A heavy plate welding robot trajectory planning method, readable storage medium and device

Abstract

The application discloses a thick plate welding robot trajectory planning method, a readable storage medium and an apparatus, and belongs to the technical field of industrial robot control. The thick plate welding robot trajectory planning method considers the trajectory segment attribute of teaching points and the connection relationship between trajectory segments where the teaching points are located, comprehensively considers the characteristics of each segment, and can accurately supplement the teaching points, thereby solving the problems that the current welding robot trajectory planning adopts unified modification logic to modify and supplement the teaching points, the distribution of the teaching points cannot coincide with the optimal path, and the complex scene with a high proportion of circular arc trajectories is poorly adapted.

Description

Technical Field

[0001] This invention relates to a trajectory planning method, a readable storage medium, and a device for thick plate welding robots, belonging to the field of industrial robot control technology. Background Technology

[0002] In the trajectory control of industrial robots, the teach pendant is the foundation for planning the robot's motion trajectory, and its accuracy directly determines the precision and smoothness of the robot's motion trajectory. Teach pendant processing, as one of the core components of trajectory planning in the robot control system, is responsible for modifying the teach pendant according to its type and then parsing it into trajectory segments to adapt to different motion scenario requirements.

[0003] Currently, existing technologies for trajectory planning rely on a relatively simplistic approach to modifying teaching points, often employing a uniform modification logic. This approach is applied to complex scenarios such as multi-layer, multi-pass welding of thick plates, resulting in teaching points that cannot accurately match the trajectory planning requirements for thick plate welding. Consequently, issues such as narrow application range, insufficient smoothness, and deviations in circular arc trajectories arise, impacting the robot's motion accuracy and work efficiency. Especially in scenarios with a high proportion of circular arc trajectories and complex trajectory connections, existing methods struggle to meet the demands of complex welding scenarios. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a trajectory planning method, readable storage medium and device for thick plate welding robots. It considers the trajectory segment attributes of the teaching points and the connection relationship between the trajectory segments where each teaching point is located, and integrates the characteristics of each segment. In this way, it can accurately supplement the teaching points, which solves the problems of current welding robot trajectory planning using a unified modification logic to modify and supplement the teaching points, the inability of the distribution of teaching points to coincide with the optimal path, and poor adaptability to complex scenarios with a high proportion of circular arc trajectories.

[0005] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution: The first aspect of this invention provides a trajectory planning method for a thick plate welding robot, comprising: Obtain the set of teaching points corresponding to each region of the target weld bead on the plate and the actual position of the robot; wherein, the region includes the welding area and the idle walking area; Generate an initial trajectory segment based on the set of teaching points; Select the start processing number and end processing number from the set of teaching points, and perform parsing processing on the teaching points in the interval where the start processing number and end processing number are located to generate the trajectory segment to be processed; Based on the robot's actual position, teaching points are selected sequentially from the initial trajectory segment, and the trajectory segment attributes and arc counts of each teaching point are determined; the trajectory segment attributes include dwell segments, straight line segments, PTP segments, and arc segments. Based on the start processing number, end processing number, trajectory segment attributes, and arc count, the initial trajectory segment is segmented and parsed to determine the start trajectory segment insertion identifier and end trajectory segment insertion identifier of the trajectory segment to be processed. Based on the start trajectory segment insertion identifier and the end trajectory segment identifier, the arc segment is supplemented with teaching points to obtain the set of supplemented teaching points corresponding to each region of the target weld bead. The teaching point set is analyzed and supplemented to obtain the redesigned welding robot trajectory segment.

[0006] Furthermore, the step of sequentially selecting teaching points from the initial trajectory segment based on the robot's actual position and determining the trajectory segment attributes and arc count of each teaching point includes: Obtain the point type and location of the selected teaching point; the point type includes PTP point, line point, and arc point; Use the robot's actual position as the position of the previous teaching point of the first teaching point in the initial trajectory segment; The position of the selected teaching point in the initial trajectory segment is compared with the position of the previous teaching point to obtain the position comparison result; Based on the position comparison results and the point type of the selected teaching point, the trajectory segment attributes and arc count of the selected teaching point are obtained.

[0007] Furthermore, the step of obtaining the trajectory segment attributes and arc count of the selected teaching point based on the position comparison results and the point type of the selected teaching point includes: If the selected teaching point is in the same position as the previous teaching point, the trajectory attribute of the selected teaching point is a stationary segment; if the point type of the selected teaching point is an arc point, the arc count is incremented by 1, otherwise the arc count is 0. If the selected teaching point is not at the same position as the previous teaching point, and the type of the selected teaching point is a PTP point, then the trajectory attribute of the selected teaching point is a PTP segment, and the arc count is 0. If the selected teaching point is not in the same position as the previous teaching point, and the type of the selected teaching point is a straight line point, then the trajectory attribute of the selected teaching point is a straight line segment, and the arc count = 0. If the selected teaching point is not in the same position as the previous teaching point, and the type of the selected teaching point is an arc point, then the trajectory attribute of the selected teaching point is an arc segment, and the arc count is incremented by 1.

[0008] Furthermore, the step of segmenting and parsing the initial trajectory segment based on the start processing number, end processing number, trajectory segment attributes, and arc count to determine the start and end trajectory segment insertion identifiers for the trajectory segments to be processed includes: Based on the start processing number and end processing number, the initial trajectory segment is segmented into the previous trajectory segment, the start trajectory segment, the next trajectory segment, the end trajectory segment, and the end trajectory segment. Among them, the trajectory segment ending at the teaching point corresponding to the initial processing number is the previous trajectory segment; The trajectory segment starting from the teaching point corresponding to the initial processing number is the first trajectory segment; the trajectory segment starting from the teaching point corresponding to the initial processing number + 1 is the next trajectory segment. The trajectory segment ending at the teaching point corresponding to the end processing number is the ending trajectory segment; The trajectory segment starting from the teaching point corresponding to the end processing number is the trajectory segment after the process ends. Based on the trajectory segment attributes and arc count, determine the trajectory segment type of each segment in the initial trajectory segment; Based on the trajectory segment type of each segment, determine the start trajectory segment insertion identifier and the end trajectory segment identifier.

[0009] Furthermore, determining the trajectory segment type of each segment in the initial trajectory segment based on trajectory segment attributes and arc count includes: If there are consecutive teaching points l, n and m in the segment, the selected teaching point is the teaching point m; If the trajectory segment attribute of the teaching point m is a circular arc, and the three teaching points l, n and m are not collinear, then the teaching points l, n and m form the circular arc segment LNM. If the arc count is not equal to 3, and the teaching point m is the arc separation point, then the arc trajectory before the teaching point m is arc segment LN, the arc trajectory of the current segment of the teaching point m is arc segment NM, and the arc count is reassigned to 1. If the arc count is not equal to 3, the teaching point m is a continuous arc point and the next teaching point of the teaching point m is not an arc point, then the arc trajectory before the teaching point m is arc segment LN, and the arc trajectory of the current segment of the teaching point m is arc segment NM. If the arc count is 3, then the arc trajectory of the previous segment of the teaching point m is arc segment LN, and the arc count is reassigned to 2; if the trajectory segment attribute of the teaching point m is arc, then the arc trajectory of this segment of the teaching point m is arc segment NM.

[0010] Furthermore, determining the trajectory segment type of each segment in the initial trajectory segment based on trajectory segment attributes and arc count also includes: If the trajectory segment attribute of teaching point m is an arc, and teaching points l, n and m are collinear, then the trajectory segment attribute of teaching point l is changed to a straight line segment, and teaching points l, n and m form a straight line segment. If the trajectory segment attribute of teaching point m is an arc, and teaching points l, n, and m are not collinear, then teaching points l, n, and m form the arc segment LNM; if the arc count is not equal to 3, and teaching point m is neither an arc separation point nor an arc continuity point, then the trajectory segment attribute of teaching point l is changed to a straight line segment; if the arc count is not equal to 3, teaching point m is not an arc separation point, and the next teaching point of teaching point m is an arc point, then the trajectory segment attribute of teaching point l is changed to a straight line segment.

[0011] Furthermore, determining the start trajectory segment insertion identifier and the end trajectory segment identifier based on the trajectory segment type of each segment includes: If the starting trajectory segment is an arc segment, the next teaching point of the starting trajectory segment is an arc separation point, the next teaching point of the starting trajectory segment is the last teaching point, or the next trajectory segment is not an arc segment, then the starting trajectory segment insertion flag = 1; if the teaching points corresponding to the starting processing number and the ending processing number are adjacent continuous arc points, then the starting trajectory segment insertion flag = 4. If the starting trajectory segment is not a circular arc segment, then the starting trajectory segment insertion flag = 0; If the ending trajectory segment is an arc and the ending processing number is greater than the starting processing number + 2, if the teaching point corresponding to the ending processing number is a continuous arc point and the trajectory segment after the end is an arc segment, then the ending trajectory segment insertion flag = 1; otherwise, the ending trajectory segment insertion flag = 0. If the ending trajectory segment is not an arc or the ending processing number is less than or equal to the starting processing number + 2, then the ending trajectory segment insertion identifier = 0; In this context, the starting trajectory segment insertion flag = 0 and the ending trajectory segment insertion flag = 0 indicate that no new teaching points will be added; the starting trajectory segment insertion flag = 1 indicates that one teaching point will be inserted in the middle of the starting trajectory segment; the starting trajectory segment insertion flag = 4 indicates that one teaching point will be inserted in the middle of the next trajectory segment; and the ending trajectory segment insertion flag = 1 indicates that one teaching point will be inserted in the middle of the ending trajectory segment.

[0012] Furthermore, the step of determining the start trajectory segment insertion identifier and the end trajectory segment identifier based on the trajectory segment type of each segment also includes: If the starting processing number equals the ending processing number, and the previous trajectory segment is not a circular arc segment, then the ending trajectory segment insertion flag is 0. If the starting processing number equals the ending processing number, and the previous trajectory segment is an arc segment, and if the teaching point corresponding to the starting processing number is an arc separation point, the last teaching point, or an arc end point, then the starting trajectory segment insertion identifier = 2; If the starting processing number equals the ending processing number, and the previous trajectory segment is an arc segment, and if the teaching point corresponding to the starting processing number is a continuous arc point, but the next trajectory segment is not an arc segment, then the starting trajectory segment insertion identifier = 2. If the starting processing number equals the ending processing number, the teaching point corresponding to the starting processing number is a continuous arc point, and the next trajectory segment is an arc segment, then the starting trajectory segment insertion identifier = 3; In this context, "End track segment insertion flag = 0" indicates that no new teaching points will be added; "Start track segment insertion flag = 2" and "Start track segment insertion flag = 3" indicate that two teaching points will be inserted in the middle of the previous track segment.

[0013] A second aspect of the present invention provides a trajectory planning device for a thick plate welding robot, comprising: The weld bead teaching point acquisition module is used to acquire the set of teaching points corresponding to each region of the target weld bead on the plate and the actual position of the robot; wherein, the region includes the welding area and the idle walking area; The initial trajectory segment generation module is used to generate an initial trajectory segment based on the set of teaching points; The trajectory segment generation module is used to select the start processing number and end processing number from the set of teaching points, and to perform parsing processing on the teaching points in the interval where the start processing number and end processing number are located to generate the trajectory segment to be processed. The teaching point modification and supplementation parameter acquisition module is used to select teaching points sequentially from the initial trajectory segment based on the robot's actual position, and determine the trajectory segment attributes and arc count of each teaching point; the trajectory segment attributes include dwell segment, straight line segment, PTP segment and arc segment; The insertion identifier calibration module is used to perform segmented parsing processing on the initial trajectory segment based on the start processing number, end processing number, trajectory segment attributes and arc count, and determine the start trajectory segment insertion identifier and end trajectory segment insertion identifier of the trajectory segment to be processed. The teaching point completion module is used to complete the teaching points of the arc segment based on the start trajectory segment insertion identifier and the end trajectory segment identifier, so as to obtain the set of completed teaching points corresponding to each region of the target weld bead. The trajectory planning module is used to parse and supplement the set of teaching points to obtain the replanned trajectory segment of the welding robot.

[0014] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the thick plate welding robot trajectory planning method as described above.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. This invention considers the trajectory segment attributes of the teaching points and the connection relationship between the trajectory segments where each teaching point is located, and integrates the characteristics of each segment. In this way, it can accurately supplement the teaching points, which solves the problems of the current welding robot trajectory planning using a unified modification logic to modify and supplement the teaching points, the teaching point distribution cannot coincide with the optimal path, and the poor adaptability to complex scenarios with a high proportion of circular arc trajectories.

[0016] 2. Based on the arc counting and the positional distribution of the selected teaching point and its two consecutive teaching points, the present invention can quickly determine and modify the actual trajectory segment attributes and the type of trajectory segment formed by the three teaching points. Attached Figure Description

[0017] Figure 1 This is a flowchart of a trajectory planning method for a thick plate welding robot provided in an embodiment of the present invention; Figure 2 This is a flowchart of determining the trajectory segment attributes and arc count of each teaching point according to an embodiment of the present invention; Figure 3 This is a flowchart of determining the start trajectory segment insertion identifier and the end trajectory segment insertion identifier of the initial trajectory segment according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the trajectory planning device for a thick plate welding robot provided in an embodiment of the present invention. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example 1

[0019] like Figure 1 As shown, this embodiment provides a trajectory planning method for a thick plate welding robot, including: Step 1: Obtain the set of teaching points corresponding to each region of the target weld bead on the plate and the actual position of the robot; where the regions include the welding area and the idle walking area; Step 2: Generate the initial trajectory segment based on the set of teaching points; Step 3: Select the start processing number and end processing number from the set of teaching points, and perform parsing processing on the teaching points in the interval where the start processing number and end processing number are located to generate the trajectory segment to be processed; For example, if there are 10 teaching points in the set of teaching points, numbered 1 to 10, and the teaching point in the interval where the starting processing number is 3 and the ending processing number is 8 is selected, after parsing, the initial trajectory segment corresponds to the 10 teaching points numbered 1 to 10, and the trajectory segment to be processed corresponds to the 6 teaching points in the interval numbered 3 to 8.

[0020] like Figure 2 As shown, step 4 involves selecting teaching points sequentially from the initial trajectory segment based on the robot's actual position, and determining the trajectory segment attributes and arc count for each teaching point; specifically: The trajectory segment attributes include stationary segments, straight line segments, PTP (point to point) segments, and circular arc segments; Obtain the point type and location of the selected teaching point; point types include PTP points, line points, and arc points; Use the robot's actual position as the position of the previous teaching point of the first teaching point in the initial trajectory segment; The position of the selected teaching point in the initial trajectory segment is compared with the position of the previous teaching point to obtain the position comparison result; Based on the position comparison results and the point type of the selected teaching point, the trajectory segment attributes and arc count of the selected teaching point are obtained, including: If the selected teaching point is in the same position as the previous teaching point, the trajectory attribute of the selected teaching point is a stationary segment; if the point type of the selected teaching point is an arc point, the arc count is incremented by 1, otherwise the arc count is 0. If the selected teaching point is not at the same position as the previous teaching point, and the type of the selected teaching point is a PTP point, then the trajectory attribute of the selected teaching point is a PTP segment, and the arc count is 0. If the selected teaching point is not in the same position as the previous teaching point, and the type of the selected teaching point is a straight line point, then the trajectory attribute of the selected teaching point is a straight line segment, and the arc count = 0. If the selected teaching point is not in the same position as the previous teaching point, and the type of the selected teaching point is an arc point, then the trajectory attribute of the selected teaching point is an arc segment, and the arc count is incremented by 1.

[0021] like Figure 3 As shown, step 5 involves segmenting and parsing the initial trajectory segment based on the starting processing number, ending processing number, trajectory segment attributes, and arc count to determine the start and end trajectory segment insertion identifiers for the trajectory segments to be processed; specifically: Based on the start processing number and end processing number, the initial trajectory segment is segmented into the previous trajectory segment, the start trajectory segment, the next trajectory segment, the end trajectory segment, and the end trajectory segment. Among them, the trajectory segment ending at the teaching point corresponding to the initial processing number is the previous trajectory segment; The trajectory segment starting from the teaching point corresponding to the initial processing number is the first trajectory segment; the trajectory segment starting from the teaching point corresponding to the initial processing number + 1 is the next trajectory segment. The trajectory segment ending at the teaching point corresponding to the end processing number is the ending trajectory segment; The trajectory segment starting from the teaching point corresponding to the end processing number is the trajectory segment after the process ends.

[0022] Based on the trajectory segment attributes and arc count, determine the trajectory segment type of each segment in the initial trajectory segment, including: If there are consecutive teaching points l, n and m in the segment, the selected teaching point is the teaching point m; If the trajectory segment attribute of the teaching point m is a circular arc, and the three teaching points l, n and m are not collinear, then the teaching points l, n and m form the circular arc segment LNM. If the arc count is not equal to 3, and the teaching point m is the arc separation point, then the arc trajectory before the teaching point m is arc segment LN, the arc trajectory of the current segment of the teaching point m is arc segment NM, and the arc count is reassigned to 1. If the arc count is not equal to 3, the teaching point m is a continuous arc point and the next teaching point of the teaching point m is not an arc point, then the arc trajectory before the teaching point m is arc segment LN, and the arc trajectory of the current segment of the teaching point m is arc segment NM. If the arc count is 3, then the arc trajectory of the previous segment of the teaching point m is arc segment LN, and the arc count is reassigned to 2; if the trajectory segment attribute of the teaching point m is arc, then the arc trajectory of this segment of the teaching point m is arc segment NM.

[0023] This embodiment can also quickly determine and modify the actual trajectory segment attributes and the type of trajectory segment formed by the three teaching points based on the arc count and the positional distribution of the selected teaching point and its two consecutive teaching points. Specifically: If the trajectory segment attribute of teaching point m is an arc, and teaching points l, n and m are collinear, then the trajectory segment attribute of teaching point l is changed to a straight line segment, and teaching points l, n and m form a straight line segment. If the trajectory segment attribute of teaching point m is an arc, and teaching points l, n, and m are not collinear, then teaching points l, n, and m form the arc segment LNM; if the arc count is not equal to 3, and teaching point m is neither an arc separation point nor an arc continuity point, then the trajectory segment attribute of teaching point l is changed to a straight line segment; if the arc count is not equal to 3, teaching point m is not an arc separation point, and the next teaching point of teaching point m is an arc point, then the trajectory segment attribute of teaching point l is changed to a straight line segment.

[0024] Based on the trajectory segment type of each segment, determine the start trajectory segment insertion identifier and the end trajectory segment identifier, specifically: If the starting trajectory segment is an arc segment, the next teaching point of the starting trajectory segment is an arc separation point, the next teaching point of the starting trajectory segment is the last teaching point, or the next trajectory segment is not an arc segment, then the starting trajectory segment insertion flag = 1; if the teaching points corresponding to the starting processing number and the ending processing number are adjacent continuous arc points, then the starting trajectory segment insertion flag = 4. If the starting trajectory segment is not a circular arc segment, then the starting trajectory segment insertion flag = 0; If the ending trajectory segment is an arc and the ending processing number is greater than the starting processing number + 2, if the teaching point corresponding to the ending processing number is a continuous arc point and the trajectory segment after the end is an arc segment, then the ending trajectory segment insertion flag = 1; otherwise, the ending trajectory segment insertion flag = 0. If the ending trajectory segment is not an arc or the ending processing number is less than or equal to the starting processing number + 2, then the ending trajectory segment insertion identifier = 0; For the special case where the starting processing number equals the ending processing number, this embodiment handles it as follows: If the starting processing number equals the ending processing number, and the previous trajectory segment is not a circular arc segment, then the ending trajectory segment insertion flag is 0. If the starting processing number equals the ending processing number, and the previous trajectory segment is an arc segment, and if the teaching point corresponding to the starting processing number is an arc separation point, the last teaching point, or an arc end point, then the starting trajectory segment insertion identifier = 2; If the starting processing number equals the ending processing number, the teaching point corresponding to the starting processing number is a continuous arc point, and the next trajectory segment is an arc segment, then the starting trajectory segment insertion identifier = 3; Among them, starting trajectory segment insertion flag = 0 means no new teaching point is added, starting trajectory segment insertion flag = 1 means one teaching point is inserted in the middle of the starting trajectory segment, starting trajectory segment insertion flag = 4 means one teaching point is inserted in the middle of the next trajectory segment, and starting trajectory segment insertion flag = 2 and starting trajectory segment insertion flag = 3 mean two teaching points are inserted in the middle of the previous trajectory segment. The end trajectory segment insertion flag = 0 indicates that no new teaching point will be added, and the end trajectory segment insertion flag = 1 indicates that a teaching point will be inserted in the middle of the end trajectory segment.

[0025] Step 6: Based on the start trajectory segment insertion marker and the end trajectory segment marker, perform teaching and supplementation on the arc segment to obtain the set of supplementation teaching points corresponding to each region of the target weld bead; specifically: For ease of understanding, this embodiment provides an example: In this embodiment, the set of teaching points includes 8 teaching points: a, b, c, d, e, x, y, and z. Among them, teaching point c corresponds to the starting processing number, teaching point a corresponds to the starting processing number -2, teaching point b corresponds to the starting processing number -1, teaching point y corresponds to the ending processing number, teaching point x corresponds to the ending processing number -1, and teaching point z corresponds to the ending processing number +1. If the starting trajectory segment cd is an arc segment, the next teaching point e of the starting trajectory segment cd is an arc separation point, the next teaching point e of the starting trajectory segment cd is the last teaching point, or the next trajectory segment de is not an arc segment, then the insertion flag of the starting trajectory segment cd is 1, that is, one teaching point is inserted between the cd segments of the arcs of points bcd. If the starting trajectory segment cd is an arc segment, and the teaching points c and d corresponding to the starting processing number and the ending processing number are adjacent continuous arc points, then the insertion identifier for the starting trajectory segment cd is 4, that is, a teaching point is inserted between the cd segments of the arcs of points cde. If the ending trajectory segment xy is an arc and the ending processing number is greater than the starting processing number + 2, if the teaching point y corresponding to the ending processing number is a continuous arc point and the trajectory segment yz after the end is an arc segment, then the ending trajectory segment xy insertion flag = 1, that is, a teaching point is inserted between the xy segments of the arcs of the three points xyz. For the special case where the starting processing number equals the ending processing number: If the starting processing number equals the ending processing number, and the previous trajectory segment ab is an arc segment, and if the teaching point c corresponding to the starting processing number is an arc separation point, the last teaching point, or an arc end point, then the starting trajectory segment cd insertion identifier = 2, that is, inserting 2 arc midpoints between the bc segments of the arcs at points abc. If the starting processing number equals the ending processing number, and the previous trajectory segment ab is an arc segment, and if the teaching point c corresponding to the starting processing number is a continuous arc point, but the next trajectory segment de is not an arc segment, then the starting trajectory segment cd insertion identifier = 2, that is, insert 2 arc midpoints between the bc segment of the arc of the three points abc. If the starting processing number equals the ending processing number, the teaching point c corresponding to the starting processing number is a continuous arc point, and the next trajectory segment de is an arc segment, then the insertion identifier for the starting trajectory segment cd is 3, that is, inserting two arc midpoints between the bc segments of the arcs at points bcd. It should be noted that all teaching points inserted in this embodiment are arc points; Step 7: Analyze and complete the set of teaching points to obtain the redesigned welding robot trajectory segment; It should be noted that in this embodiment, in a multi-layer, multi-pass welding scenario, the set of teaching points corresponding to all regions of the current weld pass must be traversed before the set of teaching points corresponding to the next weld pass can be processed. For example, in a 3-layer, 6-pass welding scenario, the target weld 1 is processed first. Target weld 1 includes a welding area and an idle area. For the welding area of ​​target weld 1, steps 1 to 5 are followed to obtain the supplementary teaching point set A of the welding area in target weld 1. The teaching point set of target weld 1 is updated. Then, based on the updated teaching point set, the idle area of ​​target weld 1 is processed according to steps 1 to 5 to obtain the supplementary teaching point set B of the idle area in target weld 1. The teaching point set of target weld 1 is updated again. If there are still remaining welding areas and idle areas in target weld 1, the remaining welding areas and idle areas are traversed sequentially until the teaching points of all areas of target weld 1 are processed. At this point, the teaching points of target weld 1 are completed, and the final updated supplementary teaching point set of target weld 1 is obtained. Based on the final updated teaching point set of target weld 1, the welding robot trajectory segment is replanned. Similarly, the regions corresponding to the remaining weld beads 2, 3, 4, 5 and 6 are traversed in turn. According to steps 1 to 5, the teaching points of each region are supplemented to determine the corresponding supplemented teaching point set, and then the final updated teaching point set of each weld bead is obtained, and the welding robot trajectory segment is replanned.

[0026] Example 2 like Figure 4 As shown, this embodiment provides a trajectory planning device for a thick plate welding robot, including: The weld bead teaching point acquisition module is used to acquire the set of teaching points corresponding to each region of the target weld bead on the plate and the actual position of the robot; wherein, the region includes the welding area and the idle walking area; The initial trajectory segment generation module is used to generate an initial trajectory segment based on the set of teaching points; The trajectory segment generation module is used to select the start processing number and end processing number from the set of teaching points, and to perform parsing processing on the teaching points in the interval where the start processing number and end processing number are located to generate the trajectory segment to be processed. The teaching point modification and supplementation parameter acquisition module is used to select teaching points sequentially from the initial trajectory segment based on the robot's actual position, and determine the trajectory segment attributes and arc count of each teaching point; the trajectory segment attributes include dwell segment, straight line segment, PTP segment and arc segment; The insertion identifier calibration module is used to perform segmented parsing processing on the initial trajectory segment based on the start processing number, end processing number, trajectory segment attributes and arc count, and determine the start trajectory segment insertion identifier and end trajectory segment insertion identifier of the trajectory segment to be processed. The teaching point completion module is used to complete the teaching points of the arc segment based on the start trajectory segment insertion identifier and the end trajectory segment identifier, so as to obtain the set of completed teaching points corresponding to each region of the target weld bead. The trajectory planning module is used to parse and supplement the set of teaching points to obtain the replanned trajectory segment of the welding robot.

[0027] The specific functions of each module described above are explained in the relevant content of the method in Embodiment 1, and will not be repeated here.

[0028] Example 3 This embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the following method steps: Obtain the set of teaching points corresponding to each region of the target weld bead on the plate and the actual position of the robot; wherein, the region includes the welding area and the idle walking area; Generate an initial trajectory segment based on the set of teaching points; Select the start processing number and end processing number from the set of teaching points, and perform parsing processing on the teaching points in the interval where the start processing number and end processing number are located to generate the trajectory segment to be processed; Based on the robot's actual position, teaching points are selected sequentially from the initial trajectory segment, and the trajectory segment attributes and arc counts of each teaching point are determined; the trajectory segment attributes include dwell segments, straight line segments, PTP segments, and arc segments. Based on the start processing number, end processing number, trajectory segment attributes, and arc count, the initial trajectory segment is segmented and parsed to determine the start trajectory segment insertion identifier and end trajectory segment insertion identifier of the trajectory segment to be processed. Based on the start trajectory segment insertion identifier and the end trajectory segment identifier, the arc segment is supplemented with teaching points to obtain the set of supplemented teaching points corresponding to each region of the target weld bead. The teaching point set is analyzed and supplemented to obtain the redesigned welding robot trajectory segment.

[0029] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0030] This application is described with reference to flowchart illustrations of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each step in the flowchart can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, generate instructions for implementing the process. Figure 1 One or more processes or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0031] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 The function specified in one or more processes.

[0032] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 Steps of a specified function in one or more processes.

[0033] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A trajectory planning method for a thick plate welding robot, characterized in that, include: Obtain the set of teaching points corresponding to each region of the target weld bead on the plate and the actual position of the robot; wherein, the region includes the welding area and the idle walking area; Generate an initial trajectory segment based on the set of teaching points; Select the start processing number and end processing number from the set of teaching points, and perform parsing processing on the teaching points in the interval where the start processing number and end processing number are located to generate the trajectory segment to be processed; Based on the robot's actual position, teaching points are selected sequentially from the initial trajectory segment, and the trajectory segment attributes and arc counts of each teaching point are determined; the trajectory segment attributes include dwell segments, straight line segments, PTP segments, and arc segments. Based on the start processing number, end processing number, trajectory segment attributes, and arc count, the initial trajectory segment is segmented and parsed to determine the start trajectory segment insertion identifier and end trajectory segment insertion identifier of the trajectory segment to be processed. Based on the start trajectory segment insertion identifier and the end trajectory segment identifier, the arc segment is supplemented with teaching points to obtain the set of supplemented teaching points corresponding to each region of the target weld bead. The teaching point set is analyzed and supplemented to obtain the redesigned welding robot trajectory segment.

2. The trajectory planning method for thick plate welding robots according to claim 1, characterized in that, The process of selecting teaching points sequentially from the initial trajectory segment based on the robot's actual position and determining the trajectory segment attributes and arc counts for each teaching point includes: Obtain the point type and location of the selected teaching point; the point type includes PTP point, line point, and arc point; Use the robot's actual position as the position of the previous teaching point of the first teaching point in the initial trajectory segment; The position of the selected teaching point in the initial trajectory segment is compared with the position of the previous teaching point to obtain the position comparison result; Based on the position comparison results and the point type of the selected teaching point, the trajectory segment attributes and arc count of the selected teaching point are obtained.

3. The trajectory planning method for thick plate welding robots according to claim 2, characterized in that, The step of obtaining the trajectory segment attributes and arc count of the selected teaching point based on the position comparison results and the point type of the selected teaching point includes: If the selected teaching point is in the same position as the previous teaching point, the trajectory attribute of the selected teaching point is a stationary segment; if the point type of the selected teaching point is an arc point, the arc count is incremented by 1, otherwise the arc count is 0. If the selected teaching point is not at the same position as the previous teaching point, and the type of the selected teaching point is a PTP point, then the trajectory attribute of the selected teaching point is a PTP segment, and the arc count is 0. If the selected teaching point is not in the same position as the previous teaching point, and the type of the selected teaching point is a straight line point, then the trajectory attribute of the selected teaching point is a straight line segment, and the arc count = 0. If the selected teaching point is not in the same position as the previous teaching point, and the type of the selected teaching point is an arc point, then the trajectory attribute of the selected teaching point is an arc segment, and the arc count is incremented by 1.

4. The trajectory planning method for a thick plate welding robot according to claim 1, characterized in that, The initial trajectory segment is segmented and parsed based on the start processing number, end processing number, trajectory segment attributes, and arc count to determine the start and end trajectory segment insertion identifiers for the trajectory segments to be processed, including: Based on the start processing number and end processing number, the initial trajectory segment is segmented into the previous trajectory segment, the start trajectory segment, the next trajectory segment, the end trajectory segment, and the end trajectory segment. Among them, the trajectory segment ending at the teaching point corresponding to the initial processing number is the previous trajectory segment; The trajectory segment starting from the teaching point corresponding to the initial processing number is the first trajectory segment; the trajectory segment starting from the teaching point corresponding to the initial processing number + 1 is the next trajectory segment. The trajectory segment ending at the teaching point corresponding to the end processing number is the ending trajectory segment; The trajectory segment starting from the teaching point corresponding to the end processing number is the trajectory segment after the process ends. Based on the trajectory segment attributes and arc count, determine the trajectory segment type of each segment in the initial trajectory segment; Based on the trajectory segment type of each segment, determine the start trajectory segment insertion identifier and the end trajectory segment identifier.

5. The trajectory planning method for a thick plate welding robot according to claim 4, characterized in that, The process of determining the trajectory segment type of each segment in the initial trajectory segment based on trajectory segment attributes and arc count includes: If there are consecutive teaching points l, n and m in the segment, the selected teaching point is the teaching point m; If the trajectory segment attribute of the teaching point m is a circular arc, and the three teaching points l, n and m are not collinear, then the teaching points l, n and m form the circular arc segment LNM. If the arc count is not equal to 3, and the teaching point m is the arc separation point, then the arc trajectory before the teaching point m is arc segment LN, the arc trajectory of the current segment of the teaching point m is arc segment NM, and the arc count is reassigned to 1. If the arc count is not equal to 3, the teaching point m is a continuous arc point and the next teaching point of the teaching point m is not an arc point, then the arc trajectory before the teaching point m is arc segment LN, and the arc trajectory of the current segment of the teaching point m is arc segment NM. If the arc count is 3, then the arc trajectory of the previous segment of the teaching point m is arc segment LN, and the arc count is reassigned to 2; if the trajectory segment attribute of the teaching point m is arc, then the arc trajectory of this segment of the teaching point m is arc segment NM.

6. The trajectory planning method for a thick plate welding robot according to claim 5, characterized in that, The step of determining the trajectory segment type of each segment in the initial trajectory segment based on trajectory segment attributes and arc counts also includes: If the trajectory segment attribute of teaching point m is an arc, and teaching points l, n and m are collinear, then the trajectory segment attribute of teaching point l is changed to a straight line segment, and teaching points l, n and m form a straight line segment. If the trajectory segment attribute of teaching point m is an arc, and teaching points l, n, and m are not collinear, then teaching points l, n, and m form the arc segment LNM; if the arc count is not equal to 3, and teaching point m is neither an arc separation point nor an arc continuity point, then the trajectory segment attribute of teaching point l is changed to a straight line segment; if the arc count is not equal to 3, teaching point m is not an arc separation point, and the next teaching point of teaching point m is an arc point, then the trajectory segment attribute of teaching point l is changed to a straight line segment.

7. The trajectory planning method for a thick plate welding robot according to claim 4, characterized in that, The step of determining the start trajectory segment insertion identifier and the end trajectory segment identifier based on the trajectory segment type of each segment includes: If the starting trajectory segment is an arc segment, the next teaching point of the starting trajectory segment is an arc separation point, the next teaching point of the starting trajectory segment is the last teaching point, or the next trajectory segment is not an arc segment, then the starting trajectory segment insertion flag = 1; if the teaching points corresponding to the starting processing number and the ending processing number are adjacent continuous arc points, then the starting trajectory segment insertion flag = 4. If the starting trajectory segment is not a circular arc segment, then the starting trajectory segment insertion flag = 0; If the ending trajectory segment is an arc and the ending processing number is greater than the starting processing number + 2, if the teaching point corresponding to the ending processing number is a continuous arc point and the trajectory segment after the end is an arc segment, then the ending trajectory segment insertion flag = 1; otherwise, the ending trajectory segment insertion flag = 0. If the ending trajectory segment is not an arc or the ending processing number is less than or equal to the starting processing number + 2, then the ending trajectory segment insertion identifier = 0; Where, the start trajectory segment insertion flag = 0 and the end trajectory segment insertion flag = 0 indicate that no new teaching points are added; the start trajectory segment insertion flag = 1 indicates that one teaching point is inserted in the middle of the start trajectory segment. The start trajectory segment insertion flag = 4 indicates that a teaching point will be inserted in the middle of the next trajectory segment; the end trajectory segment insertion flag = 1 indicates that a teaching point will be inserted in the middle of the end trajectory segment.

8. The trajectory planning method for a thick plate welding robot according to claim 4, characterized in that, The step of determining the start trajectory segment insertion identifier and the end trajectory segment identifier based on the trajectory segment type of each segment also includes: If the starting processing number equals the ending processing number, and the previous trajectory segment is not a circular arc segment, then the ending trajectory segment insertion flag is 0. If the starting processing number equals the ending processing number, and the previous trajectory segment is an arc segment, and if the teaching point corresponding to the starting processing number is an arc separation point, the last teaching point, or an arc end point, then the starting trajectory segment insertion identifier = 2; If the starting processing number equals the ending processing number, and the previous trajectory segment is an arc segment, and if the teaching point corresponding to the starting processing number is a continuous arc point, but the next trajectory segment is not an arc segment, then the starting trajectory segment insertion identifier = 2. If the starting processing number equals the ending processing number, the teaching point corresponding to the starting processing number is a continuous arc point, and the next trajectory segment is an arc segment, then the starting trajectory segment insertion identifier = 3; In this context, "End track segment insertion flag = 0" indicates that no new teaching points will be added; "Start track segment insertion flag = 2" and "Start track segment insertion flag = 3" indicate that two teaching points will be inserted in the middle of the previous track segment.

9. A trajectory planning device for a thick plate welding robot, characterized in that, include: The weld bead teaching point acquisition module is used to acquire the set of teaching points corresponding to each region of the target weld bead on the plate and the actual position of the robot; wherein, the region includes the welding area and the idle walking area; The initial trajectory segment generation module is used to generate an initial trajectory segment based on the set of teaching points; The trajectory segment generation module is used to select the start processing number and end processing number from the set of teaching points, and to perform parsing processing on the teaching points in the interval where the start processing number and end processing number are located to generate the trajectory segment to be processed. The teaching point modification and supplementation parameter acquisition module is used to select teaching points sequentially from the initial trajectory segment based on the robot's actual position, and determine the trajectory segment attributes and arc count of each teaching point; the trajectory segment attributes include dwell segment, straight line segment, PTP segment and arc segment; The insertion identifier calibration module is used to perform segmented parsing processing on the initial trajectory segment based on the start processing number, end processing number, trajectory segment attributes and arc count, and determine the start trajectory segment insertion identifier and end trajectory segment insertion identifier of the trajectory segment to be processed. The teaching point completion module is used to complete the teaching points of the arc segment based on the start trajectory segment insertion identifier and the end trajectory segment identifier, so as to obtain the set of completed teaching points corresponding to each region of the target weld bead. The trajectory planning module is used to parse and supplement the set of teaching points to obtain the replanned trajectory segment of the welding robot.

10. 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 thick plate welding robot trajectory planning method as described in any one of claims 1 to 8.

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