CN114782526B - Calculation method, device, electronic equipment and storage medium for welding seam trajectory of H-beam - Google Patents

Abstract

The present application relates to the technical field of robotic welding, and provides a welding seam trajectory calculation method, device, electronic device and storage medium for H-shaped steel. The method includes: acquiring four corner points of the connection between the H-shaped steel and the rib plate; Obtain the normal vector of the first upper vertex of the first side weld, the normal vector of the second upper vertex of the second side weld, and the normal vector of the midpoint of the bottom weld; Obtain the first upper vertex, the second upper vertex and the midpoint of the four corner points; obtain the first lower vertex, the second lower vertex, the left vertex and the right vertex; Calculate the first side weld trajectory data based on the normal vector of the vertex; calculate the second side weld trajectory data according to the normal vector of the second upper vertex, the second lower vertex and the second upper vertex; The normal vector of the point is used to calculate the bottom edge weld trajectory data. The invention can improve the efficiency and production efficiency of acquiring welding seam track data.

Description

Calculation method, device, electronic equipment and storage medium for welding seam trajectory of H-beam

technical field

The present application relates to the technical field of robotic welding, and in particular, to a welding seam trajectory calculation method, device, electronic device and storage medium for H-beams.

Background technique

Steel structure has the characteristics of light weight, high strength and strong stability, so the usage in modern buildings and other construction projects is gradually increasing. Among them, the processing batches of standard profiles such as H-beams have increased and the construction period has been shortened. The original welder team of the company can no longer meet the existing production needs. In addition, with the reduction of the labor force, the resources of welders are increasingly tight, which puts forward urgent requirements for the development of H-beam welding to automated, intelligent and unmanned intelligent welding robots.

In recent years, domestic advanced manufacturing companies have tried to use teaching programming welding robots and drag teaching welding machines, which have improved the welding quality and automation of H-beam welding applications to a certain extent. However, it can only meet the workpieces of the same size in large batches and has precise positioning tooling. It is still helpless for H-beam welding applications of flexible, multi-size, small batches and no tooling. Especially for the H-shaped steel workpiece as shown in FIG. 3, the H-shaped steel workpiece includes the H-shaped steel 100 and at least two rib plates 200. When the H-shaped steel workpiece is used, the rib plate 200 and the H-shaped steel 100 need to be welded. For the welding of the H-shaped steel workpiece, the existing manual teaching process is more complicated.

Based on the above problems, there is currently no effective solution.

SUMMARY OF THE INVENTION

The purpose of this application is to provide a welding seam trajectory calculation method, device, electronic device and storage medium for H-beams, which removes the tedious process of manual teaching and improves the efficiency and production efficiency of obtaining weld trajectory data of H-beam workpieces. .

In a first aspect, the present application provides a welding seam trajectory calculation method for H-beam, which is used to obtain weld trajectory data of an H-beam workpiece, wherein the H-beam workpiece includes an H-beam and at least two rib plates. Connect to the two flanges and webs of the H-beam vertically, including the following steps:

S1. Obtain the image information of the H-beam workpiece to be welded;

S2. Obtain the position data of the four corner points at the connection between the H-beam and the rib plate according to the image information of the H-beam workpiece, and the four corner points are the upper-left corner point, the lower-left corner point, the upper-right corner point and lower right corner;

S3. Obtain the normal vector of the first upper vertex of the first side weld, the normal vector of the second upper vertex of the second side weld, and the normal vector of the midpoint of the bottom weld;

S4. Based on the positioning algorithm, obtain the position data of the first upper vertex of the first side weld and the position data of the second side weld according to the position data of the four corner points between the H-beam and the rib. The position data of the second upper vertex and the position data of the midpoint of the bottom edge weld;

S5. Obtain the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the left vertex and the right vertex of the bottom weld; Calculate the first side weld trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

Calculate the second side weld trajectory data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex;

The bottom edge weld trajectory data is calculated according to the position data of the left vertex, the position data of the right vertex and the normal vector of the midpoint.

The welding seam trajectory calculation method of the H-beam of the present application obtains the image information of the H-beam workpiece to be welded; the H-beam workpiece image information obtains the position data of the four corner points at the connection between the H-beam and the rib, The four said corner points are respectively the upper left corner point, the lower left corner point, the upper right corner point and the lower right corner point; the normal vector of the first upper vertex of the first side weld and the second upper vertex of the second side weld are obtained. The normal vector of the vertex and the normal vector of the midpoint of the bottom edge weld; based on the positioning algorithm, the first side weld is obtained according to the position data of the four corner points between the H-beam and the rib. The position data of the first upper vertex, the position data of the second upper vertex of the second side weld and the position data of the midpoint of the bottom weld; obtain the position data of the first lower vertex of the first side weld, the first The position data of the second lower vertex of the two-side welding seam, the position data of the left vertex and the position data of the right vertex of the bottom welding seam; according to the position data of the first upper vertex, the position of the first lower vertex data and the normal vector of the first upper vertex to calculate the first side weld trajectory data; according to the position data of the second upper vertex, the position data of the second lower vertex and the method of the second upper vertex The vector calculates the second side welding seam trajectory data; and the bottom welding seam trajectory data is calculated according to the position data of the left vertex, the position data of the right vertex and the normal vector of the midpoint. The tedious process of manual teaching is eliminated, and the efficiency and production efficiency of acquiring the weld track data of the H-beam workpiece are improved.

Optionally, before step S3, after step S2 includes:

A1. Obtain the first side vector according to the position data of the upper left corner point and the position data of the lower left corner point; Obtain the second side edge according to the position data of the upper right corner point and the position data of the lower right corner point vector; obtain the bottom edge vector according to the position data of the lower left corner point and the position data of the lower right corner point;

A2. Calculate the first normal vector according to the first side vector and the base vector; calculate the second normal vector according to the second side vector and the base vector; calculate the first normal vector according to the base vector Three normal vectors.

Optionally, step S3 includes:

Rotating the first normal vector toward the base vector by a first preset angle, and warping upwards by a second preset angle, to obtain the normal vector of the first upper vertex;

Rotating the second normal vector toward the base vector by a third preset angle, and warping upwards by a fourth preset angle to obtain the normal vector of the second upper vertex;

Warping the third normal vector upward by a fifth preset angle to obtain the normal vector of the midpoint.

In this way, collisions between the welding robot and the workpiece are prevented.

Optionally, step S4 includes:

S401. Preset the first movement distance and the second movement distance;

S402. Find the location of the first side weld according to the first moving distance, the second moving distance, the position data of the upper-left corner point, and the first normal vector, to obtain the first The position data of the upper vertex;

The second side welding seam is located according to the first moving distance, the second moving distance, the position data of the upper right corner point and the second normal vector, so as to obtain the second upper vertex position data;

The bottom edge welding seam is located according to the second moving distance, the position data of the midpoint and the third normal vector, so as to obtain the position data of the midpoint.

In this way, the collision between the welding robot and the H-beam workpiece can be further prevented during positioning, and the precise position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint can be found.

Optionally, step S5 includes:

S501. Calculate the first slope of the straight line connecting the first upper vertex and the second upper vertex according to the position data of the first upper vertex and the second upper vertex;

S502. Calculate the position data of the left concave point and the right concave point of the H-beam according to the first slope, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint location data.

S503. Acquire the data according to the position data of the left concave point, the position data of the right concave point, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint. The position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, and the position data of the left vertex and the right vertex of the bottom weld data;

S504. Calculate the first side weld trajectory data according to the position data of the first upper vertex, the normal vector of the first upper vertex and the position data of the first lower vertex;

Calculate the second side weld trajectory data according to the position data of the second upper vertex, the normal vector of the second upper vertex and the position data of the second lower vertex;

The bottom edge weld trajectory data is calculated according to the position data of the left vertex, the normal vector of the midpoint, and the position data of the right vertex.

Optionally, step S503 includes:

Calculate the position data of the first lower vertex according to the position data of the first upper vertex and the position data of the left concave point based on the isobaric property of the vector;

Calculate the position data of the second lower vertex according to the position data of the second upper vertex and the position data of the right concave point based on the isobaric property of the vector;

Calculate the position data of the left vertex according to the position data of the midpoint and the position data of the left concave point based on the equal-phase characteristic of the vector;

The position data of the right vertex is calculated from the position data of the midpoint and the position data of the right concave point based on the isobaric property of the vector.

The welding seam trajectory calculation method of the H-beam of the present application obtains accurate position data of the first upper vertex of the first side weld and the position data of the second upper vertex of the second side weld by using a positioning algorithm and the position data of the midpoint of the bottom edge weld, and finally calculate the first side weld track data, the second side edge through the position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint Weld track data and bottom edge weld track data. The tedious process of manual teaching is eliminated, and the efficiency and production efficiency of acquiring the weld track data of the H-beam workpiece are improved.

In a second aspect, the present application provides a welding seam trajectory calculation device for H-shaped steel, which is used to obtain welding seam trajectory data of an H-shaped steel workpiece. The H-shaped steel workpiece includes an H-shaped steel and at least two ribs, and the ribs are vertical. The ground is connected with the two flanges and webs of the H-beam, which includes the following modules:

The first acquisition module: used to acquire the image information of the H-beam workpiece to be welded;

The second acquisition module: used to acquire the position data of the four corner points at the connection between the H-beam and the rib according to the image information of the H-beam workpiece, and the four corner points are the upper left corner and the lower left corner respectively. , the upper right corner and the lower right corner;

The third obtaining module: used to obtain the normal vector of the first upper vertex of the first side weld, the normal vector of the second upper vertex of the second side weld, and the normal vector of the midpoint of the bottom weld;

The fourth acquisition module: based on the positioning algorithm, according to the position data of the four corner points between the H-beam and the rib plate The position data of the second upper vertex of the side weld and the position data of the midpoint of the bottom weld;

Fifth obtaining module: used to obtain the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the left vertex of the bottom weld and the right vertex position data;

Calculate the first side weld trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

Calculate the second side weld trajectory data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex;

The bottom edge weld trajectory data is calculated according to the position data of the left vertex, the position data of the right vertex and the normal vector of the midpoint.

Optionally, the H-beam weld trajectory calculation device provided by the application further includes the following modules:

The sixth acquisition module: for obtaining the first side vector according to the position data of the upper left corner point and the position data of the lower left corner point; according to the position data of the upper right corner point and the position data of the lower right corner point Obtain the second side vector; obtain the bottom vector according to the position data of the lower left corner point and the position data of the lower right corner point;

calculation module: used to calculate a first normal vector according to the first side vector and the base vector; calculate a second normal vector according to the second side vector and the base vector; according to the base vector computes the third normal vector.

In the H-beam welding seam trajectory calculation device provided by the present application, the image information of the H-beam workpiece to be welded is obtained through the first acquisition module; The position data of the four corner points, the four corner points are the upper left corner point, the lower left corner point, the upper right corner point and the lower right corner point; the third acquisition module acquires the normal vector of the first upper vertex of the first side weld, The normal vector of the second upper vertex of the second side welding seam and the normal vector of the midpoint of the bottom welding seam; the fourth acquisition module is based on the positioning algorithm, The position data of the point obtains the position data of the first upper vertex of the first side weld, the position data of the second upper vertex of the second side weld and the position data of the midpoint of the bottom weld; the fifth acquisition module Obtain the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the left vertex and the right vertex of the bottom weld; The position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex are used to calculate the first side weld trajectory data; according to the position data of the second upper vertex, all The position data of the second lower vertex and the normal vector of the second upper vertex are used to calculate the second side weld trajectory data; according to the position data of the left vertex, the position data of the right vertex and the middle point The normal vector calculates the bottom edge weld trajectory data. The tedious process of manual teaching is eliminated, and the efficiency and production efficiency of acquiring the weld track data of the H-beam workpiece are improved.

In a third aspect, the present application provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, when the computer-readable instructions are executed by the processor, the operation is performed as described in the first The steps in the methods provided by the aspects.

In a fourth aspect, the present application provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, executes the steps in the method provided in the first aspect above.

To sum up, the welding seam trajectory calculation method, device, electronic device and storage medium of H-beam provided by this application: by using the positioning algorithm, the precise position data of the first upper vertex of the first side weld, the second The position data of the second upper vertex of the side welding seam and the position data of the middle point of the bottom welding seam are finally calculated by the position data of the first upper vertex, the position data of the second upper vertex and the position data of the middle point. One side weld track data, second side weld track data, and bottom edge weld track data. The tedious process of manual teaching is eliminated, and the efficiency and production efficiency of acquiring the weld track data of the H-beam workpiece are improved.

Description of drawings

FIG. 1 is a flow chart of a method for calculating a weld track of an H-beam provided by the application.

FIG. 2 is a schematic structural diagram of a welding seam trajectory calculation device for H-beams provided by the application.

FIG. 3 is a schematic structural diagram of an H-shaped steel workpiece provided by the application.

FIG. 4 is a front view of an H-shaped steel workpiece provided by the application.

FIG. 5 is a schematic structural diagram of an H-shaped steel workpiece provided by the application.

FIG. 6 is a schematic vector diagram of an H-beam workpiece provided by the application.

FIG. 7 is a schematic structural diagram of an H-shaped steel workpiece provided by the application.

FIG. 8 is a top view of an H-shaped steel workpiece provided by the application.

FIG. 9 is a top view of an H-shaped steel workpiece provided by the application.

FIG. 10 is a schematic structural diagram of an electronic device provided by the present application.

Label description:

100, H-beam; 200, rib plate; 201, a first acquisition module; 202, a second acquisition module; 203, a third acquisition module; 204, a fourth acquisition module; 205, a fifth acquisition module; 301, a processor; 302, memory; 303, communication bus.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

In practical applications, the welding workstation in this application generally includes an industrial six-axis serial welding robot, a vision scanning system, a laser sensor, a linear guide, and an industrial computer equipped with special software. The industrial computer communicates with the welding robot through the network cable, and transmits the calculated welding seam locating program to the controller of the welding robot; the welding robot performs the welding task of the H-beam workpiece; the vision scanning system and the laser sensor are arranged at the end of the welding robot ; The welding robot slides on the linear guide.

Please refer to FIG. 1. FIG. 1 is a flowchart of a method for calculating a weld trajectory of an H-beam in some embodiments of the present application, which is used to obtain weld trajectory data of an H-beam workpiece. The H-beam workpiece includes an H-beam 100 and at least two The rib plate 200, the rib plate 200 is vertically connected with the two flange plates and the web plate of the H-shaped steel, wherein the following steps are included:

S1. Obtain the image information of the H-beam workpiece to be welded;

S2. According to the image information of the H-beam workpiece, the position data of the four corner points of the connection between the H-beam and the rib are obtained, and the four corner points are the upper left corner point, the lower left corner point, the upper right corner point and the lower right corner point;

S3. Obtain the normal vector of the first upper vertex of the first side weld, the normal vector of the second upper vertex of the second side weld, and the normal vector of the midpoint of the bottom weld;

S4. Based on the positioning algorithm, obtain the position data of the first upper vertex of the first side weld and the second upper vertex of the second side weld according to the position data of the four corner points between the H-beam and the rib. The position data of and the position data of the midpoint of the bottom edge weld;

S5. Obtain the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the left vertex and the right vertex of the bottom weld; Calculate the first side weld trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

Calculate the second side weld trajectory data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex;

The bottom edge weld trajectory data is calculated from the position data of the left vertex, the position data of the right vertex, and the normal vector of the midpoint.

In step S1, the image information of the H-beam workpiece to be welded can be acquired by a visual scanning system disposed at the end of the welding robot. Specifically, after the ribs to be welded are put into the H-shaped steel and fixed, the image information of the H-shaped steel workpiece to be welded is obtained by scanning through the visual scanning system.

In step S2, the acquired four corner points are obtained by rough scanning by the visual scanning system. For example, the point cloud data position information of the H-beam workpiece is obtained through the visual scanning system (that is, the image information of the H-beam workpiece to be welded is a point cloud. image information), and then obtain the position data of the four corner points from it (the specific extraction method is the prior art). The position data of the four corner points obtained at this time are not exact values, but are only for the convenience of subsequent calculations. Specifically, the positions of the four corner points can be seen in Figure 4. The upper left corner point is P1, the lower left corner point is P2, the lower right corner point is P3, and the upper right corner point is P4. Specifically, the upper left corner point and the upper right corner point are set as P1. They are the left and right welding surfaces of the rib plate (both sides of the rib plate need to be welded with the H-beam, so for the same rib plate, the welding seam trajectory calculation method of the H-beam needs to be performed for the two sides respectively to obtain the two sides. Weld track data, when the calculation method of the weld track of the H-beam is executed for one of the sides, the corresponding side is the vertex of the welding surface), and the lower left corner point and the lower right corner point are the plane where the left and right welding surfaces are located and the H-beam. The intersection of the web-flange intersection lines. Three welds on both sides are required to be welded between the H-beam and the reinforcing plate, and the four corners of any side are the key points that the vision system needs to identify.

In step S4 and step S5, the position of the midpoint of the first upper vertex, the second upper vertex and the bottom edge weld can be referred to in FIG. 5, respectively setting the first upper vertex as T1, the second upper vertex as T6, and the midpoint as T7. The positioning algorithm is performed by the laser sensor. Specifically, the first side weld is the first connection line formed between the left side of the rib plate (specifically, the welding surface of the rib plate) and the H-shaped steel, and the first upper vertex is the upper end point of the first connection line; The second side weld is the second connection line formed between the right side of the rib (specifically, the welding surface of the rib) and the H-shaped steel, and the second upper vertex is the upper end point of the second connection line; the bottom weld is The third connection line formed between the bottom side of the rib plate (specifically, the welding surface of the rib plate) and the H-beam, the midpoint of which is the midpoint of the third connection line.

For ease of understanding, the first upper vertex is actually the exact upper left point, and the second upper vertex is the exact upper right point.

The welding seam trajectory calculation method of the H-beam of the present application is obtained by obtaining the image information of the H-beam workpiece to be welded; according to the image information of the H-beam workpiece, the position data of the four corner points at the connection between the H-beam and the rib are obtained. The corner points are the upper left corner, the lower left corner, the upper right corner and the lower right corner respectively; the normal vector of the first upper vertex of the first side weld and the normal vector of the second upper vertex of the second side weld are obtained. vector and the normal vector of the midpoint of the bottom edge weld; based on the positioning algorithm, obtain the position data of the first upper vertex of the first side weld according to the position data of the four corner points between the H-beam and the rib plate, The position data of the second upper vertex of the second side weld and the position data of the midpoint of the bottom weld; obtain the position data of the first lower vertex of the first side weld, the first The position data of the second lower vertex, the position data of the left vertex of the bottom edge weld and the position data of the right vertex; calculate the first upper vertex according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex One side weld track data; the second side weld track data is calculated according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; according to the position data of the left vertex, the right The position data of the vertex and the normal vector of the midpoint are used to calculate the bottom edge weld trajectory data. The tedious process of manual teaching is eliminated, and the efficiency and production efficiency of acquiring the weld track data of the H-beam workpiece are improved.

In some embodiments, before step S3 and after step S2, it includes:

A1. Obtain the first side vector according to the position data of the upper left corner point and the position data of the lower left corner point; obtain the second side vector according to the position data of the upper right corner point and the position data of the lower right corner point; According to the position of the lower left corner point The data and the position data of the lower right corner point get the bottom edge vector;

A2. Calculate the first normal vector according to the first side vector and the base vector; calculate the second normal vector according to the second side vector and the base vector; calculate the third normal vector according to the base vector.

In practical applications, the purpose of step A1 and step A2 is to obtain the normal vector of the key point of the welding seam, and also to convert the key point of the welding seam into an important parameter in the pose value recognizable by the welding robot. The key points of the welding seam refer to the head and tail points of the welding seam, such as the first upper vertex and the first lower vertex of the first side welding seam.

Specifically, referring to FIG. 6 , in step A1, the first side vector p12 is obtained by using points P1 and P2, similarly, the bottom vector p23 is obtained by using points P2 and P3, and the first side vector p23 is obtained by using points P3 and P4. Two-sided vector p34. The specific calculation formula is as follows:

p12=P2-P1; p23=P3-P2; p34=P4-P3;

In step A2, the first normal vector v1 is obtained by multiplying the base vector p23 by the first side vector p12, and the second normal vector v2 is obtained by multiplying the second side vector p34 by the base vector p23. The specific calculation formula is as follows:

v1=p12×p23; v2=p23×p34;

That is, the first normal vector v1 actually refers to the vector orthogonal to the first side vector p12 and the bottom vector p23, and the second normal vector v2 actually refers to the orthogonal vector to the bottom vector p23 and the second side vector p34. vector.

In a further embodiment, step S3 includes:

Rotate the first normal vector by a first preset angle toward the bottom edge vector, and warp the second preset angle upward to obtain the normal vector of the first upper vertex;

Rotate the second normal vector by a third preset angle toward the bottom edge vector, and warp the fourth preset angle upward to obtain the normal vector of the second upper vertex;

Warp the third normal vector up by a fifth preset angle to get the normal vector at the midpoint.

The first preset angle, the second preset angle, the third preset angle, the fourth preset angle and the fifth preset angle can be set according to actual conditions, which are not specifically limited in this application. In addition, the upward warping (upward warping) refers to warping the end away from the rib.

In practical applications, in order to prevent the welding torch and the laser sensor from colliding with the H-beam workpiece during subsequent positioning, the present application rotates the first normal vector v1 to the direction of the bottom edge vector p23 by a first preset angle of 45°, and the second normal vector v2 rotates the third preset angle -45° in the direction of the bottom vector p23. The application defaults to the first normal vector v1 and the second normal vector v2 being parallel to the ground, so the z-axis coordinate value of the first normal vector v1 is equal to 0, and the z-axis coordinate value of the second normal vector v2 is also equal to 0. In addition, in order to prevent collision with the web, the first normal vector v1 is warped upward by a second preset angle of 15°, and the second normal vector v2 is warped upward by a fourth preset angle of 15°. Among them, the H-beam includes two left and right wings, and a web connected in the middle of the wings.

Therefore, the calculation formula of the normal vector of the first upper vertex is as follows:

v123.x = Cos(45°) * v1.x - Sin(45° )* v1.y;

v123.y = Sin(45°) * v1.x + Cos(45°) * v1.y;

Tan(15°) = 0.27 (with two decimal places);

It can be obtained from this that the normal vector of the first upper vertex is (v123.x, v123.y, 0.27); among them, v1.x represents the x-axis coordinate value of the first normal vector; v1.y represents the first normal vector The y-axis coordinate value; v123.x is the x-axis coordinate value of the normal vector of the first upper vertex; v123.y is the y-axis coordinate value of the normal vector of the first upper vertex.

Similarly, the calculation formula of the normal vector of the second upper vertex is as follows:

v234.x = Cos(-45°) * v2.x - Sin(-45° )* v2.y;

v234.y = Sin(-45°) * v2.x + Cos(-45°) * v2.y;

Tan(15°) = 0.27 (with two decimal places);

It can be obtained from this that the normal vector of the second upper vertex is (v234.x, v234.y, 0.27); wherein, v2.x represents the x-axis coordinate value of the second normal vector; v2.y represents the second normal vector The y-axis coordinate value; v234.x is the x-axis coordinate value of the normal vector of the first upper vertex; v234.y is the y-axis coordinate value of the normal vector of the first upper vertex.

Preset the position of the midpoint of the bottom edge weld (it should be noted that the midpoint here is not the final accurate midpoint), tentatively set the lower left corner point P2, and the midpoint of the straight line between the lower right corner points P3 as the middle point Therefore, the position vector of the midpoint of the bottom edge weld is the same as the first normal vector v1 or the second normal vector v2. At the same time, in order to avoid collision with the workpiece, the normal vector of the midpoint also needs to be upturned, and the fifth preset angle of upturned is 45°, which can be obtained:

The normal vector mid=(v1.x, v1.y, Tan(45°));

or mid=(v2.x, v2.y, Tan(45°));

In a further embodiment, step S4 includes:

S401. Preset the first movement distance and the second movement distance;

S402. Position the first side weld according to the first movement distance, the second movement distance, the position data of the upper left corner point and the first normal vector, to obtain the position data of the first upper vertex;

Locating the second side weld seam according to the first moving distance, the second moving distance, the position data of the upper right corner point and the second normal vector, so as to obtain the position data of the second upper vertex;

The bottom edge welding seam is located according to the second moving distance, the position data of the midpoint and the third normal vector, so as to obtain the position data of the midpoint.

The first moving distance and the second moving distance may be set according to actual conditions, which are not specifically limited in this application.

In practical applications, in order to further prevent the collision between the welding robot and the H-beam workpiece during positioning, it is necessary to select a suitable positioning point. For the convenience of description, the locating point of the first upper vertex is recorded as the upper left locating point and the left locating lower point. Specifically, first move the first movement along the normal vector direction of the first upper vertex at the upper left corner point P1. distance (generally set to 20mm), and then move the second moving distance (generally set to 30mm) in the positive direction of the z-axis, and the moved position is used as the upper point of the left search; at the upper left point P1 along the first upper vertex Move the first moving distance in the direction of the normal vector (generally set to 20mm), move the second moving distance along the negative direction of the z-axis (generally set to 30mm), and use the moved position as the lower point of the left search. The specific calculation formula is as follows:

Find the upper point on the left = (p1.x+dis*v123.x, p1.y+dis*v123.y, p1.z+dis*0.27+len);

The lower point of the left search = (p1.x+dis*v123.x, p1.y+dis*v123.y, p1.z+dis*0.27-len);

Among them, p1.x represents the x-axis coordinate value of the upper-left point; p1.y represents the y-axis coordinate value of the upper-left point; p1.z represents the z-axis coordinate value of the upper-left point; dis represents the first moving distance; len represents The second moving distance.

In the same way, the locating point of the second upper vertex is recorded as the upper right locating point and the right locating lower point. Specifically, first move the first moving distance along the normal vector direction of the second upper vertex at the upper right corner point P4. (Generally set to 20mm), and then move the second moving distance along the positive direction of the z-axis (generally set to 30mm), and the moved position is used as the upper point of the right search; Move the first moving distance in the vector direction (generally set to 20mm), move the second moving distance (generally set to 30mm) along the negative direction of the z-axis, and use the moved position as the lower point on the right. The specific calculation formula is as follows:

Find the upper point on the right = (p4.x+dis*v234.x, p4.y+dis*v234.y, p4.z+dis*0.27+len);

Find the lower point on the right = (p4.x+dis*v234.x, p4.y+dis*v234.y, p4.z+dis*0.27-len);

Among them, p4.x represents the x-axis coordinate value of the upper-right point; p4.y represents the y-axis coordinate value of the upper-right point; p4.z represents the z-axis coordinate value of the upper-right point.

The locating point of the midpoint of the bottom edge weld is generally directly at the midpoint, and then moves twice the second moving distance in the direction of the normal vector of the midpoint, and the moved position is used as the locating point for the bottom edge. The specific calculation formula is as follows:

Bottom search point = ((p2.x+p3.x)/2+2*len*mid.x, (p2.y+p3.y)/2+2*len*mid.y, (p2. z+p3.z)/2+2*len*mid.z);

Among them, p2.x represents the x-axis coordinate value of the lower-left corner point; p2.y represents the y-axis coordinate value of the lower-left corner point; p2.z represents the z-axis coordinate value of the lower-left corner point; p3.x represents the x-axis value of the lower-right corner point axis coordinate value; p3.y represents the y-axis coordinate value of the lower right corner point; p3.z represents the z-axis coordinate value of the lower right corner point; mid.x represents the x-axis coordinate value of the normal vector of the midpoint; mid.y represents the middle The y-coordinate value of the point's normal vector; mid.z represents the z-coordinate value of the midpoint's normal vector.

Since the upper point of the left positioning and the lower point of the left positioning are obtained, the welding robot can obtain the position data of the first upper vertex according to the existing positioning program; in the same way, since the upper point of the right positioning and the right positioning point are obtained. At the following point, the welding robot can obtain the position data of the second upper vertex according to the existing locating program; since the bottom edge locating point is obtained, the welding robot can obtain the position data of the midpoint according to the existing locating program. Among them, the technology for finding the initial position of the welding seam of the present application uses a contact sensor. The contact sensor often relies on the contact between the outer ring of the welding torch and the weldment to conduct electricity to determine the initial position of the welding seam. Specifically, the upper point of the left search can be used as the starting point, and the lower point of the left search can be used as the end point; or the upper point of the left search can be used as the end point, and the lower point of the left search can be used as the starting point, and the position of the first upper vertex can be searched. ; The same is true for the second upper vertex; the web locating point is used as the fixed-point locating point, and the mid-point locating is carried out.

In some embodiments, step S5 includes:

S501. Calculate the first slope of the straight line formed by the first upper vertex and the second upper vertex according to the position data of the first upper vertex and the position data of the second upper vertex;

S502. Calculate the position data of the left concave point and the position data of the right concave point of the H-beam according to the first slope, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint.

S503. Obtain the first lower vertex of the first side weld according to the position data of the left concave point, the position data of the right concave point, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint The position data of , the position data of the second lower vertex of the second side weld and the position data of the left vertex and the right vertex of the bottom weld;

S504. Calculate the first side weld track data according to the position data of the first upper vertex, the normal vector of the first upper vertex and the position data of the first lower vertex;

Calculate the second side weld trajectory data according to the position data of the second upper vertex, the normal vector of the second upper vertex and the position data of the second lower vertex;

The bottom edge weld trajectory data is calculated from the position data of the left vertex, the normal vector of the midpoint, and the position data of the right vertex.

Referring to FIG. 7, in step S501-step S502, according to the characteristics of the connection between the H-shaped steel and the rib plate, and the default H-shaped steel workpiece is placed flat on the floor, it can be known that the first upper vertex T1, the second upper vertex T6, the left vertex T3 and the right Vertices T4 must be coplanar. It can be known that the straight line connecting the first upper vertex T1 and the second upper vertex T6 and the straight line connecting the left vertex T3 and the right vertex T4 are parallel to the projection plane of the horizontal ground. Therefore, the first slope K of the straight line formed by the first upper vertex T1 and the second upper vertex T6 needs to be calculated.

Wherein, the left vertex T3 and the right vertex T4 are the left and right endpoints of the third connecting line, and the left concave point Q1 is the extension of the straight line where the first upper vertex T1 and the first lower vertex T2 are located, and the right vertex T4 and the left vertex T3 The intersection of the extension of the straight line, the right concave point Q2 is located at the intersection of the extension of the line where the second upper vertex T6 and the second lower vertex T5 are located and the extension of the line where the left vertex T3 and the right vertex T4 are located.

Wherein, in order to facilitate the distinction between the left concave point and the first upper vertex, and the right concave point and the second upper vertex, Figures 8 and 9 of the present application purposely distinguish the left concave point and the first upper vertex into two different points, and the The right concave point and the second upper vertex are divided into two different points, but in fact, from a top view, the left concave point and the first upper vertex are coincident, and the right concave point and the second upper vertex are also coincident.

For ease of understanding, the left concave point is actually the exact lower left corner point, and the right concave point is the exact lower right corner point.

Among them, first judge whether the y-axis coordinates of points T1 and T6 are the same. If they are the same, it means that the bottom edge weld is just parallel to the X-axis of the robot base coordinate system. At this time, K=0, then the left concave point Q1 The coordinates are (T1.x, T7.y, T7.z), and the coordinates of the right concave point Q2 are (T6.x, T7.y, T7.z); all the cases shown in Figure 8 are this solution. Among them, T1.x represents the x-axis coordinate value of the first upper vertex; T7.y represents the y-axis coordinate value of the midpoint; T7.z represents the z-axis coordinate value of the midpoint; T6.x represents the x-axis of the second upper vertex axis coordinate value.

In addition, this application does not consider the situation that the bottom edge weld is parallel to the Y axis of the robot base coordinate system (because this situation does not occur in the actual placed H-beam workpiece), so there is no need to consider the infinite first slope. Happening.

Therefore, referring to the placement of the H-beam workpiece in Figure 9, that is, the y-axis coordinate values of points T1 and T6 are different, the calculation formula of the first slope is as follows:

K=(T6.y-T1.y)/(T6.x-T1.x);

Wherein, T6.y represents the y-axis coordinate value of the second upper vertex; T1.y represents the y-axis coordinate value of the first upper vertex.

Among them, the rib must be perpendicular to the wing plate of the H-beam, that is, the slope of the straight line L1 and the straight line L2 is -1/K, the straight line L1 refers to the straight line connecting the first upper vertices of the different rib plates, and the straight line L2 refers to The straight line formed by the second upper vertices of different rib plates, so the straight line equation can be established by using the oblique intercept formula, and the position data of the first upper vertex and the second upper vertex can be substituted to calculate the b1 value of the L1 straight line equation and the L2 straight line. The b2 value of the equation.

Specifically, let the linear equation of L1 be: y=(-1/K)x+b1;

The straight line equation of L2 is: y=(-1/K)x+b2;

Simultaneously combining the straight line equation of L1 and the straight line equation of L2, we get:

b1=T1.y+T1.x/K;

b2=T6.y+T6.x/K;

Since the bottom edge welding seam is parallel to the straight line formed by the first upper vertex and the second upper vertex, the straight line equation of the bottom edge welding seam can be set as: y=Kx+b3;

Substitute the position data of the midpoint, and obtain: b3=T7.y-K*T7.x;

Among them, T7.x represents the x-axis coordinate value of the midpoint.

Therefore, the intersection point, that is, the left concave point Q1, can be obtained by combining the L1 straight line equation and the straight line equation of the bottom edge weld. Similarly, the right concave point Q2 can be obtained by simultaneously combining the L2 straight line equation and the straight line equation of the bottom edge weld. The specific calculation formula is as follows:

Q1=(K*(b1-b3)/(1+K*K),(b3+b1*K*K)/(1+K*K), T7.z);

Q2=(K*(b2-b3)/(1+K*K),(b3+b2*K*K)/(1+K*K), T7.z);

In a further embodiment, step S503 includes:

Based on the equal-phase characteristic of the vector, calculate the position data of the first lower vertex according to the position data of the first upper vertex and the position data of the left concave point;

Based on the equal-phase characteristic of the vector, calculate the position data of the second lower vertex according to the position data of the second upper vertex and the position data of the right concave point;

Calculate the position data of the left vertex according to the position data of the midpoint and the position data of the left concave point based on the equal-phase characteristic of the vector;

The position data of the right vertex is calculated based on the position data of the midpoint and the position data of the right concave point based on the isobaric property of the vector.

Continuing to refer to FIG. 7, in practical applications, the lower left and lower right corners of the rib are chamfered, so the position data of the first lower vertex T2, the left vertex T3, the right vertex T4 and the second lower vertex T5 should be calculated. Wherein, the first lower vertex T2 is the lower end point of the first connection line; the second lower vertex T5 is the lower end point of the second connection line. The equal ratio property of vectors can be used, the distance from the first upper vertex T1 to the left concave point Q1 is greater than the distance from the first lower vertex T2 to the left concave point Q1 is equal to the ratio of the corresponding vector size, namely:

D/C=(T1.x- Q1.x)/(T2.x- Q1.x)

= (T1.y- Q1.y)/(T2.y- Q1.y)

= (T1.z- Q1.z)/(T2.z- Q1.z)

Among them, D represents the distance from T1 to Q1; C represents the distance from T2 to Q1; Q1.x represents the x-axis coordinate value of the left concave point; Q1.y represents the x-axis coordinate value of the left concave point; Q1.z represents the left concave surface The z-axis coordinate value of the point; T2.x represents the x-axis coordinate value of the first lower vertex; T2.y represents the y-axis coordinate value of the first lower vertex; T2.z represents the z-axis coordinate value of the first lower vertex.

Among them, D and C can be obtained directly, which are known conditions, and are not repeated in this application.

According to the above formula, the position data of the first lower vertex T2 can be obtained, and similarly the position data of T3, T4, and T5 can be obtained.

In step S504, according to the calculated position data of T1 and T2 and the normal vector of the first upper vertex, the first side weld trajectory data (the beginning and end pose values of the first side weld trajectory) can be obtained. . In the same way, according to the calculated position data of T6 and T5 and the normal vector of the second upper vertex, the trajectory data of the second side weld can be obtained; according to the calculated position data of T3 and T4, and then match the middle point The normal vector of , the bottom edge weld trajectory data can be obtained.

For example, the welding seam trajectory data includes position data and welding torch attitude data corresponding to the two end points of the welding seam, wherein the welding torch attitude data of the two end points of the first side welding seam are the attitude data corresponding to the normal vector of the first upper vertex ( That is, the welding torch axis direction vector is the normal vector of the first upper vertex), and the welding torch attitude data of the two endpoints of the second side weld are the attitude data corresponding to the normal vector of the second upper vertex (that is, the welding torch axis direction vector is the second upper vertex). The normal vector of the upper vertex), the welding torch attitude data of the two endpoints of the third side weld are the attitude data corresponding to the normal vector of the midpoint (that is, the direction vector of the welding torch axis is the normal vector of the midpoint).

Or for example, the welding seam trajectory data includes the position data of multiple trajectory points on the welding seam and the welding torch attitude data, wherein the number of trajectory points can be set according to actual needs, and the position data of the trajectory points can be based on the position data of the two end points of the corresponding welding seam. The position data is calculated, in which the welding torch attitude data of all trajectory points of the first side weld are the attitude data corresponding to the normal vector of the first upper vertex, and the welding torch attitude data of all trajectory points of the second side weld are the second. The attitude data corresponding to the normal vector of the upper vertex, and the attitude data of the welding torch of all trajectory points of the third side welding seam are the attitude data corresponding to the normal vector of the midpoint.

It can be seen from the above that the welding seam trajectory calculation method of the H-beam provided by the present application obtains the image information of the H-beam workpiece to be welded; four corner points of the connection between the H-beam and the reinforcing plate are obtained according to the image information of the H-beam workpiece. The four corner points are the upper left corner, the lower left corner, the upper right corner and the lower right corner respectively; obtain the normal vector of the first upper vertex of the first side weld and the third side of the second side weld. The normal vector of the second upper vertex and the normal vector of the midpoint of the bottom welding seam; based on the positioning algorithm, the first upper welding seam of the first side welding seam is obtained according to the position data of the four corner points between the H-beam and the rib plate. The position data of the vertex, the position data of the second upper vertex of the second side weld, and the position data of the midpoint of the bottom weld; obtain the position data of the first lower vertex of the first side weld, the second side The position data of the second lower vertex of the edge weld, the position data of the left vertex and the position data of the right vertex of the bottom edge weld; according to the position data of the first upper vertex, the position data of the first lower vertex and the first upper vertex Calculate the trajectory data of the first side welding seam according to the normal vector of the The position data of , the position data of the right vertex and the normal vector of the midpoint calculate the bottom edge weld trajectory data. The tedious process of manual teaching is eliminated, and the efficiency and production efficiency of acquiring the weld track data of the H-beam workpiece are improved.

Please refer to FIG. 2. FIG. 2 is a welding seam trajectory calculation device of H-beam in some embodiments of the present application, which is used to obtain the welding seam trajectory data of an H-beam workpiece. The H-beam workpiece includes an H-beam and at least two rib plates. The plate is connected vertically with the two flanges and the web of the H-beam workpiece, which includes the following modules:

The first acquisition module 201: used to acquire the image information of the H-beam workpiece to be welded;

The second acquisition module 202 is used to acquire the position data of the four corner points of the connection between the H-beam and the rib plate according to the image information of the H-beam workpiece, and the four corner points are the upper left corner, the lower left corner and the upper right corner respectively. point and bottom right point;

The third obtaining module 203: for obtaining the normal vector of the first upper vertex of the first side weld, the normal vector of the second upper vertex of the second side weld, and the normal vector of the midpoint of the bottom weld;

The fourth obtaining module 204 is used for obtaining the position data of the first upper vertex of the first side weld and the second side weld according to the position data of the four corner points between the H-beam and the rib based on the positioning algorithm. The position data of the second upper vertex of the seam and the position data of the midpoint of the bottom edge weld;

Fifth obtaining module 205: used to obtain the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the left vertex of the bottom weld, and The position data of the right vertex;

Calculate the first side weld trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

Calculate the second side weld trajectory data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex;

The bottom edge weld trajectory data is calculated from the position data of the left vertex, the position data of the right vertex, and the normal vector of the midpoint.

In the first acquisition module 201, the image information of the H-beam workpiece to be welded can be acquired by a vision scanning system disposed at the end of the welding robot. Specifically, after the ribs to be welded are put into the H-shaped steel and fixed, the image information of the H-shaped steel workpiece to be welded is obtained by scanning through the visual scanning system.

In the second acquisition module 202, the acquired four corner points are acquired by rough scanning by the visual scanning system. For example, the position information of the point cloud data of the H-beam workpiece is obtained through the visual scanning system (that is, the image information of the H-beam workpiece to be welded is: point cloud image information), and then obtain the position data of the four corner points from it (the specific extraction method is the prior art). Specifically, the positions of the four corner points can be seen in Figure 4. The upper left corner point is P1, the lower left corner point is P2, the lower right corner point is P3, and the upper right corner point is P4. Specifically, the upper left corner point and the upper right corner point are set as P1. They are the welding surfaces of the rib plate (both sides of the rib plate need to be welded with the H-beam, so for the same rib plate, the welding seam trajectory data of the H-beam need to be calculated for the two sides respectively to obtain the welding of the two sides. Seam trajectory data, when the calculation of the weld trajectory data of H-beam is performed for one of the sides, the corresponding side is the vertex of the welding surface), and the lower left corner point and the lower right corner point are the plane where the left and right welding surfaces are located and the H-beam. The intersection of the web-flange intersection lines. Three welds on both sides are required to be welded between the H-beam and the reinforcing plate, and the four corners of any side are the key points that the vision system needs to identify.

In the fourth acquisition module 204, the positions of the first upper vertex, the second upper vertex and the midpoint of the bottom edge weld can be referred to in FIG. 5, respectively setting the first upper vertex as T1, the second upper vertex as T6, and the midpoint as T7. The positioning algorithm is performed by the laser sensor. Specifically, the first side weld is the first connection line formed between the left side of the rib plate (specifically, the welding surface of the rib plate) and the H-shaped steel, and the first upper vertex is the upper end point of the first connection line; The second side weld is the second connection line formed between the right side of the rib (specifically, the welding surface of the rib) and the H-shaped steel, and the second upper vertex is the upper end point of the second connection line; the bottom weld is The third connection line formed between the bottom side of the rib plate (specifically, the welding surface of the rib plate) and the H-beam, the midpoint of which is the midpoint of the third connection line.

For ease of understanding, the first upper vertex is actually the exact upper left point, and the second upper vertex is the exact upper right point.

In the H-beam welding seam trajectory calculation device of the present application, the image information of the H-beam workpiece to be welded is obtained through the first acquisition module 201; The position data of the four corners of the vector, the normal vector of the second upper vertex of the second side welding seam, and the normal vector of the midpoint of the bottom welding seam; the fourth acquisition module 204 is based on the positioning algorithm, according to the four corner points between the H-beam and the reinforcing plate The position data of the first upper vertex of the first side welding seam, the position data of the second upper vertex of the second side welding seam and the position data of the midpoint of the bottom welding seam are obtained; the fifth obtaining module 205 Obtain the position data of the first lower vertex of the first side welding seam, the position data of the second lower vertex of the second side welding seam, the position data of the left vertex and the right vertex of the bottom welding seam; The position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex are used to calculate the first side weld trajectory data; according to the position data of the second upper vertex, the position data of the second lower vertex and the The normal vector of the second upper vertex calculates the trajectory data of the second side weld; according to the position data of the left vertex, the position data of the right vertex and the normal vector of the midpoint, the bottom weld trace data is calculated. The tedious process of manual teaching is eliminated, and the efficiency and production efficiency of acquiring the weld track data of the H-beam workpiece are improved.

In some embodiments, the following modules are also included:

The sixth obtaining module: used to obtain the first side vector according to the position data of the upper left corner point and the position data of the lower left corner point; obtain the second side vector according to the position data of the upper right corner point and the position data of the lower right corner point; The position data of the lower left corner point and the position data of the lower right corner point obtain the bottom edge vector;

Calculation module: used to calculate the first normal vector according to the first side vector and the base vector; calculate the second normal vector according to the second side vector and the base vector; calculate the third normal vector according to the base vector.

In practical applications, the sixth acquisition module and the calculation module are used to obtain the normal vector of the key point of the welding seam, and also to convert the key point of the welding seam into an important parameter in the pose value recognizable by the welding robot. The key points of the welding seam refer to the head and tail points of the welding seam, such as the first upper vertex and the first lower vertex of the first side welding seam.

Specifically, referring to Fig. 6, in the sixth acquisition module, the first side vector p12 is obtained by using points P1 and P2, and similarly the bottom vector p23 is obtained by using points P2 and P3, and the bottom vector p23 is obtained by using points P3 and P4. out the second side vector p34. The specific calculation formula is as follows:

p12=P2-P1; p23=P3-P2; p34=P4-P3;

In the calculation module, the first normal vector v1 is obtained by multiplying the first side vector p12 by the base vector p23, and the second normal vector v2 is obtained by multiplying the second side vector p34 by the base vector p23. The specific calculation formula is as follows:

v1=p12×p23; v2=p23×p34;

That is, the first normal vector v1 actually refers to the vector orthogonal to the first side vector p12 and the bottom vector p23, and the second normal vector v2 actually refers to the orthogonal vector to the bottom vector p23 and the second side vector p34. vector.

In a further embodiment, the third obtaining module 203 is configured to obtain the normal vector of the first upper vertex of the first side weld, the normal vector of the second upper vertex of the second side weld, and the middle of the bottom weld The normal vector of the point, specifically:

Rotate the first normal vector by a first preset angle toward the bottom edge vector, and warp the second preset angle upward to obtain the normal vector of the first upper vertex;

Rotate the second normal vector by a third preset angle toward the bottom edge vector, and warp the fourth preset angle upward to obtain the normal vector of the second upper vertex;

Warp the third normal vector up by a fifth preset angle to get the normal vector at the midpoint.

The first preset angle, the second preset angle, the third preset angle, the fourth preset angle and the fifth preset angle can be set according to actual conditions, which are not specifically limited in this application. In addition, the upward warping (upward warping) refers to warping the end away from the rib.

In practical applications, in order to prevent the welding torch and the laser sensor from colliding with the H-beam workpiece during subsequent positioning, the present application rotates the first normal vector v1 to the direction of the bottom edge vector p23 by a first preset angle of 45°, and the second normal vector v2 rotates the third preset angle -45° in the direction of the bottom vector p23. The application defaults to the first normal vector v1 and the second normal vector v2 being parallel to the ground, so the z-axis coordinate value of the first normal vector v1 is equal to 0, and the z-axis coordinate value of the second normal vector v2 is also equal to 0. In addition, in order to prevent collision with the web, the first normal vector v1 is warped upward by a second preset angle of 15°, and the second normal vector v2 is warped upward by a fourth preset angle of 15°. Among them, the H-beam includes two left and right wings, and a web connected in the middle of the wings.

Therefore, the calculation formula of the normal vector of the first upper vertex is as follows:

v123.x = Cos(45°) * v1.x - Sin(45° )* v1.y;

v123.y = Sin(45°) * v1.x + Cos(45°) * v1.y;

Tan(15°) = 0.27 (with two decimal places);

It can be obtained from this that the normal vector of the first upper vertex is (v123.x, v123.y, 0.27); among them, v1.x represents the x-axis coordinate value of the first normal vector; v1.y represents the first normal vector y-axis coordinate value.

Similarly, the calculation formula of the normal vector of the second upper vertex is as follows:

v234.x = Cos(-45°) * v2.x - Sin(-45° )* v2.y;

v234.y = Sin(-45°) * v2.x + Cos(-45°) * v2.y;

Tan(15°) = 0.27 (with two decimal places);

It can be obtained from this that the normal vector of the second upper vertex is (v234.x, v234.y, 0.27); wherein, v2.x represents the x-axis coordinate value of the second normal vector; v2.y represents the second normal vector y-axis coordinate value.

Preset the position of the midpoint of the bottom edge weld (it should be noted that the midpoint here is not the final accurate midpoint), tentatively set the lower left corner point P2, and the midpoint of the straight line between the lower right corner points P3 as the middle point Therefore, the position vector of the midpoint of the bottom edge weld is the same as the first normal vector v1 or the second normal vector v2. At the same time, in order to avoid collision with the workpiece, the normal vector of the midpoint also needs to be upturned, and the fifth preset angle of upturned is 45°, which can be obtained:

The normal vector mid=(v1.x, v1.y, Tan(45°));

or mid=(v2.x, v2.y, Tan(45°));

In a further embodiment, the fourth obtaining module 204 calculates the position data of the first upper vertex of the first side weld according to the position data of the four corner points between the H-beam and the rib plate based on the positioning algorithm, When the position data of the second upper vertex of the second side welding seam and the position data of the middle point of the bottom welding seam are used, the following steps are also performed:

S401. Preset the first movement distance and the second movement distance;

S402. Position the first side weld according to the first movement distance, the second movement distance, the position data of the upper left corner point and the first normal vector, to obtain the position data of the first upper vertex;

Locating the second side weld seam according to the first moving distance, the second moving distance, the position data of the upper right corner point and the second normal vector, so as to obtain the position data of the second upper vertex;

The bottom edge weld is located according to the second moving distance, the position data of the midpoint and the third normal vector, so as to obtain the position data of the midpoint.

The first moving distance and the second moving distance may be set according to actual conditions, which are not specifically limited in this application.

In practical applications, in order to further prevent the collision between the welding robot and the H-beam workpiece during positioning, it is necessary to select a suitable positioning point. For the convenience of description, the locating point of the first upper vertex is recorded as the upper left locating point and the left locating lower point. Specifically, first move the first movement along the normal vector direction of the first upper vertex at the upper left corner point P1. distance (generally set to 20mm), and then move the second moving distance (generally set to 30mm) in the positive direction of the z-axis, and the moved position is used as the upper point of the left search; at the upper left point P1 along the first upper vertex Move the first moving distance in the direction of the normal vector (generally set to 20mm), move the second moving distance along the negative direction of the z-axis (generally set to 30mm), and use the moved position as the lower point of the left search. The specific calculation formula is as follows:

Find the upper point on the left = (p1.x+dis*v123.x, p1.y+dis*v123.y, p1.z+dis*0.27+len);

The lower point of the left search = (p1.x+dis*v123.x, p1.y+dis*v123.y, p1.z+dis*0.27-len);

Among them, p1.x represents the x-axis coordinate value of the upper-left point; p1.y represents the y-axis coordinate value of the upper-left point; p1.z represents the z-axis coordinate value of the upper-left point; dis represents the first moving distance; len represents The second moving distance.

In the same way, the locating point of the second upper vertex is recorded as the upper right locating point and the right locating lower point. Specifically, first move the first moving distance along the normal vector direction of the second upper vertex at the upper right corner point P4. (Generally set to 20mm), and then move the second moving distance along the positive direction of the z-axis (generally set to 30mm), and the moved position is used as the upper point of the right search; Move the first moving distance in the vector direction (generally set to 20mm), move the second moving distance (generally set to 30mm) along the negative direction of the z-axis, and use the moved position as the lower point on the right. The specific calculation formula is as follows:

Find the upper point on the right = (p4.x+dis*v234.x, p4.y+dis*v234.y, p4.z+dis*0.27+len);

Find the lower point on the right = (p4.x+dis*v234.x, p4.y+dis*v234.y, p4.z+dis*0.27-len);

Among them, p4.x represents the x-axis coordinate value of the upper-right point; p4.y represents the y-axis coordinate value of the upper-right point; p4.z represents the z-axis coordinate value of the upper-right point.

The locating point of the midpoint of the bottom edge weld is generally directly at the midpoint, and then moves twice the second moving distance in the direction of the normal vector of the midpoint, and the moved position is used as the locating point for the bottom edge. The specific calculation formula is as follows:

Bottom search point = ((p2.x+p3.x)/2+2*len*mid.x, (p2.y+p3.y)/2+2*len*mid.y, (p2. z+p3.z)/2+2*len*mid.z);

Among them, p2.x represents the x-axis coordinate value of the lower-left corner point; p2.y represents the y-axis coordinate value of the lower-left corner point; p2.z represents the z-axis coordinate value of the lower-left corner point; p3.x represents the x-axis value of the lower-right corner point axis coordinate value; p3.y represents the y-axis coordinate value of the lower right corner point; p3.z represents the z-axis coordinate value of the lower right corner point; mid.x represents the x-axis coordinate value of the normal vector of the midpoint; mid.y represents the middle The y-coordinate value of the point's normal vector; mid.z represents the z-coordinate value of the midpoint's normal vector.

Since the upper point of the left positioning and the lower point of the left positioning are obtained, the welding robot can obtain the position data of the first upper vertex according to the existing positioning program; in the same way, since the upper point of the right positioning and the right positioning point are obtained. At the following point, the welding robot can obtain the position data of the second upper vertex according to the existing locating program; since the bottom edge locating point is obtained, the welding robot can obtain the position data of the midpoint according to the existing locating program.

In some embodiments, the fifth obtaining module 205 is used to obtain the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the bottom weld The position data of the left vertex and the position data of the right vertex; calculate the first side weld trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; The position data of the vertex, the position data of the second lower vertex and the normal vector of the second upper vertex are used to calculate the second side weld trajectory data; according to the position data of the left vertex, the position data of the right vertex and the normal vector of the first upper vertex When calculating the bottom edge weld trajectory data, the following steps are also performed:

S501. Calculate the first slope of the straight line formed by the first upper vertex and the second upper vertex according to the position data of the first upper vertex and the position data of the second upper vertex;

S502. Calculate the position data of the left concave point and the position data of the right concave point of the H-beam according to the first slope, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint.

S503. Obtain the first lower vertex of the first side weld according to the position data of the left concave point, the position data of the right concave point, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the midpoint The position data of , the position data of the second lower vertex of the second side weld and the position data of the left vertex and the right vertex of the bottom weld;

S504. Calculate the first side weld track data according to the position data of the first upper vertex, the normal vector of the first upper vertex and the position data of the first lower vertex;

Calculate the second side weld trajectory data according to the position data of the second upper vertex, the normal vector of the second upper vertex and the position data of the second lower vertex;

The bottom edge weld trajectory data is calculated from the position data of the left vertex, the normal vector of the midpoint, and the position data of the right vertex.

Referring to FIG. 7, in step S501-step S502, according to the characteristics of the connection between the H-shaped steel and the rib plate, and the default H-shaped steel workpiece is placed flat on the floor, it can be known that the first upper vertex T1, the second upper vertex T6, the left vertex T3 and the right Vertices T4 must be coplanar. It can be known that the straight line connecting the first upper vertex T1 and the second upper vertex T6 and the straight line connecting the left vertex T3 and the right vertex T4 are parallel to the projection plane of the horizontal ground. Therefore, the first slope K of the straight line formed by the first upper vertex T1 and the second upper vertex T6 needs to be calculated.

Wherein, the left vertex T3 and the right vertex T4 are the left and right endpoints of the third connecting line, and the left concave point Q1 is the extension of the straight line where the first upper vertex T1 and the first lower vertex T2 are located, and the right vertex T4 and the left vertex T3 The intersection of the extension of the straight line, the right concave point Q2 is located at the intersection of the extension of the line where the second upper vertex T6 and the second lower vertex T5 are located and the extension of the line where the left vertex T3 and the right vertex T4 are located.

Wherein, in order to facilitate the distinction between the left concave point and the first upper vertex, and the right concave point and the second upper vertex, Figures 8 and 9 of the present application purposely distinguish the left concave point and the first upper vertex into two different points, and the The right concave point and the second upper vertex are divided into two different points, but in fact, from a top view, the left concave point and the first upper vertex are coincident, and the right concave point and the second upper vertex are also coincident.

For ease of understanding, the left concave point is actually the exact lower left corner point, and the right concave point is the exact lower right corner point.

Among them, first judge whether the y-axis coordinates of points T1 and T6 are the same. If they are the same, it means that the bottom edge weld is just parallel to the X-axis of the robot base coordinate system. At this time, K=0, then the left concave point Q1 The coordinates are (T1.x, T7.y, T7.z), and the coordinates of the right concave point Q2 are (T6.x, T7.y, T7.z); all the cases shown in Figure 8 are this solution.

Among them, T1.x represents the x-axis coordinate value of the first upper vertex; T7.y represents the y-axis coordinate value of the midpoint; T7.z represents the z-axis coordinate value of the midpoint; T6.x represents the x-axis of the second upper vertex axis coordinate value.

In addition, this application does not consider the situation that the bottom edge weld is parallel to the Y axis of the robot base coordinate system (because this situation does not occur in the actual placed H-beam workpiece), so there is no need to consider the infinite first slope. Happening.

Therefore, referring to the placement of the H-beam workpiece in Figure 9, that is, the y-axis coordinate values of points T1 and T6 are different, the calculation formula of the first slope is as follows:

K=(T6.y-T1.y)/(T6.x-T1.x);

Wherein, T6.y represents the y-axis coordinate value of the second upper vertex; T1.y represents the y-axis coordinate value of the first upper vertex.

Among them, the rib must be perpendicular to the wing plate of the H-beam, that is, the slope of the straight line L1 and the straight line L2 is -1/K, the straight line L1 refers to the straight line connecting the first upper vertices of the different rib plates, and the straight line L2 refers to The straight line formed by the second upper vertices of different rib plates, so the straight line equation can be established by using the oblique intercept formula, and the position data of the first upper vertex and the second upper vertex can be substituted to calculate the b1 value of the L1 straight line equation and the L2 straight line. The b2 value of the equation.

Specifically, let the linear equation of L1 be: y=(-1/K)x+b1;

The straight line equation of L2 is: y=(-1/K)x+b2;

Simultaneously combining the straight line equation of L1 and the straight line equation of L2, we get:

b1=T1.y+T1.x/K;

b2=T6.y+T6.x/K;

Since the bottom edge welding seam is parallel to the straight line formed by the first upper vertex and the second upper vertex, the straight line equation of the bottom edge welding seam can be set as: y=Kx+b3;

Substitute the position data of the midpoint, and obtain: b3=T7.y-K*T7.x;

Among them, T7.x represents the x-axis coordinate value of the midpoint.

Therefore, the intersection point, that is, the left concave point Q1, can be obtained by combining the L1 straight line equation and the straight line equation of the bottom edge weld. Similarly, the right concave point Q2 can be obtained by simultaneously combining the L2 straight line equation and the straight line equation of the bottom edge weld. The specific calculation formula is as follows:

Q1=(K*(b1-b3)/(1+K*K),(b3+b1*K*K)/(1+K*K), T7.z);

Q2=(K*(b2-b3)/(1+K*K),(b3+b2*K*K)/(1+K*K), T7.z);

In a further embodiment, step S503 includes:

Based on the equal-phase characteristic of the vector, calculate the position data of the first lower vertex according to the position data of the first upper vertex and the position data of the left concave point;

Based on the equal-phase characteristic of the vector, calculate the position data of the second lower vertex according to the position data of the second upper vertex and the position data of the right concave point;

Calculate the position data of the left vertex according to the position data of the midpoint and the position data of the left concave point based on the equal-phase characteristic of the vector;

The position data of the right vertex is calculated based on the position data of the midpoint and the position data of the right concave point based on the isobaric property of the vector.

Continuing to refer to FIG. 7, in practical applications, the lower left and lower right corners of the rib are chamfered, so the position data of the first lower vertex T2, the left vertex T3, the right vertex T4 and the second lower vertex T5 should be calculated. Wherein, the first lower vertex T2 is the lower end point of the first connection line; the second lower vertex T5 is the lower end point of the second connection line. The equal ratio property of vectors can be used, the distance from the first upper vertex T1 to the left concave point Q1 is greater than the distance from the first lower vertex T2 to the left concave point Q1 is equal to the ratio of the corresponding vector size, namely:

D/C=(T1.x- Q1.x)/(T2.x- Q1.x)

= (T1.y- Q1.y)/(T2.y- Q1.y)

= (T1.z- Q1.z)/(T2.z- Q1.z)

Among them, D represents the distance from T1 to Q1; C represents the distance from T2 to Q1; Q1.x represents the x-axis coordinate value of the left concave point; Q1.y represents the x-axis coordinate value of the left concave point; Q1.z represents the left concave surface The z-axis coordinate value of the point; T2.x represents the x-axis coordinate value of the first lower vertex; T2.y represents the y-axis coordinate value of the first lower vertex; T2.z represents the z-axis coordinate value of the first lower vertex.

Among them, D and C can be obtained directly, which are known conditions, and are not repeated in this application.

According to the above formula, the position data of the first lower vertex T2 can be obtained, and similarly the position data of T3, T4, and T5 can be obtained.

In step S504, according to the calculated position data of T1 and T2 and the normal vector of the first upper vertex, the first side weld trajectory data (the beginning and end pose values of the first side weld trajectory) can be obtained. . In the same way, according to the calculated position data of T6 and T5 and the normal vector of the second upper vertex, the trajectory data of the second side weld can be obtained; according to the calculated position data of T3 and T4, and then match the middle point The normal vector of , the bottom edge weld trajectory data can be obtained.

As can be seen from the above, the H-beam welding seam trajectory calculation device of the present application obtains the image information of the H-beam workpiece to be welded through the first acquisition module 201; The position data of the four corner points at the connection between the two corner points, the four corner points are the upper left corner point, the lower left corner point, the upper right corner point and the lower right corner point respectively; the third acquisition module 203 acquires the first The normal vector of the upper vertex, the normal vector of the second upper vertex of the second side weld, and the normal vector of the midpoint of the bottom weld; the fourth acquisition module 204 is based on the positioning algorithm, according to the The position data of the four corner points obtains the position data of the first upper vertex of the first side weld, the position data of the second upper vertex of the second side weld and the position data of the midpoint of the bottom weld; V. The acquiring module 205 acquires the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the left vertex and the right vertex of the bottom weld data; calculate the first side weld trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; according to the position data of the second upper vertex, the second lower vertex The position data and the normal vector of the second upper vertex are used to calculate the second side weld trajectory data; the bottom edge weld trace data is calculated according to the position data of the left vertex, the position data of the right vertex and the normal vector of the midpoint. The tedious process of manual teaching is eliminated, and the efficiency and production efficiency of acquiring the weld track data of the H-beam workpiece are improved.

Please refer to FIG. 10 . FIG. 10 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The present application provides an electronic device, including: a processor 301 and a memory 302 . The processor 301 and the memory 302 pass through a communication bus 303 and and/or other forms of connection mechanisms (not shown) are interconnected and communicate with each other, and the memory 302 stores a computer program executable by the processor 301. When the computing device is running, the processor 301 executes the computer program to execute the computer program when executed. The method in any optional implementation manner of the above-mentioned embodiment, to realize the following functions: obtain the image information of the H-beam workpiece to be welded; The position data of the corner points, the four corner points are the upper left corner, the lower left corner, the upper right corner and the lower right corner; obtain the normal vector of the first upper vertex of the first side weld and the second side weld The normal vector of the second upper vertex and the normal vector of the midpoint of the bottom edge weld; based on the positioning algorithm, the first side weld is obtained according to the position data of the four corner points between the H-beam and the rib plate. The position data of the first upper vertex, the position data of the second upper vertex of the second side weld and the position data of the midpoint of the bottom weld; obtain the position data of the first lower vertex of the first side weld, the first The position data of the second lower vertex of the two-side welding seam, the position data of the left vertex and the position data of the right vertex of the bottom welding seam; according to the position data of the first upper vertex, the position data of the first lower vertex and the first The normal vector of the upper vertex calculates the trajectory data of the first side weld; calculates the trajectory data of the second side weld according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex; The position data of the left vertex, the position data of the right vertex, and the normal vector of the midpoint calculate the bottom edge weld trajectory data.

Embodiments of the present application provide a storage medium on which a computer program is stored. When the computer program is executed by a processor, the method in any optional implementation mode of the above-mentioned embodiment is executed, so as to realize the following functions to obtain the H to be welded. The image information of the section steel workpiece; according to the image information of the H section steel workpiece, the position data of the four corner points at the connection between the H section steel and the rib plate are obtained, and the four corner points are the upper left corner point, the lower left corner point, the upper right corner point and the right corner point respectively. Lower corner point; obtain the normal vector of the first upper vertex of the first side weld, the normal vector of the second upper vertex of the second side weld, and the normal vector of the midpoint of the bottom weld; based on the positioning algorithm, Obtain the position data of the first upper vertex of the first side weld, the position data of the second upper vertex of the second side weld, and the bottom weld according to the position data of the four corner points between the H-beam and the rib. The position data of the midpoint of the seam; the position data of the first lower vertex of the first side weld, the position data of the second lower vertex of the second side weld, the position data of the left vertex of the bottom weld and The position data of the right vertex; calculate the first side weld trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex; The position data of the second lower vertex and the normal vector of the second upper vertex are used to calculate the second side weld track data; the bottom edge weld track data is calculated according to the position data of the left vertex, the position data of the right vertex and the normal vector of the midpoint. Among them, the storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as Static Random Access Memory (SRAM for short), Electrically Erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), read-only Memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk.

In the embodiments provided in this application, it should be understood that the disclosed system and method may be implemented in other manners. The system implementations described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other divisions. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces, indirect coupling or communication connection of systems or units, and may be in electrical, mechanical or other forms.

In addition, units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this implementation manner.

Furthermore, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such existence between these entities or operations. The actual relationship or sequence.

The above descriptions are merely embodiments of the present application, and are not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (7)

1. A welding seam track calculation method of H-shaped steel is used for obtaining welding seam track data of an H-shaped steel workpiece, the H-shaped steel workpiece comprises the H-shaped steel and at least two rib plates, and the rib plates are vertically connected with two wing plates and web plates of the H-shaped steel, and the method is characterized by comprising the following steps:

s1, acquiring image information of an H-shaped steel workpiece to be welded;

s2, acquiring position data of four angular points at a connecting part between the H-shaped steel and the rib plate according to the image information of the H-shaped steel workpiece, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively;

s3, acquiring a normal vector of a first upper vertex of the first side edge welding line, a normal vector of a second upper vertex of the second side edge welding line and a normal vector of a middle point of the bottom edge welding line;

s4, based on a position finding algorithm, acquiring position data of a first upper vertex of a first side edge welding line, position data of a second upper vertex of a second side edge welding line and position data of a middle point of a bottom edge welding line according to position data of four angular points between the H-shaped steel and the rib plate;

s5, acquiring position data of a first lower peak of a first side edge welding line, position data of a second lower peak of a second side edge welding line, position data of a left peak and position data of a right peak of the bottom edge welding line; calculating first side welding seam track data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

calculating second side edge weld joint track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex;

calculating bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point;

before step S3, step S2 includes:

A1. acquiring a first side vector according to the position data of the upper left corner point and the position data of the lower left corner point; acquiring a second side vector according to the position data of the upper right corner point and the position data of the lower right corner point; acquiring a bottom edge vector according to the position data of the left lower corner point and the position data of the right lower corner point;

A2. calculating a first normal vector according to the first side vector and the bottom vector; calculating a second normal vector according to the second side edge vector and the bottom edge vector; calculating a third normal vector according to the bottom edge vector;

step S3 includes:

rotating the first normal vector towards the bottom edge vector by a first preset angle, and warping upwards by a second preset angle to obtain a normal vector of the first upper vertex;

rotating the second normal vector towards the bottom edge vector by a third preset angle, and warping the second normal vector upwards by a fourth preset angle to obtain a normal vector of a second upper vertex;

and warping the third normal vector by a fifth preset angle upwards to obtain the normal vector of the midpoint.

2. The method for calculating the weld bead locus of the H-shaped steel according to claim 1, wherein the step S4 includes:

s401, presetting a first moving distance and a second moving distance;

s402, locating the welding seam of the first side according to the first moving distance, the second moving distance, the position data of the upper left corner point and the first normal vector to obtain the position data of the first upper vertex;

searching the position of the second side welding line according to the first moving distance, the second moving distance, the position data of the upper right angular point and the second normal vector to obtain the position data of the second upper vertex;

and searching the position of the bottom edge welding line according to the second moving distance, the position data of the middle point and the third normal vector to obtain the position data of the middle point.

3. The method for calculating the weld bead locus of the H-shaped steel according to claim 1, wherein the step S5 includes:

s501, calculating a first slope of a straight line connecting line formed by the first upper vertex and the second upper vertex according to the position data of the first upper vertex and the position data of the second upper vertex;

s502, calculating position data of a left concave point and position data of a right concave point of the H-shaped steel according to the first slope, the position data of the first upper peak, the position data of the second upper peak and the position data of the middle point;

s503, acquiring position data of a first lower vertex of the first side edge welding seam, position data of a second lower vertex of the second side edge welding seam, position data of a left vertex and position data of a right vertex of the bottom edge welding seam according to the position data of the left concave point, the position data of the right concave point, the position data of the first upper vertex, the position data of the second upper vertex and the position data of the middle point;

s504, calculating the first side welding seam track data according to the position data of the first upper vertex, the normal vector of the first upper vertex and the position data of the first lower vertex;

calculating second side weld joint track data according to the position data of the second upper vertex, the normal vector of the second upper vertex and the position data of the second lower vertex;

and calculating bottom edge weld track data according to the position data of the left vertex, the normal vector of the middle point and the position data of the right vertex.

4. The method of calculating the weld bead locus of the H-shaped steel according to claim 3, wherein the step S503 includes:

calculating position data of the first lower vertex from the position data of the first upper vertex and the position data of the left concave point based on an equal ratio characteristic of the vector;

calculating position data of the second lower vertex according to the position data of the second upper vertex and the position data of the right concave point based on geometric characteristics of the vectors;

calculating position data of the left vertex from the position data of the midpoint and the position data of the left concave point based on geometric characteristics of the vector;

calculating position data of the right vertex from the position data of the midpoint and the position data of the right concave point based on an equal ratio characteristic of the vector.

5. The utility model provides a welding seam orbit calculation device of H shaped steel for obtain the welding seam orbit data of H shaped steel work piece, H shaped steel work piece includes H shaped steel and two piece at least gussets, the gusset perpendicularly with two pterygoid laminas and the web of H shaped steel are connected, its characterized in that includes following module:

a first obtaining module: the method comprises the steps of obtaining image information of an H-shaped steel workpiece to be welded;

a second obtaining module: the H-shaped steel workpiece positioning device is used for acquiring position data of four angular points at a connecting part between H-shaped steel and a rib plate according to the H-shaped steel workpiece image information, wherein the four angular points are an upper left angular point, a lower left angular point, an upper right angular point and a lower right angular point respectively;

a third obtaining module: the normal vector of a first upper vertex of the first side edge welding seam, the normal vector of a second upper vertex of the second side edge welding seam and the normal vector of the middle point of the bottom edge welding seam are obtained;

a fourth obtaining module: the positioning method is used for acquiring position data of a first upper vertex of a first side edge welding line, position data of a second upper vertex of a second side edge welding line and position data of a middle point of a bottom edge welding line according to position data of four angular points between the H-shaped steel and the rib plate based on a positioning algorithm;

a fifth obtaining module: the position data of a first lower vertex of the first side edge welding seam, the position data of a second lower vertex of the second side edge welding seam, the position data of a left vertex of the bottom edge welding seam and the position data of a right vertex are obtained;

calculating first side weld joint trajectory data according to the position data of the first upper vertex, the position data of the first lower vertex and the normal vector of the first upper vertex;

calculating second side edge weld joint track data according to the position data of the second upper vertex, the position data of the second lower vertex and the normal vector of the second upper vertex;

calculating bottom edge weld track data according to the position data of the left vertex, the position data of the right vertex and the normal vector of the middle point;

a sixth obtaining module: the first side vector is obtained according to the position data of the upper left corner point and the position data of the lower left corner point; acquiring a second side vector according to the position data of the upper right corner point and the position data of the lower right corner point; acquiring a bottom edge vector according to the position data of the left lower corner point and the position data of the right lower corner point;

a calculation module: the first side edge vector and the bottom edge vector are used for calculating a first normal vector; calculating a second normal vector according to the second side vector and the bottom vector; calculating a third normal vector according to the bottom edge vector;

the third acquisition module is used for acquiring a normal vector of a first upper vertex of the first side edge welding seam, a normal vector of a second upper vertex of the second side edge welding seam and a normal vector of a middle point of the bottom edge welding seam, and specifically comprises the following steps:

rotating the first normal vector by a first preset angle towards the bottom edge vector, and warping the first normal vector upwards by a second preset angle to obtain a normal vector of a first upper vertex;

rotating the second normal vector by a third preset angle towards the bottom edge vector, and warping upwards by a fourth preset angle to obtain a normal vector of a second upper vertex;

and warping the third normal vector by a fifth preset angle upwards to obtain a normal vector of the midpoint.

6. An electronic device comprising a processor and a memory, the memory storing computer readable instructions, when executed by the processor, performing the steps in the method of calculating a weld trace of an H-shaped steel according to any one of claims 1 to 4.

7. A storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, executes the steps in the method for calculating a weld trajectory of an H-section steel according to any one of claims 1 to 4.

Images