一种焊缝自适应寻位设备控制方法与系统
By constructing a multi-sensor fusion weld seam adaptive positioning device, and utilizing point laser, line laser, and depth camera for data conversion and real-time compensation, the problem of large welding errors was solved, and efficient welding automation was achieved.
CN116727956BActive Publication Date: 2026-07-17SHANGHAI SHENBO INFORMATION SYST ENG CO LTD +1
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI SHENBO INFORMATION SYST ENG CO LTD
- Filing Date
- 2023-05-30
- Publication Date
- 2026-07-17
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Figure CN116727956B_ABST
Abstract
本发明提供了一种焊缝自适应寻位设备控制方法与系统，所述方法包括：步骤S1）构建基于点激光传感器、线激光传感器与深度相机的视觉传感器装置；步骤S2）将视觉传感器装置安装到机器人末端，与焊枪构成固定位置关系；步骤S3）采集视觉传感器装置的数据并进行数据三维坐标转换，获取实际焊缝位置，计算实际焊缝位置与设计焊缝位置的绝对偏差来获取数据补偿值；步骤S4）根据数据补偿值进行寻位补偿控制；步骤S5）在焊缝寻位过程中，实时进行自适应偏差补偿。本发明通过构建点激光传感器、线激光传感器与深度相机的多种传感器融合的焊缝自适应寻位设备，实现简单与复杂焊缝的自适应寻位与补偿控制。
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