The invention discloses a body-in-white autonomous
welding method based on
machine vision, relates to the field of automobile manufacturing and body-in-white
welding, and solves the problems that the
welding quality is influenced due to the fact that an existing welding
robot depends on welding conditions, the flexibility is poor, the working efficiency of welding is reduced, the
production cycle of a product is prolonged, and finally the production cost is increased. According to the method, the camera is calibrated, and the internal reference and the
distortion coefficient of the camera are obtained; after obtaining a vehicle body image, extracting two-dimensional coordinates of centroids of feature points; according to the
mass center two-dimensional coordinates and the feature point
mass center three-dimensional coordinates of the vehicle body model, the coordinate conversion relation from a vehicle body coordinate
system to a camera coordinate
system is solved; hand-eye calibration is conducted, and the coordinate conversion relation from a camera coordinate
system to a mechanical arm coordinate system is calibrated; the position coordinates of the welding spots are converted into a mechanical arm coordinate system from a vehicle body coordinate system, and a mechanical arm conducts welding. According to the method, the positions of all the welding spots do not need to be recognized, the calculated amount is reduced, and the requirement for hardware is lowered accordingly.