Method of recognizing shape of welding zone, method of generating welding path adopting the same, and automatic welding robot adopting the same methods

摘要

An object of the present invention is to shape perceptions of welds to be welded by automatic welding robot how and, welding the welding robot path generation method applying this method, and following the weld path generated by the path generating method by welding to provide an automatic welding robot with a welding quality can satisfactorily perform the welding operation. In the present invention, to this end, for the weld in the longitudinal direction in each interval divided into a plurality of sections, the two plates in order to recognize the shape of the weld the welded chocheung, across the weld by using the one-dimensional laser sensor Go to the crossing direction and one-dimensional scan to obtain a profile of the cross section of the welded portion by performing a plurality of processes for measuring a distance between the laser sensor and a welding portion (a); The scanning step (a) further comprising filtering to remove noise slope data corresponding to the point at which sudden variation of the profile curves in each data obtained in (b); And a shape recognition method and the weld including the filtering step (b) generates the reference point determining a reference point serving as a reference of the cross-sectional shape of the weld from the filtered data in (c), the weld path generation method applying this method and provides an automatic welding robot apply these methods.