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

Claim 3:
4. The automatic welding method according to claim 1, wherein step (3) specifically comprises the steps of:
(3.1) controlling the mobile robot (3) to move close to a target point, and controlling the MDOF robot (2) to ensure that the 3D camera (5) can photograph the target point;
(3.2) photographing a point cloud, and uploaded the point cloud to the industrial personal computer (8) to be processed;
(3.3) performing data processing according to the originally selected origin of coordinates of the workpiece, performing plane fitting on the three-dimensional point cloud to find three planes, and solving an intersection O(x, y, z) of the three planes, wherein O(x, y, z) is coordinates in the coordinate system of the camera; and
(3.4) transforming O(x, y, z) to the basic coordinate system: Obase(x,y,z)=camTrobot□robotTbase□O(x,y,z);
wherein the workpiece coordinate system is subjected to translation transformation with respect to the basic coordinate system, transformation values of the coordinates of the workpiece to the basic coordinate system in three directions are (−XT,−YT,−ZT).