CN116160160A - A welding method and system based on robot traversing space curve parameters - Google Patents

Abstract

The invention belongs to the technical field of robot welding, and specifically relates to a welding method and system based on a robot traversing space curve parameters. The system of the invention includes a vision system, a motion control system, a probe sensor, a curve fitting algorithm and a path planning algorithm Among them, the robot vision system adopts structured light vision measurement technology; the motion control system can adopt PID controller; the curve fitting algorithm adopts the method based on the change of normal vector between points and the linear fitting of tangent plane; The method of polynomial fitting, the beneficial effect of the present invention is to improve the welding accuracy and stability, through the automatic positioning of the robot and the measurement of the weld seam curve by the visual sensor, high-precision welding control can be realized, and the welding quality and stability are improved. Improve production efficiency, through the robot's automatic positioning and welding control, a fast and efficient welding process can be realized, which improves production efficiency and production capacity.

Description

A welding method and system based on robot traversing space curve parameters

Technical Field

The present invention relates to the technical field of robot welding, and in particular to a welding method and a system thereof based on robot traversal of space curve parameters.

Background Art

Welding is a process that joins materials such as metals and plastics by heat or pressure. The main purpose of welding is to form a continuous structure at the joint to achieve strength and sealing.

In the related technology, the traditional welding process requires manual operation of the welding gun, which is not only inefficient, but also the welding accuracy is affected by the skills and experience of the personnel, and there are certain risks and errors. Therefore, how to realize the automation of the welding process, improve welding efficiency and accuracy, and reduce labor costs and operational risks has become an important technical problem. To this end, we propose a welding method and system based on robot traversal of spatial curve parameters.

The above information disclosed in this Background section is only for understanding the background of the present inventive concept and therefore it may contain information that does not constitute prior art.

Summary of the invention

In order to overcome the shortcomings of the prior art, the present invention provides a welding method and a system based on robot traversal of spatial curve parameters to solve the problem that in the traditional welding process proposed in the above background technology, manual operation of the welding gun is required for welding, which is not only inefficient, but also the welding accuracy is affected by the skills and experience of the personnel, and there are certain risks and errors.

The technical solution adopted by the present invention to solve the technical problem is: a welding method based on robot traversal of space curve parameters, comprising the following steps:

S1: The robot vision system obtains the weld space curve parameters, including the weld start point, end point, direction, curvature and other information;

S2: Use probe sensor to obtain information such as weld depth, width and welding point;

S3: The motion control system controls the robot to move along the weld to achieve precise motion control and motion trajectory tracking;

S4: The curve fitting algorithm fits the collected weld space curve parameters to obtain a geometric model of the weld, and adds information such as weld depth, width, and electric welding points to the geometric model to obtain a corrected weld curve model;

S5: The path planning algorithm plans the travel route of the welding robot, taking into account the kinematic and dynamic characteristics of the robot and performing path optimization;

S6: The welding robot determines the welding machine travel route according to the acquired spatial parameters, plans the welding program parameters, and realizes the automated operation of the welding process;

The robot vision system adopts structured light measurement technology to obtain the weld space curve parameters, and the robot vision system adopts a triangulation algorithm, and its formula is:

Wherein, _XA , _YA , ZA, _XB , _YB , _ZB , _XC , _YC , _ZC are the coordinates of three three-dimensional points, _and Z is the depth value of the point to be measured;

The motion control system adopts a PID controller, which adjusts the motion control parameters of the robot according to the error size by comparing the actual motion trajectory with the expected motion trajectory;

The curve fitting algorithm adopts a method based on the change of normal vectors between points and the linear fitting of the tangent plane. In the method based on the change of normal vectors between points and the linear fitting of the tangent plane, the least square method can be used for fitting. The method mainly involves the processing of point cloud data and surface fitting. Among them, the change of normal vectors between adjacent points can be calculated using the following formula:

Among them, Pi represents the coordinates of the i-th point in the point cloud data, Ni represents the normal vector of the i-th point, and for the tangent plane of each point, the linear fitting method can be used. Assuming that the point (xi, yi, zi) is on the tangent plane, the following formula can be obtained:

_zi = _Axi + _Byi +C, where A, B, and C are fitting coefficients;

The path planning algorithm adopts a method based on quadratic polynomial fitting, which uses a quadratic polynomial to fit the point cloud data. The fitting formula is:

z＝ax ² +by ² +cxy+dx+Ey+f wherein a, b, c, d, e, and f are fitting coefficients.

As an optimized technical solution, the structured light vision measurement technology has the following operating steps:

Step 1: Set up a set of light sources and cameras near the weld, and emit a light beam through the light source to form a set of light spots;

Step 2: Use the camera to obtain the position information of the light spot in three-dimensional space, and obtain the spatial curve parameters of the weld by calculating the spatial coordinates of the light spot.

As an optimized technical solution, the method based on the change of normal vectors between points and the linear fitting of the tangent plane comprises the following steps:

A1: Convert the collected weld space curve parameters into a discrete point set, that is, discretize the curve, and save the information such as weld depth, width and electric welding point together with the space curve parameters in the discrete point set;

A2: Perform coordinate system transformation on the discrete point set, and convert the discrete point set into a local coordinate system with any point as the origin;

A3: Based on the discrete point set, calculate the normal vector and tangent plane equation of each point. For the weld width and electric welding point information, they can be added to the discrete point set as additional point information;

A4: Perform linear fitting on the tangent plane equation of each point to obtain the geometric model of the weld.

As an optimized technical solution, the quadratic polynomial fitting method comprises the following steps:

B1: Establish a quadratic polynomial model based on the geometric model of the weld;

B2: Use the quadratic polynomial model to calculate the robot's motion trajectory during the welding process;

B3: Combine the robot's motion trajectory with the welding program parameters to achieve automatic control of the welding robot.

As an optimized technical solution, the PID controller calculates the control signals of the three parts respectively according to the difference between the current output of the robot's cloud control system and the expected value:

Proportional part (P): The output of the proportional controller is proportional to the error, and the error is reduced by increasing or decreasing the control signal;

Integral part (I): The integral controller output is proportional to the integral of the error and is used to eliminate the error deviation;

Derivative part (D): The output of the derivative controller is proportional to the rate of change of the error and is used to reduce overshoot and oscillation;

The PID controller generates a final output control signal by adding the robot control signals of these three parts to adjust the output of the robot system and stabilize it near the desired value.

As an optimized technical solution, the position of the robot in the coordinate system is (x, y), and the rotation angle of its motion direction is θ. The path planning algorithm can obtain the motion trajectory of the robot by quadratic polynomial fitting, and its calculation formula is:

x＝a0+a1*t+a2*t^2

y＝b0+b1*t+b2*t^2

θ=arctan(2*a2*t+a1), where t is the time parameter, and a0, a1, a2, b0, b1, and b2 are fitting coefficients.

A welding system based on robot traversal of space curve parameters, comprising a robot vision system, a robot motion control system, a curve fitting algorithm and a path planning algorithm, wherein the robot vision system comprises:

Laser scanner: used to obtain geometric information of the workpiece surface;

Capture card: used to convert the signal from the camera or laser scanner into a digital signal and transmit it to the computer for processing;

Computer: used for point cloud data processing and algorithm calculation;

3D point cloud processing software: used to filter, denoise, register, reconstruct and perform other operations on the collected point cloud data to generate a complete point cloud model;

Point cloud processing algorithms: such as curvature detection algorithms based on the change of normal vectors between points and tangent plane linear fitting algorithms, which are used to process and analyze point cloud data;

The robot motion control system comprises:

Robotic arm: used to control the movement of welding guns or other tools;

Servo motor: used to drive the joints of the robot arm;

Controller: used to receive instructions from computers or external devices and control the movement of servo motors;

Sensor: used to monitor the motion status of the robot arm in real time and feedback the robot motion data;

Motion planning algorithms: such as path planning algorithms based on quadratic polynomial fitting and genetic algorithms, used to plan the robot's motion trajectory;

Closed-loop control algorithm: PID control algorithm is used to ensure the robot's motion accuracy and stability;

The probe type sensor comprises a probe, a depth sensor and a width sensor, wherein the probe is used to contact the weld, the depth sensor is used to measure the weld depth, and the width sensor is used to measure the weld width.

As an optimized technical solution, the curve fitting algorithm needs to be combined with a laser scanner to collect and process the workpiece surface, obtain point cloud data, and then process the point cloud data through an algorithm to fit a suitable curve model. The fitted curve model is combined with the robot motion control system to plan the robot's motion trajectory and control the robot's posture to ensure welding quality and stability.

For the path planning algorithm, it is necessary to integrate the robot's motion control system with the path planning algorithm to determine the robot's motion trajectory and speed, and control it through servo motors and encoders, taking into account the robot's posture, obstacle avoidance, and safety factors to ensure that the robot's motion trajectory is safe and stable.

The beneficial effects of the present invention are:

Compared with the prior art, the present invention has the following advantages:

(1) Improve welding accuracy and stability: Traditional welding methods often rely on manual operation and are prone to errors. This invention uses the robot to automatically move and visual sensors to measure the weld curve, and uses probe sensors to measure information such as the depth and width of the weld. This can achieve high-precision welding control and improve welding quality and stability.

(2) Improve production efficiency: Traditional welding methods require manual operation and are slow. However, this invention can achieve a fast and efficient welding process through automatic robot movement and welding control, thereby improving production efficiency and production capacity.

(3) Reduce labor costs and risks: Traditional welding methods rely on manual operation, which requires a lot of manpower and time costs, and there are safety risks in harsh environments such as high temperature and high pressure. This invention can reduce labor costs and risks through automatic positioning and control of robots.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a welding system based on robot traversal of space curve parameters provided by the present invention.

DETAILED DESCRIPTION

The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

It should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Embodiment 1:

A welding method based on robot traversal of space curve parameters in this embodiment includes the following steps:

S1: The robot vision system obtains the weld space curve parameters, including the weld start point, end point, direction, curvature and other information;

S2: Use probe sensor to obtain information such as weld depth, width and welding point;

S3: The motion control system controls the robot to move along the weld to achieve precise motion control and motion trajectory tracking;

S4: The curve fitting algorithm fits the collected weld space curve parameters to obtain a geometric model of the weld, and adds information such as weld depth, width, and electric welding points to the geometric model to obtain a corrected weld curve model;

S5: The path planning algorithm plans the travel route of the welding robot, taking into account the kinematic and dynamic characteristics of the robot and performing path optimization;

S6: The welding robot determines the welding machine travel route according to the acquired spatial parameters, plans the welding program parameters, and realizes the automated operation of the welding process;

Among them, the robot vision system uses structured light measurement technology to obtain the weld space curve parameters. The robot vision system uses a triangulation algorithm, and its formula is:

Wherein, _XA , _YA , ZA, _XB , _YB , _ZB , _XC , _YC , _Zc are the coordinates of three three-dimensional points, _and Z is the depth value of the point to be measured;

The motion control system uses a PID controller, which adjusts the robot's motion control parameters according to the error size by comparing the actual motion trajectory with the expected motion trajectory;

The curve fitting algorithm adopts a method based on the change of normal vectors between points and the linear fitting of the tangent plane. In the method based on the change of normal vectors between points and the linear fitting of the tangent plane, the least square method can be used for fitting. This method mainly involves the processing of point cloud data and surface fitting. Among them, the change of normal vectors between adjacent points can be calculated using the following formula:

Among them, Pi represents the coordinates of the i-th point in the point cloud data, Ni represents the normal vector of the i-th point, and for the tangent plane of each point, the linear fitting method can be used. Assuming that the point (xi, yi, zi) is on the tangent plane, the following formula can be obtained:

_zi = _Axi + _Byi +C, where A, B, and C are fitting coefficients;

The path planning algorithm uses a method based on quadratic polynomial fitting. This method uses a quadratic polynomial to fit the point cloud data. The fitting formula is:

z＝ax ² +by ² +cxy +dx +ey +f wherein a, b, c, d, e, and f are fitting coefficients.

As an optimized technical solution, structured light vision measurement technology has the following operating steps:

Step 1: Set up a set of light sources and cameras near the weld, and emit a light beam through the light source to form a set of light spots;

Step 2: Use the camera to obtain the position information of the light spot in three-dimensional space, and obtain the spatial curve parameters of the weld by calculating the spatial coordinates of the light spot.

The method based on the change of normal vector between points and the linear fitting of tangent plane comprises the following steps:

A1: Convert the collected weld space curve parameters into a discrete point set, that is, discretize the curve, and save the information such as weld depth, width and electric welding point together with the space curve parameters in the discrete point set;

A2: Perform coordinate system transformation on the discrete point set, and convert the discrete point set into a local coordinate system with any point as the origin;

A3: Based on the discrete point set, calculate the normal vector and tangent plane equation of each point. For the weld width and electric welding point information, they can be added to the discrete point set as additional point information;

A4: Linearly fit the tangent plane equation of each point to obtain the geometric model of the weld;

The calculation formula for the change of normal vector between points is:

Assuming that the i-th point in the discrete point set is pi, its normal vector is Ni, and the distance between pi and the adjacent point pj is d, the change in the normal vector of point pi can be expressed as:

Ni＝(pi-pj)/d

Among them, pi and pj are adjacent points in the discrete point set, Ni is the normal vector of point pi, and d is the distance between points.

The calculation formula of the tangent plane linear fitting is:

Assuming that the i-th point in the discrete point set is pi and its tangent plane is Ti, the tangent planes of all points in the discrete point set can be obtained by the following linear fitting:

Ti＝ci1*xi+ci2*yi+ci3

Among them, xi and yi are the position of the robot in the coordinate system and the rotation angle of the movement direction, and ci1, ci2, and ci3 are fitting coefficients.

As an optimized technical solution, the quadratic polynomial fitting method comprises the following steps:

B1: Establish a quadratic polynomial model based on the geometric model of the weld;

B2: Use the quadratic polynomial model to calculate the robot's motion trajectory during the welding process;

B3: Combine the robot's motion trajectory with the welding program parameters to achieve automatic control of the welding robot;

The position of the robot in the coordinate system is (x, y), and the rotation angle of its motion direction is θ. The path planning algorithm can obtain the motion trajectory of the robot by fitting a quadratic polynomial, and the calculation formula is:

x＝a0+a1*t+a2*t^2

y＝b0+b1*t+b2*t^2

θ=arctan(2*a2*t+a1), where t is the time parameter, and a0, a1, a2, b0, b1, and b2 are fitting coefficients.

As an optimized technical solution, the PID controller calculates the control signals of the three parts respectively according to the difference between the current output of the robot's cloud control system and the expected value:

Proportional part (P): The output of the proportional controller is proportional to the error, and the error is reduced by increasing or decreasing the control signal;

Integral part (I): The integral controller output is proportional to the integral of the error and is used to eliminate the error deviation;

Derivative part (D): The output of the derivative controller is proportional to the rate of change of the error and is used to reduce overshoot and oscillation;

The PID controller generates a final output control signal by adding the robot control signals of these three parts to adjust the output of the robot system and stabilize it near the expected value. The PID controller includes proportional control, integral control and differential control. Proportional control means that the controller output is proportional to the error, that is, the size of the control signal is proportional to the size of the current error of the controlled system. The proportional controller is very effective for control systems that respond quickly and do not need to consider historical data. The integral control means that the controller output is proportional to the integral of the error, that is, the size of the control signal is proportional to the sum of the historical errors of the controlled system. The integral controller can eliminate error deviations and can be applied to occasions where continuous adjustment of the control system is required. The differential control means that the controller output is proportional to the error change rate, that is, the size of the control signal is proportional to the size of the error change rate of the controlled system. The differential controller can reduce overshoot and oscillation and can be applied to occasions where a fast response control system is required. In the present invention, the PID controller usually combines the three algorithms of proportional, integral and differential control to achieve better control effects.

In this embodiment, a welding method based on a robot vision system and a motion control system is proposed, which is mainly used for measuring the weld curve, path planning and welding control. The robot moves along the weld, uses a visual sensor to collect the weld space curve parameters during the movement, and determines the welding machine travel route and welding program parameters according to the parameters to ensure welding quality and stability.

Embodiment 2:

In this embodiment, a welding system based on robot traversal of space curve parameters is also provided, including a robot vision system, a robot motion control system, a curve fitting algorithm and a path planning algorithm, wherein the robot vision system includes:

Laser scanner: used to obtain geometric information of the workpiece surface;

Capture card: used to convert the signal from the camera or laser scanner into a digital signal and transmit it to the computer for processing;

Computer: used for point cloud data processing and algorithm calculation;

3D point cloud processing software: used to filter, denoise, register, reconstruct and perform other operations on the collected point cloud data to generate a complete point cloud model;

Point cloud processing algorithms: such as curvature detection algorithms based on the change of normal vectors between points and tangent plane linear fitting algorithms, which are used to process and analyze point cloud data;

The robot motion control system comprises:

Robotic arm: used to control the movement of welding guns or other tools;

Servo motor: used to drive the joints of the robot arm;

Controller: used to receive instructions from computers or external devices and control the movement of servo motors;

Sensor: used to monitor the motion status of the robot arm in real time and feedback the robot motion data;

Motion planning algorithms: such as path planning algorithms based on quadratic polynomial fitting and genetic algorithms, used to plan the robot's motion trajectory;

Closed-loop control algorithm: PID control algorithm is used to ensure the robot's motion accuracy and stability;

The probe type sensor comprises a probe, a depth sensor and a width sensor, wherein the probe is used to contact the weld, the depth sensor is used to measure the weld depth, and the width sensor is used to measure the weld width.

Specifically, for the curve fitting algorithm, it is necessary to combine with a laser scanner to collect and process the workpiece surface, obtain point cloud data, and then process the point cloud data through an algorithm to fit a suitable curve model. The fitted curve model is combined with the robot motion control system to plan the robot's motion trajectory and control the robot's posture to ensure welding quality and stability;

For the path planning algorithm, it is necessary to integrate the robot's motion control system with the path planning algorithm to determine the robot's motion trajectory and speed, and control it through servo motors and encoders, taking into account the robot's posture, obstacle avoidance, and safety factors to ensure that the robot's motion trajectory is safe and stable.

The working process of the present invention is as follows:

1. The welding robot automatically moves along the weld according to the preset welding program and path;

2. The robot vision system collects the weld curve point cloud data, and uses algorithms such as the normal vector change between points and the tangent plane linear fitting to fit and analyze the weld curve to obtain the weld space curve parameters;

3. Based on the weld space curve parameters, the robot motion control system determines the welding machine travel route and welding program parameters to perform welding control;

4. After welding is completed, the robot vision system collects the weld curve point cloud data again, compares and analyzes it with the preset weld curve to ensure the welding quality and stability.

The above-mentioned embodiments are only preferred embodiments of the present invention and cannot limit the scope of protection of the present invention in turn. Various combinations, modifications or equivalent substitutions of the technical solutions of the present invention by technicians in this field do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims (8)

1. A welding method based on robot traversal space curve parameters, characterized in that, comprising the following steps: S1: The robot vision system obtains the parameters of the weld space curve, including the starting point, ending point, direction and curvature of the weld; S2: Use probe sensors to obtain information such as the depth, width and welding points of the weld; S3: The motion control system controls the robot to move along the weld seam to achieve precise motion control and motion trajectory tracking; S4: The curve fitting algorithm fits the collected weld space curve parameters to obtain the geometric model of the weld, and adds information such as weld depth, width and welding points to the geometric model to obtain the corrected weld curve Model; S5: The path planning algorithm plans the travel route of the welding robot, considers the kinematics and dynamics characteristics of the robot, and performs path optimization; S6: The welding robot determines the travel route of the welding machine according to the acquired spatial parameters, plans the welding program parameters, and realizes the automatic operation of the welding process; Wherein, the robot vision system uses structured light measurement technology to obtain weld space curve parameters, and the robot vision system uses a triangulation algorithm, the formula of which is:

Among them, X _A , Y _A , Z _A , X _B , Y _B , Z _B , X _C , Y _C , Z _C are the coordinates of three three-dimensional points, and Z is the depth value of the point to be measured; The motion control system adopts a PID controller, and the PID controller adjusts the motion control parameters of the robot according to the size of the error by comparing the actual motion trajectory with the desired motion trajectory; The curve fitting algorithm adopts the method based on the change of the normal vector between points and the linear fitting of the tangent plane. In the method based on the change of the normal vector between the points and the linear fitting of the tangent plane, the method of least squares is used for fitting. The method mainly It involves the processing and surface fitting of point cloud data, where the following formula can be used to calculate the normal vector change between adjacent points:

Among them, Pi represents the coordinates of the i-th point in the point cloud data, and Ni represents the normal vector of the i-th point. For the tangent plane of each point, a linear fitting method can be used, assuming points (xi, yi, zi) On the tangent plane, then the following formula can be obtained: z _i ＝ _Axi +By _i +C Among them, A, B, C are fitting coefficients; The path planning algorithm adopts a method based on quadratic polynomial fitting, which uses a quadratic polynomial to fit point cloud data, and the fitting formula is: z=ax ² +by ² +cxy+dx+ey+f where a, b, c, d, e, f are fitting coefficients. 2. A kind of welding method based on robot traversing space curve parameters according to claim 1, characterized in that: the structured light vision measurement technology, its operation steps are as follows: Step 1: Set up a group of light sources and cameras near the weld, and emit light beams through the light source to form a group of light spots; Step 2: Use the camera to obtain the position information of the spot in three-dimensional space, and obtain the space curve parameters of the weld by calculating the spatial coordinates of the spot. 3. A kind of welding method based on robot traversing space curve parameters according to claim 1, characterized in that: the method based on the change of normal vector between points and the linear fitting of tangent plane comprises the following steps: A1: Convert the collected weld space curve parameters into a discrete point set, that is, discretize the curve, and store the information such as weld depth, width and welding points together with the space curve parameters in the discrete point set; A2: Carry out coordinate system transformation on the discrete point set, and transform the discrete point set into a local coordinate system with any point as the origin; A3: According to the discrete point set, calculate the normal vector and tangent plane equation of each point. For the weld width and welding point information, it can be added to the discrete point set as additional point information; A4: Perform linear fitting on the tangent plane equation of each point to obtain the geometric model of the weld. 4. a kind of welding method based on robot traversal space curve parameter according to claim 1, is characterized in that: described quadratic polynomial fitting method, comprises the following steps: B1: According to the geometric model of the weld, establish a quadratic polynomial model; B2: Use the quadratic polynomial model to calculate the trajectory of the robot during the welding process; B3: Combine the motion trajectory of the robot with the parameters of the welding program to realize the automatic control of the welding robot. 5. A welding method based on robot traversal space curve parameters according to claim 1, characterized in that: said PID controller calculates three parts according to the difference between the current output and the expected value of the cloud control system of the robot The control signal: Proportional part (P): The output of the proportional controller is proportional to the error, and the error is reduced by increasing or decreasing the control signal; Integral part (I): The output of the integral controller is proportional to the error integral, which is used to eliminate the error deviation; Differential part (D): The output of the differential controller is proportional to the rate of change of the error, which is used to reduce overshoot and oscillation; The PID controller generates the final output control signal by adding the robot control signals of these three parts to adjust the output of the robot system and stabilize it around the desired value. 6. A kind of welding method based on robot traversing space curve parameters according to claim 1, characterized in that: the position of the robot in the coordinate system is (x, y), and the rotation angle of its motion direction is θ, The path planning algorithm can obtain the trajectory of the robot through quadratic polynomial fitting, and its calculation formula is: x＝a0+a1*t+a2*t^2 y=b0+b1*t+b2*t^2 θ=arctan(2*a2*t+a1), where t is a time parameter, and a0, a1, a2, b0, b1, b2 are fitting coefficients. 7. A welding system based on robot traversal space curve parameters, characterized in that it includes a robot vision system, a robot motion control system, a curve fitting algorithm and a path planning algorithm, wherein the robot vision system includes: Laser scanner: used to obtain the geometric information of the workpiece surface; Acquisition card: used to convert the signal of the camera or laser scanner into a digital signal and transmit it to the computer for processing; Computer: used for point cloud data processing and algorithm calculation; 3D point cloud processing software: used for filtering, denoising, registration, reconstruction and other operations on the collected point cloud data to generate a complete point cloud model; Point cloud processing algorithm: For example, the curvature detection algorithm based on the change of normal vector between points and the tangent plane linear fitting algorithm are used to process and analyze point cloud data; The robot motion control system includes: Robot arm: used to control the movement of welding torches or other tools; Servo motors: used to drive the joints of the robot arms; Controller: used to receive instructions from the computer or external equipment, and control the movement of the servo motor; Sensor: used for real-time monitoring of the motion state of the robot arm and feedback of robot motion data; Motion planning algorithm: such as path planning algorithm based on quadratic polynomial fitting, genetic algorithm, etc., used to plan the trajectory of the robot; Closed-loop control algorithm: PID control algorithm is used to ensure the motion accuracy and stability of the robot; The probe sensor includes a probe, a depth sensor and a width sensor, wherein the probe is used to contact the weld, the depth sensor is used to measure the depth of the weld, and the width sensor is used to measure the width of the weld. 8. A welding system based on robot traversing space curve parameters according to claim 1, characterized in that: for the curve fitting algorithm, it is necessary to combine a laser scanner to collect and process the surface of the workpiece to obtain a point cloud Data, and then process the point cloud data through the algorithm, fit a suitable curve model, combine the fitted curve model with the robot motion control system, plan the robot's trajectory and control the robot's attitude, so as to ensure the welding quality and stability; For the path planning algorithm, it is necessary to integrate the motion control system of the robot with the path planning algorithm to determine the trajectory and speed of the robot, and control it through the servo motor and encoder, taking into account the attitude, obstacle avoidance, and safety of the robot. Factors to ensure the safe and stable trajectory of the robot.

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