.

[0072] When the surface structure of the target point is a non-overlapping three-plane structure (i.e., the target point is the intersection of three lines), the relevant plane normal vectors include the normal vectors of the three planes constituting the target point.

[0073] When the surface structure type of the target point is an overlapping three-plane structure, the relevant plane normal vectors include the normal vectors of the two constituent planes of the target point and the normal vector of the overlapping plane.

[0074] Please refer to Figure 3 The weld endpoint has two possible intersection points of surface structure lines (the start and end points of the shorter lap weld, respectively). The distance between the weld endpoint and the intersection point of the surface structure lines is needed to determine the corresponding intersection point. The start point of the shorter lap weld is obtained by the intersection of plane 1, plane 3, and the lap plane; the welding pose at this point is the sum of the normal vectors of plane 1, plane 3, and the lap plane. The end point of the shorter lap weld is obtained by the intersection of plane 2, plane 3, and the lap plane; the welding pose at this point is the sum of the normal vectors of plane 2, plane 3, and the lap plane.

[0075] When the surface structure type of the target point is a three-sided cylindrical structure, the intersection point of the surface structure obtained by the intersection of the two planes and the cylindrical surface at the weld endpoint is the case. The relevant plane normal vectors include the normal vectors of the two constituent planes of the target point and the normal vector of the tangent plane of the constituent cylindrical surface at the target point. When the surface structure type of the target point is a dihedral cylindrical structure (regardless of whether...) Figure 2 (Type I or Type II in the model), the relevant plane normal vectors include the normal vectors of the planes constituting the target point and the normal vectors of the tangent planes of the cylinders constituting the target point.

[0076] You can first calculate the distance between the target point and the endpoint of the intersection line of the surface structure, and then determine the endpoint of the intersection line of the surface structure corresponding to the target point.

[0077] When the surface structure type of the target point is a three-sided tangent cylindrical structure, the relevant plane normal vectors include the normal vectors of the constituent planes of the target point and the normal vectors of the tangent planes of the two constituent cylindrical surfaces at the target point.

[0078] Please refer to Figure 9In one optional implementation, after obtaining the relevant plane normal vector of the target point, the welding pose acquisition method further includes: S40 and S50, which are described in detail below.

[0079] S40, adjust the relevant plane normal vectors according to the target camera coordinates so that they point to the target camera coordinates.

[0080] The target camera coordinates are the camera coordinates when capturing the surface structure corresponding to the target point.

[0081] S50 normalizes the plane normal vector pointing to the target camera coordinates.

[0082] The normalized correlation plane normal vector is used to calculate the welding pose of the target weld at the target point.

[0083] In one optional implementation, when the surface structure type of the target point is a cylindrical structure (any one of a three-sided tangent cylindrical structure, a three-sided cylindrical structure, and a two-sided cylindrical structure), the target point must be the intersection of the cylindrical surface and the plane. The normal vector of the tangent plane of the constituent cylindrical surface at the target point is obtained, including: S601, S602, S605, and S606, which are specifically described below.

[0084] S601, construct a reference plane based on the positioning point on the axis of the cylindrical surface constituting the target point and the axis direction.

[0085] The positioning point is any point on the axis.

[0086] S602, Project the target point onto the reference plane to obtain the first projection point.

[0087] S605, when the cylindrical surface constituting the target point is a convex cylindrical surface, the normal vector of the tangent plane of the constituting cylindrical surface at the target point is the point of positioning pointing to the first projection point.

[0088] S606, when the cylindrical surface constituting the target point is a concave cylindrical surface, the normal vector of the tangent plane of the constituting cylindrical surface at the target point is the first projection point pointing to the positioning point.

[0089] The welding pose acquisition methods also include S603 and S604, which are described in detail below.

[0090] S603, project the centroid of the point cloud of the cylindrical surface constituting the target camera coordinates and target points onto the reference plane to obtain the camera projection point and the centroid projection point; S604, Determine the concavity and convexity of the cylindrical surface constituting the target point based on the first vector and the second vector; The first vector points from the positioning point to the centroid projection point, and the second vector points from the positioning point to the camera projection point.

[0091] Please refer to Figure 10 , Figure 10 This is a schematic diagram illustrating the determination of concave and convex cylindrical surfaces according to an embodiment of the present invention. The diagram uses the center of a circle as a positioning point for example.

[0092] When the angle between two vectors is less than 90 degrees, the current cylinder is a convex cylinder; when the angle between two vectors is greater than 90 degrees, the current cylinder is a concave cylinder. Due to the limitations of the camera's field of view, the centroid of the cylinder cannot appear at the edge of the field of view, meaning that the angle between vector one and vector two cannot be equal to 90 degrees.

[0093] The welding pose acquisition method provided in this invention is based on detection results and adapts to different workpieces. Based on the weld type and surface structure type detected by the average model, the algorithm adaptively calculates the welding pose. Compared to automatic welding poses calculated without a model, the welding pose of the average model is consistent with the actual detection results and better reflects the actual point cloud situation. Especially when the actual workpiece and the model are inconsistent, the proposed algorithm can adaptively provide the welding pose based on the detection results; different welding pose calculation methods are used for different weld types and surface structure types. Based on the different types of welds and surface structures detected by the average model, the algorithm calculates welding poses that match the detection results.

[0094] Methods for distinguishing between concave and convex cylinders. The concavity and convexity of the cylinder surface are distinguished based on the camera's field of view and point cloud data, and different welding pose calculation methods are used for different cylinder surfaces.

[0095] Please see Figure 11 , Figure 11 The present invention provides a welding posture acquisition device, which is optionally applied to the electronic device described above.

[0096] The welding pose acquisition device includes: a first processing unit 701 and a second processing unit 702.

[0097] The first processing unit 701 is used to determine the weld type of the target weld. The first processing unit 701 is used to verify the validity of the target weld according to the weld type; The first processing unit 701 is used to obtain the relevant plane normal vector of the target point according to the surface structure type of the target point in the target weld when the target weld verification is valid. The first processing unit 701 is used to specify the target point as follows: when the target weld is a straight weld, the target point includes the start and end points of the straight weld; when the target weld is a full circular weld, the target point includes the specified midpoint on the full circular weld; when the target weld is a notched circular weld, the target point includes the specified midpoint, start and end points on the notched circular weld. The second processing unit 702 is used to determine the welding pose of the target weld at the target point based on the relevant plane normal vector of the target point.

[0098] The second processing unit 702 can execute the above-described S60, and the first processing unit 701 can execute other steps in the above-described method embodiments.

[0099] It should be noted that the welding pose acquisition device provided in this embodiment can execute the method flow shown in the above-described method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above-described embodiments.

[0100] This invention also provides a storage medium storing computer instructions and programs, which, when read and executed, perform the welding pose acquisition method described above. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0101] The following describes an electronic device, which may be a computer device, a mobile phone device, or a server device, etc. This electronic device, for example... Figure 5 As shown, the above-described welding pose acquisition method can be implemented. Specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, which, when executed by the processor 10, execute the welding pose acquisition method of the above embodiment.

[0102] In summary, the welding pose acquisition method and related equipment provided by this invention determine the weld type of the target weld; verify the validity of the target weld based on the weld type; if the target weld is verified as valid, obtain the relevant plane normal vector of the target point based on the surface structure type of the target point in the target weld; and determine the welding pose of the target weld at the target point based on the relevant plane normal vector of the target point. By utilizing the surface structure information during the weld endpoint positioning process, the recommended welding torch posture is automatically calculated, thereby reducing the probability of manual intervention and improving system efficiency and welding accuracy.

[0103] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0104] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for obtaining welding pose, characterized in that, The method includes: Determine the weld type of the target weld; The effectiveness of the target weld is verified according to the weld type. If the target weld is verified to be valid, the relevant plane normal vector of the target point is obtained according to the surface structure type of the target point in the target weld. When the target weld is a straight weld, the target point includes the start and end points of the straight weld; when the target weld is a full circular weld, the target point includes the specified midpoint on the full circular weld; when the target weld is a notched circular weld, the target point includes the specified midpoint, start and end points on the notched circular weld. Based on the relevant plane normal vector of the target point, determine the welding pose of the target weld at the target point; When the surface structure type of the target point is a non-overlapping two-plane structure, the relevant plane normal vector includes the normal vectors of the two planes constituting the target point; When the surface structure type of the target point is an overlapping two-plane structure, the relevant plane normal vector includes the normal vector of one of the planes constituting the target point and the normal vector of the overlapping plane. When the surface structure type of the target point is a non-overlapping three-plane structure, the relevant plane normal vectors include the normal vectors of the three constituent planes of the target point. When the surface structure type of the target point is an overlapping three-plane structure, the relevant plane normal vector includes the normal vectors of the two constituent planes of the target point and the normal vector of the overlapping plane. When the surface structure type of the target point is a three-sided cylindrical structure, the relevant plane normal vector includes the normal vectors of the two constituent planes of the target point and the normal vector of the tangent plane of the constituent cylindrical surface at the target point. When the surface structure type of the target point is a biplane cylindrical structure, the relevant plane normal vector includes the normal vector of the constitutive plane of the target point and the normal vector of the tangent plane of the constitutive cylindrical surface at the target point. When the surface structure type of the target point is a three-sided tangent cylindrical structure, the relevant plane normal vectors include the normal vectors of the constituent planes of the target point and the normal vectors of the tangent planes of the two constituent cylindrical surfaces at the target point. When the surface structure type of the target point is a cylindrical structure, the normal vector of the tangent plane of the constituent cylindrical surface at the target point is obtained, including: constructing a reference plane based on the positioning point and the axial direction on the axis of the constituent cylindrical surface of the target point; projecting the target point onto the reference plane to obtain a first projection point; when the constituent cylindrical surface of the target point is a convex cylindrical surface, the normal vector of the tangent plane of the constituent cylindrical surface at the target point is the position point pointing to the first projection point; when the constituent cylindrical surface of the target point is a concave cylindrical surface, the normal vector of the tangent plane of the constituent cylindrical surface at the target point is the first projection point pointing to the position point. The welding pose acquisition method further includes: projecting the target camera coordinates and the centroid of the point cloud constituting the cylindrical surface of the target point onto the reference plane to obtain the camera projection point and the centroid projection point; determining the concavity and convexity of the cylindrical surface constituting the target point according to the first vector and the second vector; wherein, the first vector is the positioning point pointing to the centroid projection point, and the second vector is the positioning point pointing to the camera projection point.

2. The welding pose acquisition method as described in claim 1, characterized in that, The validity verification of the target weld based on the weld type includes: When the target weld is a straight weld, if it is determined that each endpoint of the straight weld corresponds to a unique surface structure, then the verification of the straight weld is confirmed to be valid. When the target weld is a full-circle weld, if it is determined that the full-circle weld corresponds to a unique two-sided cylindrical structure, then the verification of the full-circle weld is confirmed to be valid. When the target weld is a notched circular weld, if it is determined that the endpoint of the notched circular weld corresponds to a unique cylindrical structure, then the notched circular weld is confirmed to be valid.

3. The welding pose acquisition method as described in claim 1, characterized in that, Determining the welding pose of the target weld at the target point based on the relevant plane normal vector of the target point includes: When the number of related plane normal vectors is greater than 2, determine whether there are similar vectors among all related plane normal vectors whose included angle is less than the included angle threshold; If they exist, add the similar vectors together and normalize the result of the addition. The normalized summation result is added to the remaining relevant plane normal vectors to obtain the welding pose of the target weld at the target point.

4. The welding pose acquisition method as described in claim 1, characterized in that, After obtaining the relevant plane normal vector of the target point, the method further includes: The relevant plane normal vector is adjusted according to the target camera coordinates so that it points to the target camera coordinates, wherein the target camera coordinates are the camera coordinates when the surface structure corresponding to the target point is photographed; The plane normal vector pointing to the coordinates of the target camera is normalized.

5. A welding posture acquisition device, characterized in that, The device includes: The first processing unit is used to determine the weld type of the target weld. The first processing unit is used to verify the validity of the target weld according to the weld type; The first processing unit is used to obtain the relevant plane normal vector of the target point according to the surface structure type of the target point in the target weld when the target weld verification is valid; The first processing unit is configured such that when the target weld is a straight weld, the target point includes the start and end points of the straight weld; when the target weld is a full circular weld, the target point includes a specified midpoint on the full circular weld; and when the target weld is a notched circular weld, the target point includes a specified midpoint, start, and end point on the notched circular weld. The second processing unit is used to determine the welding pose of the target weld at the target point based on the relevant plane normal vector of the target point. When the surface structure type of the target point is a non-overlapping two-plane structure, the relevant plane normal vector includes the normal vectors of the two planes constituting the target point; When the surface structure type of the target point is an overlapping two-plane structure, the relevant plane normal vector includes the normal vector of one of the planes constituting the target point and the normal vector of the overlapping plane. When the surface structure type of the target point is a non-overlapping three-plane structure, the relevant plane normal vectors include the normal vectors of the three constituent planes of the target point. When the surface structure type of the target point is an overlapping three-plane structure, the relevant plane normal vector includes the normal vectors of the two constituent planes of the target point and the normal vector of the overlapping plane. When the surface structure type of the target point is a three-sided cylindrical structure, the relevant plane normal vector includes the normal vectors of the two constituent planes of the target point and the normal vector of the tangent plane of the constituent cylindrical surface at the target point. When the surface structure type of the target point is a biplane cylindrical structure, the relevant plane normal vector includes the normal vector of the constitutive plane of the target point and the normal vector of the tangent plane of the constitutive cylindrical surface at the target point. When the surface structure type of the target point is a three-sided tangent cylindrical structure, the relevant plane normal vectors include the normal vectors of the constituent planes of the target point and the normal vectors of the tangent planes of the two constituent cylindrical surfaces at the target point. When the surface structure type of the target point is a cylindrical structure, the normal vector of the tangent plane of the constituent cylindrical surface at the target point is obtained, including: constructing a reference plane based on the positioning point and the axial direction on the axis of the constituent cylindrical surface of the target point; projecting the target point onto the reference plane to obtain a first projection point; when the constituent cylindrical surface of the target point is a convex cylindrical surface, the normal vector of the tangent plane of the constituent cylindrical surface at the target point is the position point pointing to the first projection point; when the constituent cylindrical surface of the target point is a concave cylindrical surface, the normal vector of the tangent plane of the constituent cylindrical surface at the target point is the first projection point pointing to the position point. The welding pose acquisition device is further used to project the target camera coordinates and the centroid of the point cloud constituting the cylindrical surface of the target point onto the reference plane to obtain the camera projection point and the centroid projection point; and to determine the concavity and convexity of the cylindrical surface constituting the target point according to the first vector and the second vector; wherein, the first vector is the positioning point pointing to the centroid projection point, and the second vector is the positioning point pointing to the camera projection point.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-4.

7. An electronic device, characterized in that, include: Processor and memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method as described in any one of claims 1-4 is implemented.

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