Patent ID: 11951575
Assignee: nan
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 1:
2. The automatic welding method according to claim 1, wherein step (1) specifically comprises the steps of:
step (1.1) enabling the mobile robot (3) carrying the MDOF robot (2), the 3D vision system and the welding system to move in a basic plane around the target workpiece (1), performing rough positioning by navigation, and expanding a working range in a direction perpendicular to the basic plane by ascending or descending;
wherein, the rough positioning by navigation is performed through one or more of an electromagnetic method, a two-dimensional code method, visual SLAM, visual tracking and inertial navigation; when the electromagnetic method or the two-dimensional code method is used, corresponding navigation lines (4) are laid on a ground; when the visual tracking is used for positioning the mobile robot (3), one or more tracking targets (16) are printed on the shell (15) of the mobile robot (3), and extra cameras photograph the target to determine the position of the mobile robot; and
step (1.2) establishing the coordinate system of the mobile robot (3), wherein an origin of the coordinate system is a fixed point in the basic plane, an XY plane is overlapped with the basic plane, a Z-direction is perpendicular to the basic plane, and the coordinate system is a global basic coordinate system; establishing the coordinate system of the MDOF robot (2), wherein an origin of the coordinate system is located on a base of the robot arm, and an X-direction, a Y-direction and a Z-direction are overlapped with those of the coordinate system of the mobile robot (3); establishing the coordinate system of the 3D vision system, wherein an original of the coordinate system is an optical center of a lens of the 3D camera (5), an X-direction of the coordinate system is an optical center of a projection system to which the optical center of the lens of the 3D camera points, a Y-direction is perpendicular to the X-direction and is parallel to an imaging chip of the camera, and a Z-direction is perpendicular to the XY plane and points right ahead the camera.