Welding guiding method, apparatus and device, and storage medium

Abstract

A welding guiding method, comprising: outputting a pulse signal by means of an encoder on the basis of a rotating angle of a turret-based welding device, and outputting a control signal by means of a controller on the basis of the pulse signal; a galvanometer system performing laser dotting on preset point positions of battery carriers on the basis of the control signal to obtain initial coordinate points; a CCD camera photographing the battery carriers on the basis of the control signal to obtain target image data; capturing coordinate data of the initial coordinate points on the basis of the target image data to obtain initial coordinate data; performing affine transformation calculation on the initial coordinate data on the basis of an affine transformation model obtained by means of pre-calibration to obtain target coordinate data; and on the basis of the target coordinate data, guiding the turret-based welding device to weld. According to the method, the turret-based welding device can be guided to accurately weld on the basis of different positions of the battery carriers, thus improving the welding efficiency. The present invention further relates to a welding guiding apparatus and device and a storage medium.

Description

Welding guidance method, device, equipment and storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202311656837.7 filed on December 5, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of turret welding equipment, and in particular to a welding guidance method, device, equipment and storage medium. Background Art

[0004] In the turret welding equipment, the battery carriers are arranged around the center of the disk. Each battery carrier has a different radius R relative to the rotation center, and the relative angle θ between the battery carriers has errors. After the turret welding equipment rotates, each battery carrier is located at a different position, resulting in the turret welding equipment being unable to weld accurately, reducing welding efficiency. Summary of the Invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a welding guidance method that can guide the turret welding equipment to perform accurate welding based on the different positions of the battery carrier, thereby improving the welding efficiency.

[0006] The present application also provides a welding guide device.

[0007] The present application also proposes a welding guide device.

[0008] The present application also provides a computer-readable storage medium.

[0009] In a first aspect, an embodiment of the present application provides a welding guidance method applied to a turret welding device, wherein the turret welding device includes a battery carrier, a galvanometer system, a CCD camera, a controller, and an encoder, and the welding guidance method includes:

[0010] Outputting a pulse signal according to the rotation angle of the turret welding device through the encoder, and outputting a control signal according to the pulse signal through the controller;

[0011] Laser marking a preset point of the battery carrier using the galvanometer system according to the control signal to obtain an initial coordinate point;

[0012] photographing the battery carrier by the CCD camera according to the control signal to obtain target image data;

[0013] Capturing the coordinate data of the initial coordinate point according to the target image data to obtain initial coordinate data;

[0014] Performing affine transformation calculation on the initial coordinate data according to a pre-calibrated affine transformation model to obtain target coordinate data;

[0015] The turret welding equipment is guided to perform welding according to the target coordinate data.

[0016] The welding guidance method of the embodiment of the present application has at least the following beneficial effects: every time the turret welding equipment rotates a preset angle, a pulse signal is output to the corresponding controller through the encoder, so that the controller outputs a control signal. After the galvanometer system receives the control signal, the galvanometer system is controlled to perform laser marking on several battery carriers in turn to set corresponding coordinate points at the preset potentials of several battery carriers to obtain initial coordinate points. The battery carriers are rotated to the bottom of the CCD camera in turn, and after the CCD camera receives the control signal, the CCD camera is controlled to shoot the battery carrier to obtain target image data, identify the set initial coordinate point in the target image data, obtain the coordinate data corresponding to the initial coordinate point, obtain the initial coordinate data, input the initial coordinate data into the pre-calibrated affine transformation model, calculate the coordinate data of the initial coordinate point after the coordinate system is converted through the affine transformation model, complete the affine transformation calculation for the initial coordinate data, obtain the target coordinate data, adjust the welding trajectory according to the target coordinate data, and guide the turret welding equipment to weld along the corresponding welding trajectory. Every time the turret welding equipment rotates a preset angle, the encoder is controlled to output a pulse signal to the controller, so that the controller outputs a control signal. After receiving the control signal, the galvanometer system performs laser marking on the battery carrier to obtain the initial coordinate point. After receiving the control signal, the CCD camera shoots the battery carrier to obtain target image data. The coordinates of the initial coordinate point are captured in the target image data to obtain the initial coordinate data. The initial coordinate data is input into the pre-calibrated affine transformation model for affine transformation calculation to obtain the target coordinate data. The turret welding equipment is guided to perform welding according to the target coordinate data. The turret welding equipment can be guided to perform accurate welding based on different positions of the battery carrier, thereby improving the welding efficiency.

[0017] According to some other embodiments of the welding guidance method of the present application, before the encoder outputs a pulse signal according to the rotation angle of the turret welding equipment and the controller outputs a control signal according to the pulse signal, the welding guidance method further includes:

[0018] Performing laser marking on the battery carrier according to the control signal by the galvanometer system to obtain first coordinate data of a first coordinate point;

[0019] After the turret welding device rotates, the battery carrier is photographed by the CCD camera to obtain initial image data;

[0020] Obtaining the coordinates of the first coordinate point after the coordinate system is converted according to the initial image data to obtain second coordinate data;

[0021] Calibration is performed according to the first coordinate data and the second coordinate data to obtain the affine transformation model.

[0022] According to some other embodiments of the welding guidance method of the present application, obtaining the coordinates of the first coordinate point after converting the coordinate system according to the initial image data to obtain second coordinate data includes:

[0023] identifying a coordinate point of the first coordinate point after the movement in the initial image data to obtain a second coordinate point;

[0024] Acquire the coordinate data of the second coordinate point in the coordinate system to obtain the second coordinate data.

[0025] According to some other embodiments of the welding guidance method of the present application, the calibration based on the first coordinate data and the second coordinate data to obtain the affine transformation model includes:

[0026] Obtaining the coordinates of the origin of the coordinate system after movement from the second coordinate data to obtain origin coordinate data;

[0027] Acquire the distance after the first coordinate point moves according to the origin coordinate data to obtain the coordinate movement distance;

[0028] Calculate the rotation angle according to the first coordinate data, the second coordinate data and the coordinate movement distance to obtain the coordinate system rotation angle;

[0029] The coordinate movement distance and the coordinate system rotation angle are substituted into an affine transformation formula to obtain the affine transformation model.

[0030] According to some other embodiments of the present application, the welding guidance method, guiding the turret welding equipment to perform welding according to the target coordinate data, includes:

[0031] Calculate the starting point coordinates of the preset welding line segment according to the target coordinate data to obtain the starting point coordinates of the welding line segment;

[0032] Calculating the end point coordinates of the preset welding line segment according to the target coordinate data to obtain the end point coordinates of the welding line segment;

[0033] Draw a welding trajectory according to the coordinates of the welding line segment start point and the coordinates of the welding line segment end point to obtain a target welding trajectory;

[0034] The turret welding equipment is guided to perform welding along the target welding trajectory.

[0035] According to the welding guidance method of other embodiments of the present application, the turret welding equipment further includes a high-speed transmission module, the controller includes an FPGA controller, the encoder is an incremental encoder, and the welding guidance method further includes:

[0036] Outputting a pulse signal by the incremental encoder according to the preset rotation angle of the turret welding device;

[0037] Outputting the control signal through the FPGA controller according to the pulse quantity and a preset pulse quantity threshold; wherein the pulse quantity includes the number of the pulse signals;

[0038] The control signal is transmitted at an accelerated speed through the high-speed transmission module.

[0039] According to some other embodiments of the present application, the welding guidance method further includes:

[0040] The turntable origin signal is obtained in real time by the FPGA controller; wherein the turntable origin signal is outputted by the incremental encoder every time the incremental encoder rotates one circle;

[0041] If the FPGA controller receives the turntable origin signal, the pulse quantity is cleared.

[0042] In a second aspect, an embodiment of the present application provides a welding guide device applied to a turret welding device, wherein the turret welding device includes a battery carrier, a galvanometer system, a CCD camera, a controller, and an encoder, and the welding guide device includes:

[0043] a control signal output module, configured to output a pulse signal according to the rotation angle of the turret welding device via the encoder, and output a control signal according to the pulse signal via the controller;

[0044] A laser marking module, configured to perform laser marking on a preset point of the battery carrier according to the control signal through the galvanometer system to obtain an initial coordinate point;

[0045] an image capturing module, configured to capture the battery carrier via the CCD camera according to the control signal to obtain target image data;

[0046] A coordinate data capturing module, configured to capture the coordinate data of the initial coordinate point according to the target image data to obtain the initial coordinate data;

[0047] An affine transformation calculation module is used to perform affine transformation calculation on the initial coordinate data according to a pre-calibrated affine transformation model to obtain target coordinate data;

[0048] The guiding welding module is used to guide the turret welding equipment to perform welding according to the target coordinate data.

[0049] The welding guide device of the embodiment of the present application has at least the following beneficial effects: after each rotation of the turret welding equipment by a preset angle, the control signal output module outputs a pulse signal to the corresponding controller through the encoder, causing the controller to output a control signal. After the galvanometer system receives the control signal, the laser dot module controls the galvanometer system to perform laser dot on the plurality of battery carriers in sequence, so as to set corresponding coordinate points at the preset potentials of the plurality of battery carriers to obtain initial coordinate points. The battery carriers rotate to the bottom of the CCD camera in sequence, and after the CCD camera receives the control signal, the image capture module controls the CCD camera to capture the battery carrier to obtain target image data. The coordinate data capture module identifies the set initial coordinate point in the target image data, obtains the coordinate data corresponding to the initial coordinate point, and obtains the initial coordinate data. The affine transformation calculation module inputs the initial coordinate data into a pre-calibrated affine transformation model, calculates the coordinate data of the initial coordinate point after the coordinate system is converted through the affine transformation model, and completes the affine transformation calculation on the initial coordinate data to obtain the target coordinate data. The guide welding module adjusts the welding trajectory according to the target coordinate data and guides the turret welding equipment to weld along the corresponding welding trajectory. Every time the turret welding equipment rotates a preset angle, the encoder is controlled to output a pulse signal to the controller, so that the controller outputs a control signal. After receiving the control signal, the galvanometer system performs laser marking on the battery carrier to obtain the initial coordinate point. After receiving the control signal, the CCD camera shoots the battery carrier to obtain target image data. The coordinates of the initial coordinate point are captured in the target image data to obtain the initial coordinate data. The initial coordinate data is input into the pre-calibrated affine transformation model for affine transformation calculation to obtain the target coordinate data. The turret welding equipment is guided to perform welding according to the target coordinate data. The turret welding equipment can be guided to perform accurate welding based on different positions of the battery carrier, thereby improving the welding efficiency.

[0050] In a third aspect, an embodiment of the present application provides a welding guide device, comprising:

[0051] at least one processor, and

[0052] a memory communicatively connected to the at least one processor; wherein,

[0053] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the welding guidance method according to the first aspect.

[0054] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the welding guidance method as described in the first aspect.

[0055] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG1 is a schematic flow chart of a specific embodiment of a welding guidance method according to an embodiment of the present application;

[0057] FIG2 is a schematic flow chart of another specific embodiment of the welding guidance method according to an embodiment of the present application;

[0058] FIG3 is a flow chart of a specific embodiment of step S203 in FIG2 ;

[0059] FIG4 is a flow chart of a specific embodiment of step S204 in FIG2 ;

[0060] FIG5 is a flow chart of a specific embodiment of step S106 in FIG1 ;

[0061] FIG6 is a schematic flow chart of another specific embodiment of the welding guidance method according to the embodiment of the present application;

[0062] FIG7 is a schematic flow chart of another specific embodiment of the welding guidance method according to an embodiment of the present application;

[0063] FIG8 is a block diagram of a specific embodiment of a welding guide device according to an embodiment of the present application;

[0064] FIG9 is a schematic diagram of a specific embodiment of the calibration process of the welding guide device in an embodiment of the present application;

[0065] FIG10 is a schematic diagram of a specific embodiment of the production process of the welding guide device in an embodiment of the present application;

[0066] FIG11 is a schematic diagram of a specific embodiment of a battery carrier according to an embodiment of the present application;

[0067] FIG12 is a schematic diagram of a specific embodiment of the communication system of the welding guide device in an embodiment of the present application.

[0068] Description of reference numerals:

[0069] Control signal output module 801, laser dotting module 802, image shooting module 803, coordinate data capture module 804, affine transformation calculation module 805, and guided welding module 806. Modes for Carrying Out the Invention

[0070] The following will clearly and completely describe the concept and technical effects of this application in conjunction with the embodiments to fully understand the purpose, features and effects of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of this application.

[0071] In the description of this application, if there is a description of orientation, such as "upper", "lower", "front", "back", "left", "right", etc., the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be understood as a limitation on this application. If a feature is referred to as being "disposed", "fixed", "connected", or "mounted" on another feature, it can be directly disposed, fixed, or connected to the other feature, or indirectly disposed, fixed, connected, or mounted on the other feature.

[0072] In the description of the embodiments of this application, if the word "several" is mentioned, it means more than one; if the word "plurality" is mentioned, it means more than two; if the word "greater than," "less than," or "exceeds," it should be understood as excluding the number itself; if the word "above," "below," or "within" is mentioned, it should be understood as including the number itself. If the word "first" or "second" is mentioned, it should be understood as being used to distinguish technical features, and should not be understood as indicating or implying relative importance, implicitly indicating the number of the indicated technical features, or implicitly indicating the order of the indicated technical features.

[0073] In the turret welding equipment, the battery carriers are arranged around the center of the disk. Each battery carrier has a different radius R relative to the rotation center, and the relative angle θ between the battery carriers has errors. After the turret welding equipment rotates, each battery carrier is located at a different position, resulting in the turret welding equipment being unable to weld accurately, reducing welding efficiency.

[0074] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a welding guidance method that can guide the turret welding equipment to perform accurate welding based on the different positions of the battery carrier, thereby improving the welding efficiency.

[0075] Please refer to Figure 1, which shows a schematic flow chart of a welding guidance method according to an embodiment of the present application. In some embodiments, the welding guidance method is applied to a turret welding device, which includes a battery carrier, a galvanometer system, a CCD camera, a controller, and an encoder. The welding guidance method may include, but is not limited to, steps S101 to S106.

[0076] Step S101, outputting a pulse signal according to the rotation angle of the turret welding equipment through an encoder, and outputting a control signal according to the pulse signal through a controller;

[0077] Step S102, using the galvanometer system to perform laser marking on a preset point of the battery carrier according to a control signal to obtain an initial coordinate point;

[0078] Step S103, photographing the battery carrier using a CCD camera according to the control signal to obtain target image data;

[0079] Step S104, capturing the coordinate data of the initial coordinate point according to the target image data to obtain the initial coordinate data;

[0080] Step S105, performing affine transformation calculation on the initial coordinate data according to the pre-calibrated affine transformation model to obtain target coordinate data;

[0081] Step S106: guiding the turret welding equipment to perform welding according to the target coordinate data.

[0082] In steps S101 to S106 shown in the embodiment of the present application, every time the turret welding equipment rotates a preset angle, a pulse signal is output to the corresponding controller through the encoder, so that the controller outputs a control signal. After the galvanometer system receives the control signal, the galvanometer system is controlled to perform laser dot marking on several battery carriers in sequence to set corresponding coordinate points at the preset potentials of several battery carriers to obtain initial coordinate points. The battery carriers are rotated to the bottom of the CCD camera in sequence, and after the CCD camera receives the control signal, the CCD camera is controlled to shoot the battery carrier to obtain target image data, identify the set initial coordinate point in the target image data, obtain the coordinate data corresponding to the initial coordinate point, obtain the initial coordinate data, input the initial coordinate data into the affine transformation model obtained in advance, calculate the coordinate data of the initial coordinate point after the coordinate system is converted through the affine transformation model, complete the affine transformation calculation for the initial coordinate data, obtain the target coordinate data, adjust the welding trajectory according to the target coordinate data, and guide the turret welding equipment to weld along the corresponding welding trajectory. Every time the turret welding equipment rotates a preset angle, the encoder is controlled to output a pulse signal to the controller, so that the controller outputs a control signal. After receiving the control signal, the galvanometer system performs laser marking on the battery carrier to obtain the initial coordinate point. After receiving the control signal, the CCD camera shoots the battery carrier to obtain target image data. The coordinates of the initial coordinate point are captured in the target image data to obtain the initial coordinate data. The initial coordinate data is input into the pre-calibrated affine transformation model for affine transformation calculation to obtain the target coordinate data. The turret welding equipment is guided to perform welding according to the target coordinate data. The turret welding equipment can be guided to perform accurate welding based on different positions of the battery carrier, thereby improving the welding efficiency.

[0083] It should be noted that the pulse count sent by the incremental encoder is compared with the preset pulse count, and the control signal output is determined based on the comparison result. As each battery carrier passes by the CCD camera, the CCD camera records the battery carrier's coordinates and sends them to the galvanometer system. The galvanometer system converts the battery carrier's coordinates into the galvanometer system's coordinates to adapt to the battery carrier's position changes.

[0084] Please refer to Figure 2, which shows a schematic flow chart of a welding guidance method according to an embodiment of the present application. In some embodiments, before outputting a control signal based on the rotation angle of the encoder and the turret welding equipment, the welding guidance method may further include, but is not limited to, steps S201 to S204.

[0085] Step S201, laser marking the battery carrier according to a control signal using a galvanometer system to obtain first coordinate data of a first coordinate point;

[0086] Step S202, after the turret welding equipment rotates, the battery carrier is photographed by a CCD camera to obtain initial image data;

[0087] Step S203, obtaining the coordinates of the first coordinate point after the coordinate system is converted according to the initial image data to obtain second coordinate data;

[0088] Step S204 , performing calibration according to the first coordinate data and the second coordinate data to obtain an affine transformation model.

[0089] In steps S201 to S204 shown in the embodiment of the present application, the galvanometer system receives a control signal, and the galvanometer system performs laser marking at a preset point on the battery carrier to obtain a first coordinate point, and generates the coordinates of the first coordinate point according to the coordinate system of the galvanometer system to obtain first coordinate data. The turret welding equipment rotates in real time, and the battery carriers rotate one by one under the CCD camera. The CCD camera photographs several battery carriers in turn to obtain initial image data, and identifies the coordinates of the first coordinate point after the coordinate system is converted in the initial image data to obtain second coordinate data. Calibration is performed based on the first coordinate data and the second coordinate data to calculate the unknown parameters of the affine transformation model, and the unknown parameters are input into the blank model to obtain the affine transformation model. The control signal is received by the galvanometer system, and the galvanometer system performs laser marking on the battery carrier to obtain the first coordinate data of the first coordinate point. The battery carrier is photographed in sequence by the CCD camera to obtain initial image data, and the coordinates of the first coordinate point after the coordinate system is converted are obtained in the initial image data to obtain the second coordinate data. Calibration is performed based on the first coordinate data and the second coordinate data to calculate the corresponding parameters, and the parameters are input into the blank model to obtain an affine transformation model. The affine transformation model can be constructed to facilitate the acquisition of the coordinates after the coordinate system is converted in the subsequent steps.

[0090] 3 , which shows a schematic flow chart of a welding guidance method according to an embodiment of the present application. In some embodiments, obtaining the coordinates of the first coordinate point after the coordinate system is converted based on the initial image data to obtain the second coordinate data may include but is not limited to steps S301 to S302 .

[0091] Step S301, identifying the coordinate point of the first coordinate point after the movement in the initial image data to obtain a second coordinate point;

[0092] Step S302: Acquire coordinate data of the second coordinate point in the coordinate system to obtain second coordinate data.

[0093] In steps S301 and S302 shown in the embodiment of the present application, coordinate point identification is performed in the initial image data based on the position of the first coordinate point, so as to identify the coordinate point after the first coordinate point is moved in the initial image data to obtain a second coordinate point, and coordinate data of the second coordinate point in the coordinate system of the galvanometer system is obtained to obtain the second coordinate data. By identifying the new coordinate point after the coordinate point is moved in the initial image data to obtain the second coordinate point, and obtaining the coordinate data of the second coordinate point in the coordinate system of the galvanometer system to obtain the second coordinate data, the coordinate data after the coordinate point is moved can be obtained.

[0094] Please refer to Figure 4, which shows a schematic flow chart of a welding guidance method according to an embodiment of the present application. In some embodiments, calibration is performed based on the first coordinate data and the second coordinate data to obtain an affine transformation model, which may include but is not limited to steps S401 to S404.

[0095] Step S401, obtaining the coordinates of the origin of the coordinate system after movement in the second coordinate data to obtain origin coordinate data;

[0096] Step S402, obtaining the distance after the first coordinate point moves according to the origin coordinate data to obtain the coordinate movement distance;

[0097] Step S403, calculating the rotation angle according to the first coordinate data, the second coordinate data and the coordinate movement distance to obtain the coordinate system rotation angle;

[0098] Step S404: Substitute the coordinate movement distance and the coordinate system rotation angle into the affine transformation formula to obtain an affine transformation model.

[0099] In steps S401 to S404 shown in the embodiment of the present application, the origin of the coordinate system of the galvanometer system is screened in the second coordinate point, and the coordinates of the origin after following the rotation of the turret welding equipment are obtained to obtain the origin coordinate data, the Y-axis coordinate data of the origin coordinate data is the movement distance of the several first coordinate points in the Y-axis direction after following the rotation of the turret welding equipment, and the X-axis coordinate data of the origin coordinate data is the movement distance of the several first coordinate points in the X-axis direction after following the rotation of the turret welding equipment, to obtain the coordinate movement distance, input the coordinate movement distance into the affine transformation formula, and input the first coordinate data and the second coordinate data of the coordinate point into the affine transformation formula one by one, calculate the rotation angle according to the affine transformation formula to obtain the coordinate system rotation angle, substitute the coordinate movement distance and the coordinate system rotation angle into the affine transformation formula to complete the construction of the affine transformation model. By screening the coordinates of the origin after movement in the second coordinate data, the origin coordinate data is obtained, the distance the coordinate point moves is obtained according to the origin coordinate data, the coordinate movement distance is obtained, the first coordinate data, the second coordinate data and the coordinate movement distance are input into the affine transformation formula to calculate the rotation angle, and the coordinate system rotation angle is obtained. The coordinate movement distance and the coordinate system rotation angle are substituted into the affine transformation formula to construct an affine transformation model. The affine transformation model can be constructed to facilitate the acquisition of the coordinates after the coordinate system is converted in the subsequent steps.

[0100] It should be noted that, with reference to Figure 9, Figure 9 shows a schematic diagram of the calibration process of the welding guide device in an embodiment of the present application. In some embodiments, the galvanometer system marks nine coordinate points on the battery carrier according to the control signal, and generates coordinate data corresponding to the nine coordinate points to obtain first coordinate data. When the battery carrier rotates to the bottom of the CCD camera, the CCD camera obtains the second coordinate data by shooting the nine coordinate points and obtaining the coordinate data of the nine coordinate points after the coordinate system is converted. The unknown parameters of the affine transformation formula are calculated based on the first coordinate data of the nine coordinate points and the second coordinate data of the nine coordinate points, and the unknown parameters are input into the affine transformation formula to complete the construction of the affine transformation model. Among them, the position of point A in Figure 9 is located at the position where the 1# battery carrier is located below the CCD camera, the position of point A is the position where the CCD camera triggers the photo shooting, and the pulse signal output by the encoder is the pulse signal a1, the position of point A' represents the welding starting point position of the 1# battery carrier, and the pulse signal output by the encoder is the pulse signal a2. In addition, stability is determined by two factors: first, the consistency of the product position when the position of point A triggers the CCD camera to shoot, that is, whether the starting point is consistent; second, the consistency of the swing arm's swing angle.

[0101] Please refer to Figure 5, which shows a schematic flow chart of a welding guidance method according to an embodiment of the present application. In some embodiments, guiding the turret welding equipment to perform welding according to the target coordinate data may include, but is not limited to, steps S501 to S504.

[0102] Step S501, calculating the starting point coordinates of a preset welding line segment according to the target coordinate data to obtain the starting point coordinates of the welding line segment;

[0103] Step S502, calculating the end point coordinates of the preset welding line segment according to the target coordinate data to obtain the end point coordinates of the welding line segment;

[0104] Step S503, drawing a welding trajectory according to the coordinates of the welding line segment start point and the welding line segment end point to obtain a target welding trajectory;

[0105] Step S504: guiding the turret welding equipment to perform welding along the target welding trajectory.

[0106] In steps S501 to S504 shown in the embodiment of the present application, the starting point coordinates of several preset welding segments are calculated according to the target coordinate data to obtain the starting point coordinates of the welding segments, the ending point coordinates of several preset welding segments are calculated according to the target coordinate data to obtain the ending point coordinates of the welding segments, the curve of the welding trajectory is drawn according to the starting point coordinates of the welding segments and the ending point coordinates of the welding segments to draw the welding trajectory of the turret welding equipment to obtain the target welding trajectory, and the turret welding equipment is guided to perform welding according to the target welding trajectory so that the turret welding equipment performs welding along the target welding trajectory. By respectively calculating the starting point coordinates and the ending point coordinates of the preset welding segments according to the target coordinate data to obtain the starting point coordinates of the welding segments and the ending point coordinates of the welding segments, the curve of the welding trajectory is drawn according to the starting point coordinates of the welding segments and the ending point coordinates of the welding segments to obtain the target welding trajectory, and the curve of the welding trajectory is guided to perform welding according to the target welding trajectory, so that the turret welding equipment can perform welding accurately based on the different positions of the battery carrier, thereby improving the efficiency of welding.

[0107] Referring to Figures 10 and 11, Figure 10 shows a schematic diagram of the production process of a welding guide device according to an embodiment of the present application, and Figure 11 shows a schematic diagram of a battery carrier according to an embodiment of the present application. In some embodiments, the turret welding equipment rotates continuously. When the control signal output by the controller is a1, the product rotates to the bottom of the CCD camera. The CCD camera photographs the product, obtaining target image data. The product edge is locked onto the target image data to fix the product's position in the coordinate system. The center coordinates of the circle are calculated as the center coordinates A (X1, Y1) of the product. The center coordinates B (X2, Y2) and C (X3, Y3) of the two pins of the product are calculated. Based on the calibrated radial transformation model, the coordinates of points A, B, and C are input into the radial transformation model to convert the coordinates of points A, B, and C into galvanometer system coordinates, obtaining the coordinates of points A', B', and C'. The start and end coordinates of all welding line segments are calculated based on the coordinates of points A', B', and C'.

[0108] Please refer to Figure 6, which shows a schematic flow chart of a welding guidance method according to an embodiment of the present application. In some embodiments, the turret welding equipment further includes a high-speed transmission module, the controller includes an FPGA controller, and the encoder is an incremental encoder. The welding guidance method may further include, but is not limited to, steps S601 to S603.

[0109] Step S601, outputting a pulse signal through an incremental encoder according to a preset rotation angle of the turret welding equipment;

[0110] Step S602: Outputting a control signal according to the pulse quantity and a preset pulse quantity threshold value through the FPGA controller; wherein the pulse quantity includes the number of pulse signals;

[0111] Step S603: accelerating the transmission of the control signal through the high-speed transmission module.

[0112] In steps S601 to S603 shown in the embodiment of the present application, the incremental encoder outputs a pulse signal each time the turret welding device rotates a preset rotation angle, obtains the number of pulse signals output by the incremental encoder based on the angle of rotation of the turret welding device, and obtains the number of pulses. When the number of pulses reaches a preset pulse number threshold, the FPGA controller immediately outputs a control signal, transmits the control signal to the high-speed transmission module, and quickly transmits the control signal to the CCD camera and the controller of the galvanometer system through the high-speed transmission module. By outputting a pulse signal each time the turret welding device rotates a preset rotation angle, obtaining the number of pulse signals output by the incremental encoder based on the angle of rotation of the turret welding device, and obtaining the number of pulses, the high-speed transmission module accelerates the transmission of the control signal to the controller of the CCD camera and the galvanometer system, thereby reducing communication delay fluctuations and controlling the turret welding device to complete shooting and marking in a very short time.

[0113] It should be noted that, referring to Figure 12, a schematic diagram of the communication system of the welding guide device in an embodiment of the present application is shown. In some embodiments, an incremental encoder is positioned adjacent to the turret spindle. The incremental encoder outputs pulse signals that cause the FPGA controller to output control signals. The incremental encoder can be connected to a timing belt, gear, backlash-free gear, or turret spindle to output control signals based on the rotation of the timing belt, gear, backlash-free gear, or turret spindle. The FPGA controller is powered by a UPS.

[0114] Please refer to Figure 7, which shows a schematic flow chart of a welding guidance method according to an embodiment of the present application. In some embodiments, the welding guidance method may further include, but is not limited to, steps S701 to S702.

[0115] Step S701: Acquire the turntable origin signal in real time through the FPGA controller; wherein the turntable origin signal is output by the incremental encoder every time the turntable rotates one circle;

[0116] Step S702: If the FPGA controller receives the turntable origin signal, the number of pulses is cleared.

[0117] In steps S701 to S702 shown in the embodiment of the present application, after each rotation of the turret welding equipment, the incremental encoder rotates one circle accordingly, and the incremental encoder outputs a turntable origin signal to the FPGA controller after rotating one circle. The FPGA controller obtains the turntable origin signal in real time. When the FPGA controller receives the turntable origin signal, the number of pulses is cleared.

[0118] It should be noted that the turntable origin signal is sent through the Z-direction signal of the incremental encoder. After the FPGA controller receives the turntable origin signal, the FPGA controller will clear the number of pulse signals received historically and re-acquire the pulse signal sent by the incremental encoder. When the number of pulse signals reaches the preset pulse number threshold, the FPGA controller sends a control signal to the galvanometer system and CCD camera.

[0119] In addition, the embodiment of the present application also discloses a welding guide device. Please refer to Figure 8, which is a module block diagram of a welding guide device disclosed in an embodiment of the present application. The welding guide device can implement the above-mentioned welding guidance method and is applied to turret welding equipment. The turret welding equipment includes a battery carrier, a galvanometer system, a CCD camera, a controller and an encoder. The welding guide device includes: a control signal output module 801, a laser dot module 802, an image shooting module 803, a coordinate data capture module 804, an affine transformation calculation module 805 and a guide welding module 806. The control signal output module 801, the laser dot module 802, the image shooting module 803, the coordinate data capture module 804, the affine transformation calculation module 805 and the guide welding module 806 are all communication connected.

[0120] The control signal output module 801 outputs a pulse signal through an encoder according to the rotation angle of the turret welding equipment, and outputs a control signal through a controller according to the pulse signal. The laser dot module 802 uses a galvanometer system to perform laser dot marking on the preset points of the battery carrier according to the control signal to obtain the initial coordinate point. The image capture module 803 uses a CCD camera to capture the battery carrier according to the control signal to obtain the target image data. The coordinate data capture module 804 captures the coordinate data of the initial coordinate point according to the target image data to obtain the initial coordinate data. The affine transformation calculation module 805 performs affine transformation calculation on the initial coordinate data according to the pre-calibrated affine transformation model to obtain the target coordinate data. The guided welding module 806 guides the turret welding equipment to perform welding according to the target coordinate data.

[0121] After each rotation of the turret welding equipment by a preset angle, the control signal output module 801 outputs a pulse signal to the corresponding controller via the encoder, causing the controller to output a control signal. After the galvanometer system receives the control signal, the laser dot module 802 controls the galvanometer system to perform laser dot marking on a plurality of battery carriers in sequence, thereby setting corresponding coordinate points at the preset potentials of the plurality of battery carriers to obtain initial coordinate points. The battery carriers rotate sequentially to the bottom of the CCD camera. Moreover, after the CCD camera receives the control signal, the image capture module 803 controls the CCD camera to capture the battery carriers to obtain target image data. The coordinate data capture module 804 identifies the set initial coordinate point in the target image data, obtains the coordinate data corresponding to the initial coordinate point, and obtains the initial coordinate data. The affine transformation calculation module 805 inputs the initial coordinate data into a pre-calibrated affine transformation model, calculates the coordinate data of the initial coordinate point after the coordinate system is converted using the affine transformation model, and completes the affine transformation calculation on the initial coordinate data to obtain the target coordinate data. The welding guidance module 806 adjusts the welding trajectory according to the target coordinate data and guides the turret welding equipment to weld along the corresponding welding trajectory. Every time the turret welding equipment rotates a preset angle, the encoder is controlled to output a pulse signal to the controller, so that the controller outputs a control signal. After receiving the control signal, the galvanometer system performs laser marking on the battery carrier to obtain the initial coordinate point. After receiving the control signal, the CCD camera shoots the battery carrier to obtain target image data. The coordinates of the initial coordinate point are captured in the target image data to obtain the initial coordinate data. The initial coordinate data is input into the pre-calibrated affine transformation model for affine transformation calculation to obtain the target coordinate data. The turret welding equipment is guided to perform welding according to the target coordinate data. The turret welding equipment can be guided to perform accurate welding based on different positions of the battery carrier, thereby improving the welding efficiency.

[0122] Among them, the operation process of the welding guidance device of this embodiment specifically refers to the welding guidance method steps S101 to S106, steps S201 to S204, steps S301 and S302, steps S401 to S404, steps S501 to S504, steps S601 to S603 to steps S701 and S702 described above in Figures 1, 2, 3, 4, 5, 6 and 7, and will not be repeated here.

[0123] Another embodiment of the present application discloses a welding guidance device, comprising: at least one processor, and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so as to enable the at least one processor to execute a welding guidance method such as control method steps S101 to S106 in FIG1 , control method steps S201 to S204 in FIG2 , control method steps S301 and S302 in FIG3 , control method steps S401 to S404 in FIG4 , control method steps S501 to S504 in FIG5 , control method steps S601 to S603 in FIG6 , and control method steps S701 and S702 in FIG7 .

[0124] Another embodiment of the present application discloses a computer-readable storage medium, the storage medium comprising: the storage medium stores computer-executable instructions, the computer-executable instructions being used to enable a computer to execute the welding guidance method of control method steps S101 to S106 in Figure 1, control method steps S201 to S204 in Figure 2, control method steps S301 and S302 in Figure 3, control method steps S401 to S404 in Figure 4, control method steps S501 to S504 in Figure 5, control method steps S601 to S603 in Figure 6, and control method steps S701 and S702 in Figure 7.

[0125] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0126] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0127] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. A welding guidance method, applied to a turret welding device, the turret welding device comprising a battery carrier, a galvanometer system, a CCD camera, a controller and an encoder, wherein: The welding guiding method comprises: Outputting a pulse signal according to the rotation angle of the turret welding device through the encoder, and outputting a control signal according to the pulse signal through the controller; Using the galvanometer system to perform laser marking on a preset point of the battery carrier according to the control signal to obtain an initial coordinate point; The battery carrier is rotated to the bottom of the CCD camera in sequence, and the battery carrier is photographed by the CCD camera according to the control signal to obtain target image data; Capture the coordinate data of the initial coordinate point according to the target image data to obtain initial coordinate data; Performing affine transformation calculation on the initial coordinate data according to the pre-calibrated affine transformation model to obtain target coordinate data; Calculate the starting point coordinates of the preset welding line segment according to the target coordinate data to obtain the starting point coordinates of the welding line segment; Calculate the end point coordinates of the preset welding line segment according to the target coordinate data to obtain the end point coordinates of the welding line segment; Draw a welding trajectory according to the starting point coordinates of the welding line segment and the end point coordinates of the welding line segment to obtain a target welding trajectory; guiding the turret welding equipment to perform welding along the target welding trajectory; Before the encoder outputs a pulse signal according to the rotation angle of the turret welding device and the controller outputs a control signal according to the pulse signal, the method further includes: Performing laser marking on the battery carrier according to the control signal by the galvanometer system to obtain first coordinate data of a first coordinate point; The turret welding device is rotated in real time to rotate the battery carriers one by one to below the CCD camera, and the CCD camera is used to photograph a number of the battery carriers in sequence to obtain initial image data; identifying the coordinate point of the first coordinate point after the movement in the initial image data to obtain a second coordinate point; Acquire the coordinate data of the second coordinate point in the coordinate system to obtain second coordinate data; Selecting the origin of the coordinate system of the galvanometer system from the second coordinate point, and obtaining the coordinates of the origin after the origin rotates with the turret welding equipment, to obtain the origin coordinate data; Acquire the distance after the first coordinate point moves according to the origin coordinate data to obtain the coordinate moving distance; Calculate the rotation angle according to the first coordinate data, the second coordinate data and the coordinate movement distance to obtain the coordinate system rotation angle; The coordinate movement distance and the coordinate system rotation angle are substituted into an affine transformation formula to obtain the affine transformation model.

2. The welding guiding method according to claim 1, wherein: The turret welding equipment further includes a high-speed transmission module, the controller includes an FPGA controller, the encoder is an incremental encoder, and the welding guidance method further includes: Outputting a pulse signal by the incremental encoder according to the preset rotation angle of the turret welding equipment; Outputting the control signal through the FPGA controller according to the pulse quantity and a preset pulse quantity threshold; wherein the pulse quantity includes the number of the pulse signals; The control signal is transmitted faster through the high-speed transmission module.

3. The welding guiding method according to claim 2, wherein: The welding guiding method further comprises: The turntable origin signal is acquired in real time through the FPGA controller; wherein the turntable origin signal is outputted every time the incremental encoder rotates one circle; If the FPGA controller receives the turntable origin signal, the pulse quantity is cleared.

4. A welding guide device used in a welding guide method according to claim 1, applied to a turret welding device, wherein the turret welding device comprises a battery carrier, a galvanometer system, a CCD camera, a controller and an encoder, wherein: The welding guide device comprises: A control signal output module, used to output a pulse signal according to the rotation angle of the turret welding device through the encoder, and output a control signal according to the pulse signal through the controller; A laser dot module, used to perform laser dot on a preset point of the battery carrier according to the control signal through the galvanometer system to obtain an initial coordinate point; An image shooting module, used for shooting the battery carrier through the CCD camera according to the control signal to obtain target image data; A coordinate data grabbing module, used to grab the coordinate data of the initial coordinate point according to the target image data to obtain the initial coordinate data; An affine transformation calculation module, used to perform affine transformation calculation on the initial coordinate data according to a pre-calibrated affine transformation model to obtain target coordinate data; The guiding welding module is used to guide the turret welding equipment to perform welding according to the target coordinate data.

5. A welding guide device, wherein: The welding guide device comprises: at least one processor, and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the welding guidance method according to any one of claims 1 to 3.

6. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the welding guidance method according to any one of claims 1 to 3.

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