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

Claim 6:
7. The automatic welding method according to claim 1, wherein step (6) comprises the steps of:
(6.1) controlling the MDOF robot (2) and the mobile robot (3) to return to the origin of coordinates;
(6.2) controlling the mobile robot (3) to reach a first target position P1;
(6.3) at P1, controlling the MDOF robot (2) to reach a first photographing position, then performing photographing, and sending data to the industrial personal computer (8) to be processed; if there is another photographing position at P1, controlling the MDOF robot (2) to continue to move to the next photographing position, then performing photographing, and uploading data to the industrial personal computer (8); repeating step (6.3) until all photographing tasks at P1 are completed;
(6.4) fusing all point cloud information at P1 by the industrial personal computer (8), and recognizing key information of welding features, wherein the key information of the welding features is key point information of the welding features which are recognized through a geometric algorithm or a neural network method, with 3D point clouds as inputs; the key point information comprises an initial point, end point and direction of a segment, spline curve parameters, arc parameters, and coordinates of multiple discrete points;
(6.5) calculating a track of the welding gun according to the key point information, wherein the track of the welding gun comprises position and pose information of the welding gun;
(6.6) sending the track of the welding gun (7) to the controller (10) of the MDOF robot (2), guiding, by the controller (10), the mobile robot (3) to move after the controller (10) of the MDOF robot (2) receives the track of the welding gun (7), and calling the corresponding welding program to perform welding; and
(6.7) controlling the mobile robot (3) to move to a position P2 for another cycle, and repeating Steps (6.3)-(6.6) until welding is completed or stopped.