CN113634961B - Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium - Google Patents

Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium Download PDF

Info

Publication number
CN113634961B
CN113634961B CN202111207253.2A CN202111207253A CN113634961B CN 113634961 B CN113634961 B CN 113634961B CN 202111207253 A CN202111207253 A CN 202111207253A CN 113634961 B CN113634961 B CN 113634961B
Authority
CN
China
Prior art keywords
welding
value
distance value
detection
focal length
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111207253.2A
Other languages
Chinese (zh)
Other versions
CN113634961A (en
Inventor
吴轩
冉昌林
熊峰
程博
刘继顺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Yifi Laser Corp Ltd
Original Assignee
Wuhan Yifi Laser Corp Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan Yifi Laser Corp Ltd filed Critical Wuhan Yifi Laser Corp Ltd
Priority to CN202111207253.2A priority Critical patent/CN113634961B/en
Publication of CN113634961A publication Critical patent/CN113634961A/en
Application granted granted Critical
Publication of CN113634961B publication Critical patent/CN113634961B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The embodiment of the invention provides a method and a device for obtaining a welding focal length compensation value, electronic equipment and a storage medium, and relates to the field of automatic manufacturing. The method comprises the steps of obtaining a first detection distance value and a second detection distance value of a welding plane; determining an offset angle according to the first detection distance value, the second detection distance value and the predicted welding plane information; and determining a welding focal length compensation value corresponding to the welding position according to the offset angle and the detection distance, wherein the detection distance represents the distance between the welding position and the first detection point or the second detection point. Can directly obtain the welding focal length offset value that welding position corresponds when the welding, avoid the manual work to detect the welding focal length, and the welding focal length offset value that the acquisition welding position that can be more accurate corresponds to can improve welding efficiency when guaranteeing welding precision.

Description

Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium
Technical Field
The invention relates to the field of automatic manufacturing, in particular to a method and a device for obtaining a welding focal length compensation value, electronic equipment and a storage medium.
Background
In the prior art, a product to be welded needs to be mounted on a clamp before the product to be welded is welded, but due to product stability, clamp precision and mounting errors, the product to be welded and welding equipment cannot be welded in a spatial relationship within an error range, so that the focal length of the welding equipment cannot be kept within the error range.
In the prior art, the focal length is controlled within a certain error range by manual detection, so that the consistency of the focal length is ensured, and the efficiency of the whole welding is reduced by manual detection.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for obtaining a welding focal length compensation value, an electronic device, and a storage medium, so as to avoid manual detection of a focal length, and improve welding efficiency while ensuring welding accuracy.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, the present invention provides a method for obtaining a welding focal length compensation value, including: obtaining a first detection distance value and a second detection distance value of a welding plane; the first detection distance value is a distance value of a first detection point projected to the welding plane by a first detector, the second detection distance value is a distance value of a second detection point projected to the welding plane by a second detector, an offset angle is determined according to the first detection distance value, the second detection distance value and predicted welding plane information, the offset angle represents an included angle between a connecting line of the first detection point and the second detection point and the predicted welding plane, and a welding focal length compensation value corresponding to a welding position is determined according to the offset angle and a detection distance; the probe spacing is indicative of a spacing of either the first probe point or the second probe point from the welding location.
In an optional embodiment, the step of determining an offset angle according to the first detection distance value, the second detection distance value, and the predicted welding plane information includes:
determining a first deviation value according to the first detection distance value and the predicted welding plane information, and determining a second deviation value according to the second detection distance value and the predicted welding plane information;
and determining the offset angle according to the first offset value, the second offset value and the predicted welding plane information.
In an alternative embodiment, the welding focal length compensation value corresponding to the welding position satisfies the following formula:
Figure DEST_PATH_IMAGE002
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE004
represents a welding focal length compensation value corresponding to the target welding position,
Figure DEST_PATH_IMAGE006
representing the first offset value or the second offset value,
Figure DEST_PATH_IMAGE008
the distance of detection is represented by the distance of detection,
Figure DEST_PATH_IMAGE010
representing a difference between the first offset value and a second offset value;
Figure DEST_PATH_IMAGE012
representing a separation of the first probe point and the second probe point.
In an alternative embodiment, before the step of obtaining the first detection distance value and the second detection distance value of the welding plane, the method further includes:
obtaining a first calibration distance value and a second calibration distance value of a welding plane; the first calibration distance value is the distance value of a first calibration point projected to the predicted welding plane by the first detector, and the second calibration distance value is the distance value of a second calibration point projected to the predicted welding plane by the second detector;
and determining the predicted welding plane information according to the first calibration distance value and the second calibration distance value.
In an optional embodiment, after the step of determining the welding focal length compensation value corresponding to the welding position, the method further includes:
and sending a compensation instruction to welding equipment so that the welding equipment compensates the welding focal length corresponding to the welding position according to the determined welding focal length compensation value corresponding to the welding position.
In a second aspect, the present invention provides a welding focal length compensation value obtaining apparatus based on welding plane offset, including:
the acquisition module is used for acquiring a first detection distance value and a second detection distance value of a welding plane; the first detection distance value is a distance value of a first detector projected to a first detection point of the welding plane, and the second detection distance value is a distance value of a second detector projected to a second detection point of the welding plane;
an angle determining module, configured to determine an offset angle according to the first detection distance value, the second detection distance value, and predicted welding plane information, where the offset angle represents an included angle between a connection line between the first detection point and the second detection point and the predicted welding plane;
the calculation module is used for determining a welding focal length compensation value corresponding to the welding position according to the offset angle and the detection distance; the probe spacing is indicative of a spacing of either the first probe point or the second probe point from the welding location.
In an optional embodiment, the angle determining module is further configured to determine a first offset value according to the first detection distance value and the predicted welding plane information, and determine a second offset value according to the second detection distance value and the predicted welding plane information;
and determining the offset angle according to the first offset value, the second offset value and the predicted welding plane information.
In an optional embodiment, the obtaining module is further configured to obtain a first calibrated distance value and a second calibrated distance value of the welding plane; the first calibration distance value is the distance value of a first calibration point projected to the predicted welding plane by the first detector, and the second calibration distance value is the distance value of a second calibration point projected to the predicted welding plane by the second detector;
and determining the predicted welding plane information according to the first calibration distance value and the second calibration distance value.
In a third aspect, the present invention provides an electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the method of any one of the preceding embodiments.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the welding focal length compensation value obtaining method according to any one of the preceding embodiments.
The method, the device, the electronic equipment and the storage medium for obtaining the welding focal length compensation value provided by the embodiment of the invention obtain a first detection distance value and a second detection distance value of a welding plane, wherein the first detection distance value is a distance value of a first detection point projected by the first detector to the welding plane, the second detection distance value is a distance value of a second detection point projected by the second detector to the welding plane, determining an offset angle in combination with predicted welding plane information based on the first and second detection distance values, since the offset angle is an angle between a connection line between the first detection point and the second detection point and the predicted welding plane information, therefore, the offset angle and the detection distance can be combined to determine the welding focal length compensation value corresponding to the welding position, wherein the welding distance is a distance between the welding position and the first detection point or the second detection point. The welding focal length compensation value corresponding to the welding position is calculated through the offset angle value and the detection distance, the welding focal length compensation value corresponding to the welding position can be directly obtained during welding, manual detection of the welding focal length is avoided, the welding focal length compensation value corresponding to the welding position can be accurately obtained, and therefore welding efficiency can be improved while welding precision is guaranteed.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 shows a schematic view of a welding system.
Figure 2 shows a schematic diagram of the operation of the ranging apparatus.
Fig. 3 is a schematic flow chart of a method for obtaining a welding focal length compensation value according to an embodiment of the present invention.
Fig. 4 shows another flow chart of the method for obtaining the welding focal length compensation value according to the embodiment of the invention.
Fig. 5 shows a focal length compensation diagram of a welding position.
Fig. 6 shows a focal length compensation diagram for another welding position.
Fig. 7 shows a focal length compensation diagram for yet another welding position.
Fig. 8 shows a focal length compensation diagram for yet another welding position.
Fig. 9 shows a focal length compensation diagram for yet another welding position.
Fig. 10 shows a focal length compensation diagram for yet another welding position.
Fig. 11 is a schematic flow chart illustrating a method for obtaining a welding focus compensation value according to an embodiment of the present invention.
Fig. 12 is a schematic flow chart illustrating a method for obtaining a welding focus compensation value according to an embodiment of the present invention.
Fig. 13 is a functional block diagram of a welding focus compensation value obtaining apparatus according to an embodiment of the present invention.
Fig. 14 shows a schematic structural diagram of an electronic device provided in an embodiment of the present invention.
Icon: 10-a welding system; 110-a controller; 120-a welding device; 130-a ranging device; 131-a first detector; 132-a second detector; 133-welding plane; 20-welding focal length compensation value obtaining device; 210-an obtaining module; 220-an angle determination module; 230-a calculation module; 30-an electronic device; 310-a memory; 320-a processor; 330-communication module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
At present, before treating the welding product and processing, need at first will treat that the welding product is installed to frock clamp, in order to guarantee welded effect, need be in certain error range with the error control of welding focal length to prevent the too big rosin joint, the penetration scheduling problem that cause of welding focal length error. However, due to the accuracy limitation of the tooling fixture and the stability limitation of the incoming material of the product to be welded, abnormal installation may occur during installation, which may result in that the product to be welded and the welding equipment cannot be welded in a spatial relationship within an error range, causing a problem of too large error of the welding focal length.
The prior art generally solves the problem of too large welding focal length error caused by the abnormal installation by the following two ways:
one method is to adopt caliper measurement and manual detection methods to guarantee that the welding focal length is in the error range before welding through improving the installation accuracy of frock clamp and the stability of waiting to weld the product. However, the method obviously has high requirements on installation precision and stability, and is low in efficiency due to the fact that manual labor is increased.
And the other method is to adopt distance measuring equipment to measure the distance between two ends of the workpiece to be welded in the vertical direction so as to obtain the focus offset values of the two ends, and then take the average value of the focus offset values of the two ends as a focus compensation value to perform welding focus compensation on each welding point. However, in this method, the fixed value is taken as the compensation value to compensate the welding focal length of each welding point, so that corresponding compensation cannot be performed for each welding point, the welding focal length still has a relatively large error, and a precise welding task with a high requirement on welding precision cannot be supported.
Based on the findings, the inventor improves the existing welding point focal length compensation method, and provides a method for obtaining a welding focal length compensation value, wherein the welding focal length compensation value corresponding to a welding position is calculated through an offset angle and a detection distance, so that the welding focal length compensation value corresponding to each welding position is obtained for each welding position, manual detection is avoided, welding efficiency is improved, errors of the welding focal length can be controlled within a certain error range, the welding focal length in the actual welding process is relatively accurate, and a precise welding task with higher welding precision requirement can be supported.
Fig. 1 is a schematic diagram of a welding system 10, and referring to fig. 1, the welding system 10 may include: a controller 110, a welding device 120, and a ranging device 130.
The controller 110 is configured to control the welding device and the distance measuring device, for example, control the welding device 120 to weld a product to be welded according to a welding focal length compensation value corresponding to a welding position; the distance measuring device 130 is controlled to detect the distance of the welding plane of the product to be welded in the vertical direction. Since the distance measuring device is used to detect the distance of the welding plane in the vertical direction, the distance measuring device can also be understood as a detector.
It is understood that the controller 110 and the welding device 120 may be two different devices in the same device, or may be different devices, and are not limited herein.
Alternatively, the distance of the welding plane of the product to be welded may be measured by at least two detectors, in one example, two detectors may be arranged to measure the distance of the first detection point and the second detection point on the welding plane in the vertical direction, specifically, referring to fig. 2, which is an exemplary working diagram of the distance measuring apparatus 130, the first detector 131 is used to detect the distance of the first detection point a on the welding plane 133 in the vertical direction; the second detector 132 is used to detect the distance in the vertical direction of the second detection point B on the welding plane 133. Optionally, the welding device and the ranging device may be communicatively coupled to the controller for better control of the welding device and the ranging device.
Optionally, the Controller may also control other devices related to implementing welding of the product to be welded, and in a possible implementation manner, the Controller may be a Programmable Logic Controller (PLC), or the like; the distance measuring device 130 may be a laser distance meter.
With reference to the system shown in fig. 1, the following takes the controller 110 as an execution subject to exemplarily describe the method for obtaining the welding focal length compensation value provided in the embodiment of the present application, specifically, fig. 3 is a schematic flow chart of the method for obtaining the welding focal length compensation value provided in the embodiment of the present application, please refer to fig. 3, and the method includes:
in step S32, a first detection distance value and a second detection distance value of the welding plane are obtained.
The first detection distance value is a distance value of a first detection point projected to the welding plane by the first detector, and the second detection distance value is a distance of a second detection point projected to the welding plane by the second detector. Alternatively, the first detection point and the second detection point may be two end points of a straight line including each welding point on a product to be welded during welding.
And step S34, determining the offset angle according to the first detection distance value, the second detection distance value and the predicted welding plane information.
The deviation angle represents an included angle between a connecting line of the first detection point and the second detection point and the predicted welding plane information. In this embodiment, the welding plane may be regarded as a straight line, the predicted welding plane information may be straight line information that is measured in advance for the welding plane when a product to be welded is supplied, the predicted welding plane information may be used as position information of the welding plane in a standard case, and a straight line between the first detection point and the second detection point may be used as position information of the welding plane during welding. Therefore, the included angle between the connecting line between the first detection point and the second detection point and the preset welding plane can be calculated, and the included angle represents the deviation angle of the welding plane relative to the standard condition during welding, so that the welding focal length compensation value of the welding position can be calculated according to the deviation angle.
And step S36, determining a welding focal length compensation value corresponding to the welding position according to the offset angle and the detection distance.
Wherein the detection distance represents the distance between any one of the first detection point or the second detection point and the welding position. In this embodiment, for a certain welding position, a first detection point may be selected as a reference, a first detection distance between the first detection point and the welding position is calculated, and then a welding focal length compensation value of the welding position is calculated according to the offset angle and the first detection distance; alternatively, the second detection point may be selected as a reference, a second detection distance between the second detection point and the welding position may be calculated, and then the welding focal length compensation value of the welding position may be calculated based on the offset angle and the second detection distance.
According to the method for obtaining the welding focal length compensation value, a first detection distance value and a second detection distance value of a welding plane are obtained, an included angle between a connecting line between a first detection point and a second detection point and predicted welding plane information can be determined according to the first detection distance value and the second detection distance value and the predicted welding plane information, the included angle is used as an offset angle, and a welding focal length compensation value corresponding to a welding position can be determined according to the offset angle and a detection distance, wherein the detection distance is a distance between the welding position and the first detection point or the second detection point. The welding focal length compensation value corresponding to the welding position is calculated through the offset angle value and the detection distance, the welding focal length can be prevented from being manually detected, and the welding focal length compensation value corresponding to the welding position can be accurately obtained, so that the welding efficiency can be improved while the welding precision is ensured.
Optionally, in order to obtain the offset angle, a possible implementation is given below, specifically, on the basis of fig. 3, fig. 4 is another schematic flow chart of the method for obtaining the welding focal length compensation value provided in the embodiment of the present application, please refer to fig. 4, where the step S34 may further include the following steps:
step S341, determining a first deviation value according to the first detection distance value and the predicted welding plane information, and determining a second deviation value according to the second detection distance value and the predicted welding plane information.
In step S342, an offset angle is determined according to the first offset value, the second offset value, and the predicted welding plane information.
Alternatively, since the deviation of the product to be welded before welding may be wholly upward, wholly downward, or one end upward and one end downward, the first deviation value and the second deviation value may be all positive values, all negative values, or one positive value and the other negative value, and therefore, the value range in which the first deviation value and the second deviation value are located may be determined after obtaining the first deviation value and the second deviation value, and the deviation angle may be determined by combining the value range.
In addition, after the offset angle is obtained, a welding focal length compensation value corresponding to the welding position can be calculated through a mathematical formula according to the offset angle and the detection distance. In one implementation, the welding focus compensation value satisfies the following formula:
Figure DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 124493DEST_PATH_IMAGE004
represents the welding focal length compensation value corresponding to the target welding position,
Figure 307212DEST_PATH_IMAGE006
indicating either a first offset value or a second offset value,
Figure 539480DEST_PATH_IMAGE008
it is indicated that the detection pitch is,
Figure 934689DEST_PATH_IMAGE010
representing a difference between the first offset value and the second offset value;
Figure 14640DEST_PATH_IMAGE012
representing the separation of the first probe point from the second probe point. The detection distance may be a distance between the welding position and the first detection point, or a distance between the welding position and the second detection point.
Next, the calculation of the welding focal length compensation value for the welding position will be described with reference to different numerical ranges of the first offset value and the second offset value, taking the detection interval as the interval between the welding position and the first detection point as an example.
In one example, if the installation of the product to be welded is regarded as being shifted to the positive direction relative to the situation that the whole product is leaned on the top under the standard installation situation, both the first offset value and the second offset value are positive values, and on this basis, if the first offset value is greater than the second offset value, please refer to fig. 5, which is a schematic diagram of the focal length compensation of the welding position under the situation that both the first offset value and the second offset value are positive values and the first offset value is greater than the second offset value.
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE016
in order to offset the angle of the angle,
Figure DEST_PATH_IMAGE018
is a first detection point, and is a second detection point,
Figure DEST_PATH_IMAGE020
is a second detection point, and is a second detection point,
Figure DEST_PATH_IMAGE022
is a welding position, then
Figure DEST_PATH_IMAGE024
A first offset value determined based on the first detection distance value and the pre-known plane information,
Figure DEST_PATH_IMAGE026
a second offset value determined based on the second detection distance value and the pre-known plane information,
Figure DEST_PATH_IMAGE028
is a welding focal length compensation value corresponding to the welding position,
Figure DEST_PATH_IMAGE030
to a welding position
Figure 978048DEST_PATH_IMAGE022
To the first detection point
Figure 510661DEST_PATH_IMAGE018
The distance between the two plates is equal to each other,
Figure DEST_PATH_IMAGE032
is the distance between the first detection point and the second detection point. Is provided with
Figure DEST_PATH_IMAGE034
，
Figure DEST_PATH_IMAGE036
，
Figure DEST_PATH_IMAGE038
，
Figure DEST_PATH_IMAGE040
，
Figure DEST_PATH_IMAGE042
。
Then, the welding position is known
Figure 896512DEST_PATH_IMAGE022
The welding focal length compensation value is as follows:
Figure DEST_PATH_IMAGE044
offset angle
Figure 768653DEST_PATH_IMAGE016
Can be expressed as:
Figure DEST_PATH_IMAGE046
then welding position
Figure DEST_PATH_IMAGE048
The welding focal length compensation value is
Figure DEST_PATH_IMAGE050
Figure DEST_PATH_IMAGE052
If the first deviation value is smaller than the second deviation value, please refer to fig. 6, which is a schematic diagram of the focal length compensation of the welding position under the condition that both the first deviation value and the second deviation value are positive values and the first deviation value is smaller than the second deviation value.
Wherein the content of the first and second substances,
Figure 496437DEST_PATH_IMAGE016
in order to offset the angle of the angle,
Figure 703296DEST_PATH_IMAGE018
is a first detection point, and is a second detection point,
Figure 440308DEST_PATH_IMAGE020
is a second detection point, and is a second detection point,
Figure 229273DEST_PATH_IMAGE022
is a welding position, then
Figure 659117DEST_PATH_IMAGE024
A first offset value determined based on the first detection distance value and the pre-known plane information,
Figure DEST_PATH_IMAGE053
a second offset value determined based on the second detection distance value and the pre-known plane information,
Figure DEST_PATH_IMAGE054
is a welding focal length compensation value corresponding to the welding position,
Figure DEST_PATH_IMAGE056
to a welding position
Figure 572846DEST_PATH_IMAGE022
To the first detection point
Figure 113549DEST_PATH_IMAGE018
The distance between the two plates is equal to each other,
Figure DEST_PATH_IMAGE058
is the distance between the first detection point and the second detection point. Is provided with
Figure DEST_PATH_IMAGE060
，
Figure DEST_PATH_IMAGE061
，
Figure 225862DEST_PATH_IMAGE038
，
Figure 279137DEST_PATH_IMAGE040
，
Figure DEST_PATH_IMAGE063
。
Then, the welding position is known
Figure 211321DEST_PATH_IMAGE022
The welding focal length compensation value is as follows:
Figure DEST_PATH_IMAGE065
offset angle
Figure 555715DEST_PATH_IMAGE016
Can be expressed as:
Figure DEST_PATH_IMAGE067
then welding position
Figure 256955DEST_PATH_IMAGE048
The welding focal length compensation value is
Figure DEST_PATH_IMAGE069
In another example, if the installation of the product to be welded is considered to be shifted in a negative direction with respect to the situation that the product to be welded is entirely lower than the standard installation situation, both the first offset value and the second offset value are negative values, and on this basis, if the absolute value of the first offset value is greater than the absolute value of the second offset value, please refer to fig. 7, which is a schematic diagram of focal length compensation of the welding position in the situation that both the first offset value and the second offset value are negative values and the absolute value of the first offset value is greater than the absolute value of the second offset value.
Wherein the content of the first and second substances,
Figure 294181DEST_PATH_IMAGE016
in order to offset the angle of the angle,
Figure 448082DEST_PATH_IMAGE018
is a first detection point, and is a second detection point,
Figure 330587DEST_PATH_IMAGE020
is a second detection point, and is a second detection point,
Figure 948650DEST_PATH_IMAGE022
is a welding position, then
Figure 891198DEST_PATH_IMAGE024
A first offset value determined based on the first detection distance value and the pre-known plane information,
Figure 781663DEST_PATH_IMAGE026
a second offset value determined based on the second detection distance value and the pre-known plane information,
Figure 202280DEST_PATH_IMAGE028
is a welding focal length compensation value corresponding to the welding position,
Figure 940429DEST_PATH_IMAGE030
to a welding position
Figure 53878DEST_PATH_IMAGE022
To the first detection point
Figure 182371DEST_PATH_IMAGE018
The distance between the two plates is equal to each other,
Figure 406679DEST_PATH_IMAGE032
is the distance between the first detection point and the second detection point. Is provided with
Figure 733755DEST_PATH_IMAGE034
，
Figure DEST_PATH_IMAGE071
，
Figure DEST_PATH_IMAGE073
，
Figure DEST_PATH_IMAGE075
，
Figure 486948DEST_PATH_IMAGE042
。
Then, the welding position is known
Figure 899474DEST_PATH_IMAGE022
The welding focal length compensation value is as follows:
Figure DEST_PATH_IMAGE077
offset angle
Figure 130736DEST_PATH_IMAGE016
Can be expressed as:
Figure DEST_PATH_IMAGE079
then welding position
Figure 577897DEST_PATH_IMAGE048
The welding focal length compensation value is
Figure DEST_PATH_IMAGE081
Figure 220100DEST_PATH_IMAGE052
If the absolute value of the first deviation value is smaller than the absolute value of the second deviation value, please refer to fig. 8, which is a schematic diagram illustrating the focal length compensation of the welding position under the condition that both the first deviation value and the second deviation value are negative values and the absolute value of the first deviation value is smaller than the absolute value of the second deviation value.
Wherein the content of the first and second substances,
Figure 385502DEST_PATH_IMAGE016
in order to offset the angle of the angle,
Figure 951613DEST_PATH_IMAGE018
is a first detection point, and is a second detection point,
Figure 456544DEST_PATH_IMAGE020
is a second detection point, and is a second detection point,
Figure 817118DEST_PATH_IMAGE022
is a welding position, then
Figure 469816DEST_PATH_IMAGE024
A first offset value determined based on the first detection distance value and the pre-known plane information,
Figure 839617DEST_PATH_IMAGE026
a second offset value determined based on the second detection distance value and the pre-known plane information,
Figure 933475DEST_PATH_IMAGE028
is a welding focal length compensation value corresponding to the welding position,
Figure DEST_PATH_IMAGE082
to a welding position
Figure 996109DEST_PATH_IMAGE022
To the first detection point
Figure 604945DEST_PATH_IMAGE018
The distance between the two plates is equal to each other,
Figure DEST_PATH_IMAGE083
between the first detection point and the second detection pointDistance. Is provided with
Figure DEST_PATH_IMAGE084
，
Figure 247279DEST_PATH_IMAGE071
，
Figure 257960DEST_PATH_IMAGE073
，
Figure 678446DEST_PATH_IMAGE075
，
Figure DEST_PATH_IMAGE085
。
Then, the welding position is known
Figure 40158DEST_PATH_IMAGE022
The welding focal length compensation value is as follows:
Figure DEST_PATH_IMAGE087
offset angle
Figure 955024DEST_PATH_IMAGE016
Can be expressed as:
Figure DEST_PATH_IMAGE089
then welding position
Figure 85791DEST_PATH_IMAGE048
The welding focal length compensation value is
Figure DEST_PATH_IMAGE090
In another example, if the installation of the product to be welded is considered to be that one end is shifted in a positive direction and the other end is shifted in a negative direction with respect to the case where one end is up and the other end is down in the case of the standard installation, and if the first offset value is a positive value and the second offset value is a negative value, please refer to fig. 9, which is a schematic diagram of the offset angle in the case where the first offset value is a positive value and the second offset value is a negative value.
Wherein the content of the first and second substances,
Figure 427911DEST_PATH_IMAGE016
in order to offset the angle of the angle,
Figure DEST_PATH_IMAGE092
is a first detection point, and is a second detection point,
Figure DEST_PATH_IMAGE094
is a second detection point, and is a second detection point,
Figure DEST_PATH_IMAGE096
is a welding position in the positive direction,
Figure DEST_PATH_IMAGE098
is a welding position in the negative direction, then
Figure 745760DEST_PATH_IMAGE024
A first offset value determined based on the first detection distance value and the pre-known plane information,
Figure 459724DEST_PATH_IMAGE026
a second offset value determined based on the second detection distance value and the pre-known plane information,
Figure DEST_PATH_IMAGE100
is a welding focal length compensation value corresponding to the welding position in the positive direction,
Figure DEST_PATH_IMAGE102
is a welding focal length compensation value corresponding to the welding position in the negative direction,
Figure DEST_PATH_IMAGE104
to a welding position
Figure DEST_PATH_IMAGE106
To the first detection point
Figure 179418DEST_PATH_IMAGE018
The distance between the two plates is equal to each other,
Figure DEST_PATH_IMAGE108
to a welding position
Figure DEST_PATH_IMAGE110
To the first detection point
Figure 692439DEST_PATH_IMAGE018
The distance between the two plates is equal to each other,
Figure DEST_PATH_IMAGE112
is the distance between the first detection point and the second detection point. Is provided with
Figure DEST_PATH_IMAGE114
，
Figure 232005DEST_PATH_IMAGE061
，
Figure DEST_PATH_IMAGE115
，
Figure DEST_PATH_IMAGE117
，
Figure DEST_PATH_IMAGE119
。
Then, the welding position is known
Figure 3521DEST_PATH_IMAGE106
The welding focal length compensation value is as follows:
Figure DEST_PATH_IMAGE121
offset angle
Figure 108880DEST_PATH_IMAGE016
Can be expressed as:
Figure DEST_PATH_IMAGE123
then welding position
Figure 792802DEST_PATH_IMAGE048
The welding focal length compensation value is
Figure DEST_PATH_IMAGE125
Figure DEST_PATH_IMAGE127
Welding position
Figure 554085DEST_PATH_IMAGE110
The welding focal length compensation value is as follows:
Figure DEST_PATH_IMAGE129
offset angle
Figure 676762DEST_PATH_IMAGE016
Can be expressed as:
Figure 574310DEST_PATH_IMAGE123
then welding position
Figure 225872DEST_PATH_IMAGE048
The welding focal length compensation value is
Figure DEST_PATH_IMAGE131
Figure DEST_PATH_IMAGE133
If the first offset value is a negative value and the second offset value is a positive value, please refer to fig. 10, which is a schematic diagram of the offset angle when the first offset value is a negative value and the second offset value is a positive value.
Wherein the content of the first and second substances,
Figure 536767DEST_PATH_IMAGE016
in order to offset the angle of the angle,
Figure 384506DEST_PATH_IMAGE092
is a first detection point, and is a second detection point,
Figure 198879DEST_PATH_IMAGE094
is a second detection point, and is a second detection point,
Figure 286920DEST_PATH_IMAGE096
is the welding position in the negative direction,
Figure 553954DEST_PATH_IMAGE098
in the positive direction, then
Figure 956116DEST_PATH_IMAGE024
A first offset value determined based on the first detection distance value and the pre-known plane information,
Figure 359416DEST_PATH_IMAGE026
a second offset value determined based on the second detection distance value and the pre-known plane information,
Figure 883938DEST_PATH_IMAGE100
is a welding focal length compensation value corresponding to the welding position in the negative direction,
Figure 638267DEST_PATH_IMAGE102
is a welding focal length compensation value corresponding to the welding position in the positive direction,
Figure DEST_PATH_IMAGE134
to a welding position
Figure 578542DEST_PATH_IMAGE106
To the first detection point
Figure 367506DEST_PATH_IMAGE018
The distance between the two plates is equal to each other,
Figure DEST_PATH_IMAGE135
to a welding position
Figure 613DEST_PATH_IMAGE110
To the first detection point
Figure 976659DEST_PATH_IMAGE018
The distance between the two plates is equal to each other,
Figure 782941DEST_PATH_IMAGE112
is the distance between the first detection point and the second detection point. Is provided with
Figure 426412DEST_PATH_IMAGE114
，
Figure 214108DEST_PATH_IMAGE071
，
Figure 943030DEST_PATH_IMAGE038
，
Figure DEST_PATH_IMAGE137
，
Figure DEST_PATH_IMAGE139
. Then, the welding position is known
Figure DEST_PATH_IMAGE141
The welding focal length compensation value is as follows:
Figure DEST_PATH_IMAGE143
offset angle
Figure 756265DEST_PATH_IMAGE016
Can be expressed as:
Figure DEST_PATH_IMAGE145
then welding position
Figure 457505DEST_PATH_IMAGE048
The welding focal length compensation value is
Figure DEST_PATH_IMAGE147
Welding position
Figure 229152DEST_PATH_IMAGE110
The welding focal length compensation value is as follows:
Figure DEST_PATH_IMAGE149
offset angle
Figure 648632DEST_PATH_IMAGE016
Can be expressed as:
Figure DEST_PATH_IMAGE151
then welding position
Figure 796716DEST_PATH_IMAGE048
The welding focal length compensation value is
Figure DEST_PATH_IMAGE153
Figure DEST_PATH_IMAGE154
According to the above example, for the focal length compensation value corresponding to any welding position, if the distance from the welding position to the first detection point is taken as the detection distance, the formula can be used to determine that the focal length compensation value can be obtained by using
Figure DEST_PATH_IMAGE156
And calculating to obtain a welding focal length compensation value corresponding to the welding position.
Obviously, if the distance from the welding position to the second detection point is taken as the detection distance, the principle is consistent with the above example, and will not be described in detail herein.
Optionally, in order to obtain the first offset value and the second offset value, it is required to first detect initial information of the welding plane, so as to obtain the predicted welding plane information, specifically, on the basis of fig. 3, fig. 11 is a further schematic flow diagram of the method for obtaining the welding focal length compensation value according to the embodiment of the present application, please refer to fig. 11, where the method for obtaining the welding focal length compensation value further includes:
step S30, obtaining a first calibration distance value and a second calibration distance value of the welding plane;
the first calibration distance value is the distance value of a first calibration point projected to the predicted welding plane by the first detector, and the second calibration distance value is the distance value of a second calibration point projected to the predicted welding plane by the second detector.
Optionally, the first calibration point and the second calibration point may be end points of a straight line including each welding point on the product to be welded when the product to be welded is fed, the first calibration point and the first detection point are points corresponding to the product to be welded in the measurement state when the product to be welded is fed and in the measurement state when the product to be welded is welded, and the second calibration point and the second detection point are points corresponding to the product to be welded in the measurement state when the product to be welded is fed and in the measurement state when the product to be welded is welded. It can be understood that if the welding plane of the product to be welded during welding is overlapped with the welding plane of the product to be welded during feeding, the first calibration point is also overlapped with the first detection point, and the second calibration point is also overlapped with the second detection point. That is, the first calibrated distance value can be understood as a vertical distance value of the first detection point in the standard state on the welding plane of the product to be welded, and the second calibrated distance value can be understood as a vertical distance value of the second detection point in the standard state on the welding plane of the product to be welded.
And step S31, determining the predicted welding plane information according to the first calibration distance value and the second calibration distance value.
In this embodiment, the initial state of the to-be-welded product during feeding may be detected, the first calibrated distance value and the second calibrated distance value may be measured by the first detector and the second detector, and the information of the welding plane in the standard state may be determined according to the first calibrated distance value and the second calibrated distance value, and may be used as the predicted welding plane information. It is understood that the predicted welding plane information includes at least a first calibration distance value, a second calibration distance value, and straight line information formed between the first calibration point and the second calibration point, and thus, a first offset value may be determined from the first calibration distance value and the first detection distance value, a second offset value may be determined from the second calibration distance value and the second detection distance value, and an angle between the predicted welding plane and a connecting line between the first detection point and the second detection point may be calculated from the straight line information. Optionally, after obtaining the welding focal length compensation value corresponding to the welding position, in order to complete welding, a possible implementation manner is given below, specifically, on the basis of fig. 3, fig. 12 is another schematic flow chart of the method for obtaining the welding focal length compensation value provided in the embodiment of the present application, please refer to fig. 12, and the method for obtaining the welding focal length compensation value further includes:
and step S37, sending a compensation instruction to the welding equipment so that the welding equipment can compensate the welding focal length corresponding to the welding position according to the welding focal length compensation value corresponding to the welding position.
In this embodiment, the compensation instruction may be sent to the welding device, so that the welding device compensates the welding focal length corresponding to the welding position according to the calculated welding focal length compensation value corresponding to the welding position. Therefore, the welding product is welded with relatively accurate welding focal distance, and the welding precision is ensured.
Alternatively, the number of the welding positions may be plural, or may be one.
Fig. 13 is a functional block diagram of a welding focal length compensation value obtaining apparatus 20 according to an embodiment of the present disclosure, which includes an obtaining module 210, an angle determining module 220, and a calculating module 230.
The obtaining module 210 is configured to obtain a first detection distance value and a second detection distance value of the welding plane; the first detection distance value is a distance value of a first detection point projected to the welding plane by the first detector, and the second detection distance value is a distance value of a second detection point projected to the welding plane by the second detector.
It is understood that the obtaining module 210 may execute the step S32.
The angle determining module 220 is configured to determine an offset angle according to the first detection distance value, the second detection distance value, and the predicted welding plane information, where the offset angle represents an included angle between a connection line between the first detection point and the second detection point and the predicted welding plane.
It is understood that the angle determination module 220 may perform the above step S34.
The calculating module 230 is configured to determine a welding focal length compensation value corresponding to the welding position according to the offset angle and the detection distance; the detection distance represents a distance between any one of the first detection point or the second detection point and the welding position.
It is understood that the calculating module 230 may perform the step S36.
Optionally, the angle determining module 220 is further configured to determine a first deviation value according to the first detection distance value and the predicted welding plane information, and determine a second deviation value according to the second detection distance value and the predicted welding plane information; and determining an offset angle according to the first offset value, the second offset value and the predicted welding plane information.
It is understood that the angle determining module 220 may also perform the above step S341 and step S342.
Optionally, the obtaining module 210 is further configured to obtain a first calibrated distance value and a second calibrated distance value of the welding plane; and determining the predicted welding plane information according to the first calibration distance value and the second calibration distance value.
It is understood that the obtaining module 210 may also perform the steps S30 and S31.
Optionally, the calculating module 230 is further configured to send a compensation instruction to the welding device, so that the welding device compensates the welding focal length corresponding to the welding position according to the welding focal length compensation value corresponding to the welding position.
It is understood that the calculating module 230 can also execute the step S37.
According to the device for obtaining the welding focal length compensation value, the first detection distance value and the second detection distance value of the welding plane are obtained through the obtaining module; the first detection distance value is a distance value of a first detection point projected to the welding plane by the first detector, and the second detection distance value is a distance value of a second detection point projected to the welding plane by the second detector; determining an offset angle according to the first detection distance value, the second detection distance value and the predicted welding plane information through an angle determination module, wherein the offset angle represents an included angle between a connecting line of the first detection point and the second detection point and the predicted welding plane information; determining a welding focal length compensation value corresponding to the welding position according to the offset angle and the detection distance through a calculation module; the probe spacing is indicative of a spacing of the welding location from the first probe point or the second probe point. The welding focal length compensation value corresponding to the welding position is calculated through the offset angle value and the detection distance, the welding focal length can be prevented from being manually detected, and the welding focal length compensation value corresponding to the welding position can be accurately obtained, so that the welding efficiency can be improved while the welding precision is ensured.
Fig. 14 is a block diagram of a hardware structure of an electronic device 30 capable of implementing the above-mentioned method for obtaining a welding focal length compensation value, where the electronic device 30 includes a memory 310, a processor 320, and a communication module 330. The memory 310, the processor 320 and the communication module 330 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 310 is used for storing programs or data. The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 320 is used to read/write data or programs stored in the memory and perform corresponding functions.
The communication module 330 is configured to establish a communication connection between the server and another communication terminal through the network, and to transmit and receive data through the network.
It should be understood that the configuration shown in fig. 14 is merely a schematic configuration diagram of the electronic device, and the electronic device may include more or less components than those shown in fig. 14, or have a different configuration than that shown in fig. 14. The components shown in fig. 14 may be implemented in hardware, software, or a combination thereof.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above method for obtaining a welding focal length compensation value, and can achieve the same technical effect, and in order to avoid repetition, the details are not repeated here. The computer-readable storage medium may be a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A method for obtaining a welding focal length compensation value is characterized by comprising the following steps:
obtaining a first calibration distance value and a second calibration distance value of a welding plane; the first calibration distance value is the distance value of a first calibration point projected to the predicted welding plane by the first detector, and the second calibration distance value is the distance value of a second calibration point projected to the predicted welding plane by the second detector;
determining predicted welding plane information according to the first calibration distance value and the second calibration distance value;
obtaining a first detection distance value and a second detection distance value of the welding plane; the first detection distance value is a distance value of a first detection point projected to the welding plane by the first detector, and the second detection distance value is a distance value of a second detection point projected to the welding plane by the second detector;
determining an offset angle according to the first detection distance value, the second detection distance value and the predicted welding plane information, wherein the offset angle represents an included angle between a connecting line of the first detection point and the second detection point and the predicted welding plane;
the step of determining an offset angle according to the first detection distance value, the second detection distance value and the predicted welding plane information includes:
determining a first deviation value according to the first detection distance value and the predicted welding plane information, and determining a second deviation value according to the second detection distance value and the predicted welding plane information;
determining the offset angle according to the first offset value, the second offset value and the predicted welding plane information;
according to the offset angle and the detection distance, determining a welding focal length compensation value corresponding to a welding position; the probe spacing is indicative of a spacing of either the first probe point or the second probe point from the welding location.
2. The method of claim 1, wherein the welding focal length compensation value for the welding location satisfies the following equation:
Figure M_211124140450155_155990001
wherein the content of the first and second substances,
Figure M_211124140450220_220377001
represents the welding focal length compensation value corresponding to the welding position,
Figure M_211124140450251_251619002
representing the first offset value or the second offset value,
Figure M_211124140450282_282873003
the distance of detection is represented by the distance of detection,
Figure M_211124140450298_298531004
representing a difference between the first offset value and the second offset value;
Figure M_211124140450329_329748005
representing a separation of the first probe point and the second probe point.
3. The method of claim 1, wherein after the step of determining a weld focal length compensation value corresponding to the weld location, further comprising:
and sending a compensation instruction to welding equipment so that the welding equipment can compensate the welding focal length corresponding to the welding position according to the welding focal length compensation value corresponding to the welding position.
4. A welding focal length compensation value obtaining apparatus, comprising:
the acquisition module is used for acquiring a first calibration distance value and a second calibration distance value of the welding plane; the first calibration distance value is the distance value of a first calibration point projected to the predicted welding plane by the first detector, and the second calibration distance value is the distance value of a second calibration point projected to the predicted welding plane by the second detector; determining predicted welding plane information according to the first calibration distance value and the second calibration distance value;
the acquisition module is further configured to acquire a first detection distance value and a second detection distance value of the welding plane; the first detection distance value is a distance value of a first detection point projected to the welding plane by the first detector, and the second detection distance value is a distance value of a second detection point projected to the welding plane by the second detector;
an angle determining module, configured to determine an offset angle according to the first detection distance value, the second detection distance value, and predicted welding plane information, where the offset angle represents an included angle between a connection line between the first detection point and the second detection point and the predicted welding plane;
the angle determining module is further configured to determine a first deviation value according to the first detection distance value and the predicted welding plane information, and determine a second deviation value according to the second detection distance value and the predicted welding plane information; determining the offset angle according to the first offset value, the second offset value and the predicted welding plane information;
the calculation module is used for determining a welding focal length compensation value corresponding to the welding position according to the offset angle and the detection distance; the probe spacing is indicative of a spacing of either the first probe point or the second probe point from the welding location.
5. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to perform the method of any one of claims 1 to 3.
6. A computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the welding focal length compensation value obtaining method according to any one of claims 1 to 3.
CN202111207253.2A 2021-10-18 2021-10-18 Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium Active CN113634961B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111207253.2A CN113634961B (en) 2021-10-18 2021-10-18 Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111207253.2A CN113634961B (en) 2021-10-18 2021-10-18 Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium

Publications (2)

Publication Number Publication Date
CN113634961A CN113634961A (en) 2021-11-12
CN113634961B true CN113634961B (en) 2021-12-28

Family

ID=78427239

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111207253.2A Active CN113634961B (en) 2021-10-18 2021-10-18 Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium

Country Status (1)

Country Link
CN (1) CN113634961B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114714142B (en) * 2022-04-06 2023-08-25 富联科技(山西)有限公司 Workpiece processing method and processing equipment
CN114659692B (en) * 2022-04-14 2024-04-09 西北稀有金属材料研究院宁夏有限公司 Method for detecting residual stress of sample

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0542384A (en) * 1991-08-07 1993-02-23 Mitsubishi Electric Corp Laser beam machine
CN102066036A (en) * 2008-06-17 2011-05-18 伊雷克托科学工业股份有限公司 Eliminating head-to-head offsets along common chuck travel direction in multi-head laser machining systems
TW201337217A (en) * 2009-09-23 2013-09-16 Pixart Imaging Inc Distance-measuring device by means of difference of imaging location and calibrating method thereof
CN106043355A (en) * 2016-06-28 2016-10-26 中国人民解放军国防科学技术大学 High-precision camera shooting measuring method for detecting sedimentation and pose of railway detecting vehicle
CN107138852A (en) * 2017-06-29 2017-09-08 中国电子科技集团公司第四十八研究所 A kind of method that laser head for laser welding focuses on workpiece automatically
CN206643499U (en) * 2017-04-20 2017-11-17 武汉铱科赛科技有限公司 A kind of controllable laser-processing system of focal position of laser dynamic
CN109014567A (en) * 2018-08-09 2018-12-18 厦门盈趣科技股份有限公司 A kind of cost laser optimal process height adjuster and method
CN208246046U (en) * 2018-04-02 2018-12-18 上海航天设备制造总厂有限公司 A kind of distance measuring type laser melting coating processing head automatic seeking is burnt and focusing system
CN109014677A (en) * 2018-08-23 2018-12-18 苏州新代数控设备有限公司 Welding robot bond pad locations teaching method based on laser ranging
CN112188089A (en) * 2020-09-22 2021-01-05 北京小米移动软件有限公司 Distance acquisition method and device, focal length adjustment method and device, and distance measurement assembly

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0542384A (en) * 1991-08-07 1993-02-23 Mitsubishi Electric Corp Laser beam machine
CN102066036A (en) * 2008-06-17 2011-05-18 伊雷克托科学工业股份有限公司 Eliminating head-to-head offsets along common chuck travel direction in multi-head laser machining systems
TW201337217A (en) * 2009-09-23 2013-09-16 Pixart Imaging Inc Distance-measuring device by means of difference of imaging location and calibrating method thereof
CN106043355A (en) * 2016-06-28 2016-10-26 中国人民解放军国防科学技术大学 High-precision camera shooting measuring method for detecting sedimentation and pose of railway detecting vehicle
CN206643499U (en) * 2017-04-20 2017-11-17 武汉铱科赛科技有限公司 A kind of controllable laser-processing system of focal position of laser dynamic
CN107138852A (en) * 2017-06-29 2017-09-08 中国电子科技集团公司第四十八研究所 A kind of method that laser head for laser welding focuses on workpiece automatically
CN208246046U (en) * 2018-04-02 2018-12-18 上海航天设备制造总厂有限公司 A kind of distance measuring type laser melting coating processing head automatic seeking is burnt and focusing system
CN109014567A (en) * 2018-08-09 2018-12-18 厦门盈趣科技股份有限公司 A kind of cost laser optimal process height adjuster and method
CN109014677A (en) * 2018-08-23 2018-12-18 苏州新代数控设备有限公司 Welding robot bond pad locations teaching method based on laser ranging
CN112188089A (en) * 2020-09-22 2021-01-05 北京小米移动软件有限公司 Distance acquisition method and device, focal length adjustment method and device, and distance measurement assembly

Also Published As

Publication number Publication date
CN113634961A (en) 2021-11-12

Similar Documents

Publication Publication Date Title
CN113634961B (en) Method and device for obtaining welding focal length compensation value, electronic equipment and storage medium
WO2015115432A1 (en) Quality management device and method for controlling quality management device
US10232566B2 (en) Three-dimensional printer and printing accuracy detection method
KR101709056B1 (en) A system and method for measuring liquid level of vehicle fuel tank
JP5142775B2 (en) Welding quality inspection method and apparatus
CN111077845B (en) Tool error compensation method and device and computer equipment
CN115731165B (en) Detection system and method for on-line size spot inspection of lithium battery
US10444010B2 (en) Method for detecting support surface variations during wheel alignment rolling compensation procedure
CN104956178A (en) Distance measurement system and distance measurement method
US20150045927A1 (en) Stencil programming and inspection using solder paste inspection system
EP4386365A1 (en) Battery cell detection method, device and system, and processor and controller
JP2015148509A (en) Quality control system and internal inspection device
CN113625237A (en) Vehicle-mounted millimeter wave radar pitch angle error calibration method and device and electronic equipment
EP3096596B1 (en) Quality control apparatus, quality control method, and program
CN113654628B (en) Correction method and device for ultrasonic instrument
CN111583222B (en) Automatic positioning method for test point, automatic copper thickness detection method and system
CN113702927A (en) Vehicle sensor calibration method and device and storage medium
CN104697412B (en) A kind of welding of pipeline misplaces the quick instruments of inspection and method
CN117218062A (en) Defect detection method and device, electronic equipment and storage medium
JP4369313B2 (en) Clinical laboratory system
CN108825448B (en) Detection method and detection system for static deformation
CN116972754A (en) Method and system for detecting welding seam of steel bar
Selmi et al. Process capability indices and X¯ X, R control chart limit adjustments by taking into account measurement system errors
CN110095264B (en) Prism gluing detection method, detection device and computer readable storage medium
US20150109596A1 (en) Method and system for achieving automatic compensation in glass substrate exposure process

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant