CN105081623B - The weld joint recognition method of automatic welding - Google Patents

Abstract

The present invention relates to the weld joint recognition method of automatic welding, comprise the following steps: laser range finder self carries out leveling correction；By robot index point, laser range finder carried out relative position and relative attitude is demarcated；By laser range finder, butt welding machine device people calibrates；Utilize laser range finder, record the distance between laser range finder coordinate origin and robot end's point, obtain laser range finder coordinate origin coordinate in robot end point coordinates system, obtain laser range finder initial point coordinate in world coordinate system according to coordinate transform；Laser range finder is utilized to pass through distance change detection weld seam coordinate in its coordinate system；Weld seam coordinate in world coordinate system is obtained by coordinate transform.The present invention is simple to operate, good stability, economy.Laser range finder is independent of tested robot, and himself corrected precision is high, utilizes laser range finder to demarcate robot, the measurement error of robot itself is masked.

Description

The weld joint recognition method of automatic welding

Technical field

The present invention relates to a kind of weld joint recognition method, a kind of weld seam position realizing automatic welding Put knowledge method for distinguishing.

Background technology

Welding, as " industry tailor ", is manufacturing process important in commercial production, and the quality of product is had by welding quality Material impact.Owing to welding surroundings is poor, use automatic welding equipment to replace workman to weld, be possible not only to improve workman's Working environment, but also welding efficiency can be improved.At present, although automatic welding equipment, such as welding robot is aborning It is used widely so that welding quality has obtained very big improvement, is effectively increased the labor productivity of enterprise but in application In yet suffer from the most many problems, how to find and guide automatic welding equipment close to weld seam be matter of utmost importance therein it One.Any automatic welding equipment will determine the position of weld seam before welding, then welds.

Prior art is mainly identified by the method butt welded seam of view-based access control model and is guided.Automatic welding is equipped in weldering When connecing, in order to ensure that automatic welding equipment can accurately arrive welding starting point and carry out welding job, its position while welding is the most logical Cross ccd video camera and welded piece is carried out image acquisition, process, finally the image feature information extracted by bitcom etc. A series of instruments send automatic welding equipment control device to, instruct automatic welding equipment to carry out welding job.This identification weld seam The method of original position needs butt welded seam image to process, and processing procedure is complex, requires higher to software aspects, and This kind of method uses ccd video camera that welded piece is carried out image acquisition, the most uneconomical, and in the severe condition of welding surroundings Lower precision is difficult to be guaranteed.

Summary of the invention

For above-mentioned technical deficiency, it is an object of the invention to overcome drawbacks described above, it is provided that a kind of reliable, easy Recognition of welding seam position method.

To achieve these goals, the technical solution used in the present invention is as follows: the weld joint recognition method of automatic welding, bag Include following steps:

(1) laser range finder self leveling correction；

(2) by robot index point, laser measuring apparatus carried out relative position and relative attitude is demarcated；

(3) calibrated by laser range finder butt welding machine device people；

(4) laser range finder is utilized to record the distance between laser range finder coordinate origin and robot end's point, To laser range finder coordinate origin coordinate in robot end point coordinates system；Laser range finder is obtained according to coordinate transform Coordinate origin coordinate in world coordinate system；

(5) laser range finder is utilized to record the distance between laser range finder coordinate origin and weld seam start point/end point, inspection Go out weld seam start point/end point coordinate in laser range finder coordinate system；

(6) according to laser range finder coordinate origin coordinate in world coordinate system, by weld seam start point/end point at laser Coordinate in diastimeter coordinate system obtains weld seam coordinate in world coordinate system by coordinate transform, completes robot welding line and rises The identification of point.

Described laser range finder self carries out leveling correction and comprises the following steps:

Robot fixed coordinate system is set to world coordinate system, and { W} sets up laser measurement coordinate on laser range finder { E} adjusts diastimeter and makes the X of laser range finder in system_E、Y_EX in two axles Parallel World coordinate system respectively_W、Y_W。

Described relative position and the relative attitude of being carried out laser measuring apparatus by robot index point is demarcated and is included following step Rapid:

Calibrated by distance L of welding robot impact point surveyed to laser range finder with laser range finder initial point, The angle of self is calibrated by laser range finder, and the angle of laser range finder self includes laser range finder axis and its X_E Axle, Y_EAngle that axle positive direction is formed, β, obtain the measurement error Δ L of laser range finder, Δ, Δ β.

Described carry out calibration by laser range finder butt welding machine device people and comprise the following steps:

By laser range finder calibration machine people at the world coordinate system { X of W}_W、Y_W、Z_WThe distance that direction is moved, obtains machine Device robot end point is at X_W、Y_W、Z_WError delta X on direction, Δ Y, Δ Z.

Described utilize laser range finder record laser range finder coordinate origin and robot end point between distance, To laser range finder coordinate origin coordinate in robot end point coordinates system；Laser range finder is obtained according to coordinate transform Coordinate origin coordinate in world coordinate system comprises the following steps:

1) robot end's point coordinates system { T} is that set up with robot end's point for initial point is each with world coordinate system Coordinate system { the T} that axle is parallel；By between laser range finder robot measurement distal point t and laser range finder coordinate origin Distance L_t', can obtain laser range finder coordinate origin robot end point coordinates system the position of T}:

$\left[\begin{array}{c}{X}_{\mathrm{Te}}\\ Y_{\mathrm{Te}}\\ Z_{\mathrm{Te}}\end{array}\right]=\left[\begin{array}{c}{L}_t\sin {\mathrm{\β}}_t\cos {\mathrm{\α}}_t\\ -L_t\cos {\mathrm{\β}}_t\\ L_t\sin {\mathrm{\β}}_t\sin {\mathrm{\α}}_t\end{array}\right]=\left[\begin{array}{c}({L_t}^{\′}+\mathrm{\ΔL})\sin ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}_t}^{\′}+\mathrm{\Δ\α})\\ -({L_t}^{\′}+\mathrm{\ΔL})\cos ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ\β})\\ ({L_t}^{\′}+\mathrm{\ΔL})\sin ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}_t}^{\′}+\mathrm{\Δ\α})\end{array}\right]$

Wherein, L_t’、α_t’、β_t' be respectively, as laser range finder robot measurement distal point t, the survey that diastimeter records Distance between distance meter coordinate origin and robot end's point and now diastimeter axis and X_E、Y_EBetween the angle that formed Degree α_t’、β_t’；L_t、α_t、β_tIt is respectively L_t’、α_t’、β_t' value after error compensation, i.e. L_t=L_t'+Δ L, α_t=α_t'+Δ α, β_t=β_t’+Δβ；Δ L, Δ, Δ β are the measurement error of laser range finder.

2) laser range finder coordinate origin coordinate in world coordinate system is:

$\begin{array}{c}\left[\begin{array}{c}{X}_{\mathrm{We}}\\ Y_{\mathrm{We}}\\ Z_{\mathrm{We}}\end{array}\right]=\left[\begin{array}{c}{X}_{\mathrm{Wt}}\\ Y_{\mathrm{Wt}}\\ Z_{\mathrm{Wt}}\end{array}\right]+\left[\begin{array}{c}{X}_{\mathrm{Te}}\\ Y_{\mathrm{Te}}\\ Z_{\mathrm{Te}}\end{array}\right]=\left[\begin{array}{c}{X}_{\mathrm{Wt}}+L_t\sin {\mathrm{\β}}_t\cos {\mathrm{\α}}_t\\ Y_{\mathrm{Wt}}-L_t\cos {\mathrm{\β}}_t\\ Z_{\mathrm{Wt}}+L_t\sin {\mathrm{\β}}_t\mathrm{in}{\mathrm{\α}}_t\end{array}\right]\\ =\left[\begin{array}{c}({X^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔX})+({L^{\′}}_t+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ\α})\\ ({Y^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔY})-({L^{\′}}_t+\mathrm{\ΔL})\cos ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\\ ({Z^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔZ})+({L^{\′}}_t+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ\α})\end{array}\right]\end{array}$

Wherein L_t’、α_t’、β_t' be respectively, as laser range finder robot measurement distal point t, the range finding that diastimeter records Distance between instrument coordinate origin and robot end's point, and now diastimeter axis and X_E、Y_EBetween the angle that formed α_t’、β_t’；Wherein L_t、α_t、β_tIt is respectively L_t’、α_t’、β_t' value after error compensation, i.e. L_t=L_t'+Δ L, α_t=α_t’+Δ α, β_t=β_t’+Δβ；X_Wt’、Y_Wt’、Z_Wt' represent that the robot end of robot output puts the seat in robot coordinate system respectively Scale value, X_Wt、Y_Wt、Z_WtThe value after robot output valve is compensated, i.e. X_Wt=X_Wt'+Δ X, Y_Wt=Y_Wt'+Δ Y, Z_Wt=Z_Wt’+ ΔZ；Δ L, Δ, Δ β are the measurement error of laser range finder.

Described laser range finder is utilized to record the distance between laser range finder coordinate origin and weld seam start point/end point, Detection weld seam start point/end point coordinate in laser range finder coordinate system comprises the following steps:

Distance L of weld seam starting point/between terminal and diastimeter coordinate origin is measured by laser range finder_S’；According to This distance and diastimeter axis and its X_E、Y_EAngle α between axle_s’、β_s', obtain weld seam starting point in diastimeter coordinate system Coordinate be respectively X_Es、Y_Es、Z_Es；

$\left[\begin{array}{c}{X}_{\mathrm{Es}}\\ Y_{\mathrm{Es}}\\ Z_{\mathrm{Es}}\end{array}\right]=\left[\begin{array}{c}-L_s\sin {\mathrm{\β}}_s\cos {\mathrm{\α}}_s\\ L_s\cos {\mathrm{\β}}_s\\ L_s\sin {\mathrm{\β}}_s\sin {\mathrm{\α}}_s\end{array}\right]=\left[\begin{array}{c}-({L^{\′}}_s+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ\α})\\ ({L^{\′}}_s+\mathrm{\ΔL})\cos ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\\ -({L^{\′}}_s+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ\α})\end{array}\right]$

Wherein, Δ L, Δ, Δ β are the measurement error of laser range finder, respectively diastimeterThe distance static state recorded is by mistake Difference and laser range finder axis and its X_E、Y_EThe static error of axle positive direction institute angulation；

L_S’、α_s’、β_s' be respectively, when laser range finder measures weld seam start point/end point, the diastimeter that diastimeter records is sat Distance between mark system initial point and weld seam start point/end point, and now diastimeter axis and X_E、Y_EBetween the angle that formed α_s’、β_s’；L_s、α_s、β_sIt is respectively L_s’、α_s’、β_s' value after error compensation, i.e. L_s=L_s'+Δ L, α_s=α_s'+Δ α, β_s =β_s’+Δβ；Δ L, Δ, Δ β are the measurement error of laser range finder.

Described obtain weld seam coordinate in world coordinate system by coordinate transform and comprise the following steps:

Weld seam start point/end point is obtained at the coordinate figure in world coordinate system according to by changes in coordinates

$\begin{array}{c}\left[\begin{array}{c}{X}_{\mathrm{Ws}}\\ Y_{\mathrm{Ws}}\\ Z_{\mathrm{Ws}}\end{array}\right]=\left[\begin{array}{c}{X}_{\mathrm{We}}\\ Y_{\mathrm{We}}\\ Z_{\mathrm{We}}\end{array}\right]=\left[\begin{array}{c}{X}_{\mathrm{Es}}\\ Y_{\mathrm{Es}}\\ Z_{\mathrm{Es}}\end{array}\right]\\ =\left[\begin{array}{c}({X^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔX})+({L^{\′}}_t+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ\α})\\ ({Y^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔY})-({L^{\′}}_t+\mathrm{\ΔL})\cos ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\\ ({Z^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔZ})+({L^{\′}}_t+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ\α})\end{array}\right]+\left[\begin{array}{c}-({L^{\′}}_s+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ\α})\\ ({L^{\′}}_s+\mathrm{\ΔL})\cos ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\\ -({L^{\′}}_s+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ\α})\end{array}\right]\end{array}$

Wherein, X_Ws、Y_Ws、Z_WsRepresent weld seam start point/end point coordinate figure in world coordinate system, X respectively_Es、Y_Es、Z_EsPoint Not Biao Shi weld seam start point/end point coordinate figure in diastimeter coordinate system, X_We、Y_We、Z_WeRepresent laser range finder coordinate system respectively Initial point expression in world coordinate system；

L_t’、α_t’、β_t' be respectively, as laser range finder robot measurement distal point t, the diastimeter that diastimeter records is sat Distance between mark system initial point and robot end's point, and now diastimeter axis and X_E、Y_EBetween the angle that formed； X_Wt’、Y_Wt’、Z_Wt' represent that the robot end of robot output puts the coordinate figure in robot coordinate system respectively；

L_S’、α_s’、β_s' be respectively, when laser range finder measures weld seam start point/end point, the diastimeter that diastimeter records is sat Distance between mark system initial point and weld seam start point/end point, and now diastimeter axis and X_E、Y_EBetween the angle that formed；Δ L, Δ, Δ β are the measurement error of laser range finder.

The invention have the advantages that and advantage:

Good stability the most of the present invention.Laser range finder is independent of tested robot, and himself corrected precision is high, utilizes Laser range finder demarcates robot, and the measurement error of robot itself is masked.

2. realize simple.Have only to the distance measuring between itself and measured point by laser range finder, become by coordinate Change the coordinate that can be obtained by weld seam starting point in world coordinate system.

3. economical.The laser range finder that this welding robot weld seam original position recognition methods uses, simple in construction, and Economical.

Accompanying drawing explanation

Fig. 1 is the method flow diagram of the present invention；

Fig. 2 is the schematic diagram of laser range finder device for adjusting posture；

Fig. 3 is for adjusting laser range finder X_E、Y_EX in two axles Parallel World coordinate system respectively_W、Y_WSchematic diagram；

Fig. 4 a is calibration laser range finder schematic diagram one；

Fig. 4 b is calibration laser range finder schematic diagram two；

Robot output coordinate is carried out calibrating schematic diagram by Fig. 5 for utilizing laser range finder；

Fig. 6 is by laser range finder butt welded seam position measurement schematic diagram.

Detailed description of the invention

Below in conjunction with the embodiment of robot welding, the present invention is described in further detail.

The present invention discloses a kind of weld joint recognition method towards automatic welding, and the method is carried out as a example by welding robot Illustrate, the method being identified mainly by laser range finder butt welded seam position.As it is shown in figure 1, the method includes following step Rapid:

(1) laser range finder self leveling；(2) by robot index point, laser range finder is carried out relative position and phase Attitude is demarcated；(3) laser range finder butt welding machine device people is utilized to calibrate；(4) laser range finder is utilized to record Laser Measuring Distance between distance meter coordinate origin and robot end's point, detection laser range finder coordinate origin is at robot end's point Coordinate in coordinate system, obtains laser range finder coordinate origin coordinate in world coordinate system according to coordinate transform；(5) profit Recording the distance between laser range finder coordinate origin and weld seam starting point with laser range finder, detection weld seam starting point is at its coordinate Coordinate in system；(6) obtain weld seam coordinate in world coordinate system by coordinate transform, complete welding robot position while welding Demarcation, and this coordinate is issued robot as instruction.

The device that the present invention uses includes diastimeter and movement executing mechanism, robot, control system three part composition, The mounting box of built-in diastimeter is fixed on movement executing mechanism, is used for installing diastimeter；Diastimeter, robot by control are System carries out information transmission.

Diastimeter select be Wuhan Ou Ka Science and Technology Ltd. model be the laser range finder of INSIGHT 200, motion Actuator uses universal hinge body, as in figure 2 it is shown, be made up of support, cross axle and two servomotors, and wherein motor A peace It is contained on support, is used for driving cross axle, make whole cross axle and be arranged on the motor B on cross axle B axle and diastimeter peace Mounted box rotates around A axle together；Motor B is arranged on cross axle B axle, is used for driving diastimeter mounting box, makes diastimeter mounting box Rotate around B axle；The axis of diastimeter is the optical axis of its light launched；Diastimeter axis is vertical with B axle longitudinal center line, and Center through cross axle；Installing diastimeter and 45 ° of illuminators in range finding box, wherein 45 ° of illuminators are arranged on diastimeter Underface, detachably；When 45 ° of illuminators are installed, it is ensured that its right-angle side contacted with diastimeter mounting box is pacified at diastimeter with A axle Projection on mounted box bottom surface is vertical, and (illuminator connects with diastimeter mounting box for the axis of diastimeter and illuminator right-angle side The right-angle side touched) vertical, and carry out right angle reflection by the hypotenuse of illuminator.

The present invention specifically comprises the following steps that

(1) laser range finder self carries out leveling correction: adjust the installation axle of laser range finder so that laser range finder X_E、Y_EX in two axles Parallel World coordinate system respectively_W、Y_W。

As it is shown on figure 3, diastimeter coordinate origin E is at diastimeter light source, set up diastimeter coordinate system on 75m, And it is expressed as that { E}, { W} represents world coordinate system, sets up and overlaps with robot fixed coordinate system in robot base.Diastimeter Sending light beam, the beam orthogonal obtained after 45 ° of mirror reflection is in X_EThe plane formed with diastimeter axis, and allow this Bundle light is radiated at and world coordinate system X_WWZ_WX in the plane that plane is parallel_W’W’Z_W' form hot spot p₁, adjust range finder arrangement Attitude, diastimeter coordinate origin is motionless so that it is around Z_EAxle rotates, the laser range finder coordinate system recorded when diastimeter former Point E and X_W’W’Z_WWhen the value of ' plane between distance L ' no longer reduces, recording mark hot spot p now₂, now X is described_EEZ_E With X_WWZ_WParallel.Now adjust axis and the Z of laser range finder_WParallel, while keeping existing attitude constant so that it is around Y_ERotate, when laser range finder with world coordinate system X_WWZ_WPlane X that plane is parallel_W’W’Z_WHot spot P is formed in '₃Arrive Z_W During axial minimum point, the axis Z of laser range finder is described_EWith Z_WParallel.

(2) by robot index point, laser measuring apparatus carried out relative position and relative attitude is demarcated: pass through bonding machine Device people impact point surveyed to diastimeter distance L is calibrated, and the angle of self is calibrated by laser range finder, laser range finder The angle of self includes laser range finder axis and its X_EAxle, Y_EAngle that axle positive direction is formed, β, can obtain Laser Measuring The measurement error Δ L of distance meter, Δ, Δ β.

As shown in fig. 4 a, the people that operates machine makes its distal point overlap with the initial point E of laser range finder coordinate system, i.e. actual Measuring distance L is 0, and now, the output valve of diastimeter is not 0, then now the output valve of diastimeter is the static error of L ΔL；Diastimeter axis and X_EThe angle of positive direction is, diastimeter axis and Y_EThe angle of positive direction is β.

As shown in Figure 4 b, keeping laser range finder attitude constant, operate machine people so that it is distal point is sat from laser range finder Mark initial point is removed, labelling ground hot spot e₁, and write down the initial point E of the laser range finder coordinate system that now diastimeter records with Hot spot e₁Between distance L₁, keep laser range finder axis constant with the angle β of Y direction, make diastimeter around Y_EAxle rotates, The angle that recording laser diastimeter shows, the number of turns rotated according to motor B, the rotational angle of diastimeter axis can be calculated ', the most ground hot spot is labeled as e₂, record the initial point E and hot spot e of laser range finder coordinate system₂Between distance L₂, At L₁、L₂In the right angled triangle of composition, Pythagorean theorem is utilized to calculate laser range finder around Y_EThe angle of axle actual rotation

α=arccos (L₁/L₂)

It is hereby achieved that laser range finder axis and X_EBetween the static error of angle that formed

Δ α=a-α '

In like manner, adjust laser range finder and make its light sent and horizontal plane, and record the most ground hot spot e₃, record laser range finder initial point E and hot spot e₃Between distance L₃, keep laser range finder axis and X_EAxial angle α Constant, make diastimeter around X_EAxle rotates, and the angle that recording laser diastimeter shows calculates the rotational angle of diastimeter axis β ', is labeled as e the most ground hot spot₄, record the initial point E and hot spot e of laser range finder coordinate system₄Between distance L₄, At L₃、L₄In the right angled triangle of composition, Pythagorean theorem is utilized to calculate laser range finder around X_EThe angle of axle actual rotation

β=arccos (L₃/L₄)

It is hereby achieved that laser range finder axis and Y_EBetween the static error of angle beta that formed

Δ β=β-β '

(3) calibrated by laser range finder butt welding machine device people: owing to there is transmission etc. between each joint of robot Error, by laser range finder calibration machine people at X_W、Y_W、Z_WThe distance that direction is moved, records robot end and puts at X_W、Y_W、 Z_WError delta X on direction, Δ Y, Δ Z；

As it is shown in figure 5, robot end puts along X_EDirection of principal axis is from R₁Point moves linearly to R₂, change according to robot coordinate R can be calculated₁R₂Distance X_R, meanwhile, utilize diastimeter to record initial point E and R of laser range finder coordinate system₁'s Distance L_R1' and R₂Distance L_R2', and robot end's point is at R₁Time diastimeter axis and X_E、Y_EThe angle that axle is formed ɑ₁’、β₁', robot end puts at R₂Diastimeter axis and X during point_E、Y_EThe angle that axle is formed₂’、β₂', according to above parameter Robot end is recorded along X in diastimeter coordinate system_WThe actual distance moved of direction of principal axis is X_E。

X_E=| (L_R2'+ΔL)sin(β₂'+Δβ)cos(α₂'+Δα)-(L_R1'+ΔL)sin(β₁'+Δβ)cos(α₁'+Δ α) |,

Calculate Δ X=X_R-X_E, Ji Shi robot is at X_WStatic error on direction, X_RThe R recorded for robot₁R₂Away from From；

In like manner, robot end puts along Y_EDirection of principal axis is from R₃Point is mobile to R₄, can calculate according to robot coordinate change To R₃R₄Distance Y_R, meanwhile, utilize diastimeter to record initial point E and R of laser range finder coordinate system_SDistance L_R3' and R₄Distance L_R4', and robot end's point is at R₃Time diastimeter axis and X_E、Y_EThe angle that axle is formed₃’、β₃', robot Distal point is at R₄Diastimeter axis and X during point_E、Y_EThe angle that axle is formed₄’、β₄', according to above parameter in diastimeter coordinate system In record robot end along Y_WThe actual distance moved of direction of principal axis is Y_E。

Y_E=| (L_R4'+ΔL)sin(β₄'+Δβ)cos(α₄'+Δα)-(L_R3'+ΔL)sin(β₃'+Δβ)cos(α₃'+Δ α) |,

Calculate Δ Y=Y_R-Y_E, Ji Shi robot is at Y_WStatic error on direction, Y_RThe R recorded for robot₃R₄Away from From；

In like manner, robot end puts along Z_EDirection of principal axis is from R₅Point is mobile to R₆, can calculate according to robot coordinate change To R₅R₆Distance Z_R, meanwhile, utilize diastimeter to record initial point E and R of laser range finder coordinate system₅Distance L_R5' and R₆Distance L_R6', and robot end's point is at R₅Time diastimeter axis and X_E、Y_EThe angle that axle is formed₅’、β₅', robot Distal point is at R₆Diastimeter axis and X during point_E、Y_EThe angle that axle is formed₆’、β₆', according to above parameter in diastimeter coordinate system In record robot end along Z_WThe actual distance moved of direction of principal axis is Z_E。

Z_E=| (L_R6'+ΔL)sin(β₆'+Δβ)cos(α₆'+Δα)-(L_R5'+ΔL)sin(β₅'+Δβ)cos(α₅'+Δ α) |,

Calculate Δ Z=Z_R-Z_E, Ji Shi robot is at Z_WStatic error on direction, Z_RThe R recorded for robot₃R₄Away from From；

(4) laser range finder is utilized to record the distance between laser range finder coordinate origin and robot end's point, can To be calculated laser range finder coordinate origin coordinate in robot end point coordinates system, swashed by coordinate transform Optar coordinate origin coordinate in world coordinate system:

As shown in Figure 6, a parallel coordinate system of axle each with world coordinate system is set up with robot end's point for initial point { T}, by between laser range finder robot measurement distal point t and laser range finder coordinate origin E in this step (4) Distance L_t', now, laser range finder axis and X_E、Y_EThe angle that two axles are formed is α respectively_t’、β_t' thus can obtain laser range finder Coordinate origin is at { the coordinate X of T}_Te、Y_Te、Z_Te。

$\left[\begin{array}{c}{X}_{\mathrm{Te}}\\ Y_{\mathrm{Te}}\\ Z_{\mathrm{Te}}\end{array}\right]=\left[\begin{array}{c}{L}_t\sin {\mathrm{\β}}_t\cos {\mathrm{\α}}_t\\ -L_t\cos {\mathrm{\β}}_t\\ L_t\sin {\mathrm{\β}}_t\sin {\mathrm{\α}}_t\end{array}\right]=\left[\begin{array}{c}({L_t}^{\′}+\mathrm{\ΔL})\sin ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}_t}^{\′}+\mathrm{\Δ\α})\\ -({L_t}^{\′}+\mathrm{\ΔL})\cos ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ\β})\\ ({L_t}^{\′}+\mathrm{\ΔL})\sin ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}_t}^{\′}+\mathrm{\Δ\α})\end{array}\right]$

Wherein L_t’、α_t’、β_t' be respectively, as laser range finder robot measurement distal point t, the range finding that diastimeter records Distance between instrument coordinate origin and robot end's point, and now diastimeter axis and X_E、Y_EBetween the angle that formed α_t’、β_t’.Wherein L_t、α_t、β_tIt is respectively L_t’、α_t’、β_t' value after error compensation, i.e. L_t=L_t'+Δ L, α_t=α_t’+Δ α, β_t=β_t’+Δβ。

X_we、Y_we、Z_we；X_wt、Y_wt、Z_wtRepresent the coordinate figure of the robot end's point exported by robot, X_Te、Y_Te、Z_TePoint Biao Shi laser range finder coordinate origin position in robot end's coordinate system, then laser range finder coordinate origin World coordinate system can be expressed as:

$\begin{array}{c}\left[\begin{array}{c}{X}_{\mathrm{We}}\\ Y_{\mathrm{We}}\\ Z_{\mathrm{We}}\end{array}\right]=\left[\begin{array}{c}{X}_{\mathrm{Wt}}\\ Y_{\mathrm{Wt}}\\ Z_{\mathrm{Wt}}\end{array}\right]+\left[\begin{array}{c}{X}_{\mathrm{Te}}\\ Y_{\mathrm{Te}}\\ Z_{\mathrm{Te}}\end{array}\right]=\left[\begin{array}{c}{X}_{\mathrm{Wt}}+L_t\sin {\mathrm{\β}}_t\cos {\mathrm{\α}}_t\\ Y_{\mathrm{Wt}}-L_t\cos {\mathrm{\β}}_t\\ Z_{\mathrm{Wt}}+L_t\sin {\mathrm{\β}}_t\mathrm{in}{\mathrm{\α}}_t\end{array}\right]\\ =\left[\begin{array}{c}({X^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔX})+({L^{\′}}_t+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ\α})\\ ({Y^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔY})-({L^{\′}}_t+\mathrm{\ΔL})\cos ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\\ ({Z^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔZ})+({L^{\′}}_t+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ\α})\end{array}\right]\end{array}$

Wherein L_t’、α_t’、β_t' be respectively, as laser range finder robot measurement distal point t, the range finding that diastimeter records Distance between instrument coordinate origin and robot end's point, and now diastimeter axis and X_E、Y_EBetween the angle that formed α_t’、β_t’；Wherein L_t、α_t、β_tIt is respectively L_t’、α_t’、β_t' value after error compensation, i.e. L_t=L_t'+Δ L, α_t=α_t’+Δ α, β_t=β_t’+Δβ；X_Wt’、Y_Wt’、Z_Wt' represent that the robot end of robot output puts the seat in robot coordinate system respectively Scale value, X_Wt、Y_Wt、Z_WtThe value after robot output valve is compensated, i.e. X_Wt=X_Wt'+Δ X, Y_Wt=Y_Wt'+Δ Y, Z_Wt=Z_Wt’+ ΔZ。

(5) measure the distance between weld seam starting point and diastimeter coordinate origin by laser range finder, detect weld seam Starting point coordinate in diastimeter coordinate system；According to the distance between diastimeter coordinate origin and starting point that diastimeter records L_S', and now diastimeter and X_E、Y_EAngle α between axle_s’、β_s', calculate weld seam starting point coordinate in diastimeter coordinate system It is respectively X_Es、Y_Es、Z_Es；

As shown in Figure 6, the light that laser range finder sends is radiated on outer 1 q of weld seam, by adjusting motor A, motor B The angle rotated, makes hot spot overlap with weld seam starting point s, now records the distance of laser range finder coordinate origin E and starting point s L_S' and angle_s’、β_s', calculate weld seam coordinate X in diastimeter coordinate system_Es、Y_Es、Z_Es。

$\left[\begin{array}{c}{X}_{\mathrm{Es}}\\ Y_{\mathrm{Es}}\\ Z_{\mathrm{Es}}\end{array}\right]=\left[\begin{array}{c}-L_s\sin {\mathrm{\β}}_s\cos {\mathrm{\α}}_s\\ L_s\cos {\mathrm{\β}}_s\\ L_s\sin {\mathrm{\β}}_s\sin {\mathrm{\α}}_s\end{array}\right]=\left[\begin{array}{c}-({L^{\′}}_s+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ\α})\\ ({L^{\′}}_s+\mathrm{\ΔL})\cos ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\\ -({L^{\′}}_s+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ\α})\end{array}\right]$

Wherein L_S’、α_s’、β_s' be respectively, when laser range finder measures weld seam starting point s, the diastimeter that diastimeter records is sat Distance between mark system initial point and weld seam starting point, and now diastimeter axis and X_E、Y_EBetween the angle [alpha] that formed_s’、β_s’； L_s、α_s、β_sIt is respectively L_s’、α_s’、β_s' value after error compensation, i.e. L_s=L_s'+Δ L, α_s=α_s'+Δ α, β_s=β_s’+Δ β。

(6) obtain weld seam starting point coordinate in world coordinate system by coordinate transform, complete robot welding line starting point Demarcate, and this coordinate is issued robot as instruction: according to coordinate transform, calculate weld seam starting point seat in world coordinate system Mark, according to laser range finder initial point coordinate in world coordinate system, obtains weld seam starting point coordinate in world coordinate system, control This coordinate figure is issued robot as instruction and is completed the identification of weld seam starting point by system processed.

Calculate weld seam starting point coordinate in world coordinate system, alive by laser range finder initial point knowable to step (4), (5) Coordinate X in boundary's coordinate system_we、Y_we、Z_weWith weld seam starting point coordinate X in laser range finder coordinate system_Es、Y_Es、Z_Es, according to seat Mark conversion obtains weld seam starting point coordinate in world coordinate system.

$\begin{array}{c}\left[\begin{array}{c}{X}_{\mathrm{Ws}}\\ Y_{\mathrm{Ws}}\\ Z_{\mathrm{Ws}}\end{array}\right]=\left[\begin{array}{c}{X}_{\mathrm{We}}\\ Y_{\mathrm{We}}\\ Z_{\mathrm{We}}\end{array}\right]=\left[\begin{array}{c}{X}_{\mathrm{Es}}\\ Y_{\mathrm{Es}}\\ Z_{\mathrm{Es}}\end{array}\right]\\ =\left[\begin{array}{c}({X^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔX})+({L^{\′}}_t+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ\α})\\ ({Y^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔY})-({L^{\′}}_t+\mathrm{\ΔL})\cos ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\\ ({Z^{\′}}_{\mathrm{Wt}}+\mathrm{\ΔZ})+({L^{\′}}_t+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ\α})\end{array}\right]+\left[\begin{array}{c}-({L^{\′}}_s+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\cos ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ\α})\\ ({L^{\′}}_s+\mathrm{\ΔL})\cos ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\\ -({L^{\′}}_s+\mathrm{\ΔL})\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ\β})\sin ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ\α})\end{array}\right]\end{array}$

Wherein, X_Ws、Y_Ws、Z_WsRepresent weld seam starting point coordinate figure in world coordinate system, X respectively_Es、Y_Es、Z_EsTable respectively Show weld seam starting point coordinate figure in diastimeter coordinate system.

Repeat step (5) and (6), in like manner measure weld seam terminal, weld seam terminal seat in world coordinate system can be recorded Mark, is sent to robot using weld seam terminal point coordinate as instruction, and after the coordinate of weld seam terminal determines, whole piece straight bead exists Position in world coordinate system also determines that, subsequently through robot carries out the methods such as off-line programing, completes whole piece weld seam Welding.

According to above-mentioned fact Example, can well realize the present invention.It should be noted that under the knowing of this specification Any equivalents done by skilled person, or substantially mode of texturing all should be within the scope of the present invention.

Claims (6)

1. the weld joint recognition method of automatic welding, it is characterised in that comprise the following steps:

(1) laser range finder self leveling correction；

(2) by robot index point, laser range finder carried out relative position and relative attitude is demarcated；

(3) calibrated by laser range finder butt welding machine device people；

(4) utilize laser range finder to record the distance between laser range finder coordinate origin and robot end's point, swashed Optar coordinate origin coordinate in robot end point coordinates system；Laser range finder coordinate is obtained according to coordinate transform It it is initial point coordinate in world coordinate system；

(5) laser range finder is utilized to record the distance between laser range finder coordinate origin and weld seam start point/end point, detection weldering Seam start point/end point coordinate in laser range finder coordinate system；

(6) according to laser range finder coordinate origin coordinate in world coordinate system, by weld seam start point/end point in laser ranging Coordinate in instrument coordinate system obtains weld seam coordinate in world coordinate system by coordinate transform, completes robot welding line starting point Identify；

Described obtain weld seam coordinate in world coordinate system by coordinate transform and comprise the following steps:

Exist according to obtaining weld seam start point/end point by changes in coordinatesCoordinate figure in world coordinate system

$\begin{array}{c}\left[\begin{array}{c}{X}_{Ws}\\ Y_{Ws}\\ Z_{Ws}\end{array}\right]=\left[\begin{array}{c}{X}_{We}\\ Y_{We}\\ Z_{We}\end{array}\right]=\left[\begin{array}{c}{X}_{Es}\\ Y_{Es}\\ Z_{Es}\end{array}\right]\\ =\left[\begin{array}{c}({X^{\′}}_{Wt}+\mathrm{\Δ}X)+({L^{\′}}_t+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ}\mathrm{\β})\cos ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ}\mathrm{\α})\\ ({Y^{\′}}_{Wt}+\mathrm{\Δ}Y)-({L^{\′}}_t+\mathrm{\Δ}L)\cos ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ}\mathrm{\β})\\ ({Z^{\′}}_{Wt}+\mathrm{\Δ}Z)-({L^{\′}}_t+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ}\mathrm{\β})\sin ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ}\mathrm{\α})\end{array}\right]+\left[\begin{array}{c}-({L^{\′}}_s+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ}\mathrm{\β})\cos ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ}\mathrm{\α})\\ ({L^{\′}}_s+\mathrm{\Δ}L)\cos ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ}\mathrm{\β})\\ -({L^{\′}}_s+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ}\mathrm{\β})\sin ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ}\mathrm{\α})\end{array}\right]\end{array}$

Wherein, X_Ws、Y_Ws、Z_WsRepresent weld seam start point/end point coordinate figure in world coordinate system, X respectively_Es、Y_Es、Z_EsTable respectively Show weld seam start point/end point coordinate figure in diastimeter coordinate system, X_We、Y_We、Z_WeRepresent laser range finder coordinate origin respectively Expression in world coordinate system；

L_t’、α_t’、β_t' be respectively, as laser range finder robot measurement distal point t, the diastimeter coordinate system that diastimeter records Distance between initial point and robot end's point, and now diastimeter axis and X_E、Y_EBetween the angle that formed；X_Wt’、 Y_Wt’、Z_Wt' represent that the robot end of robot output puts the coordinate figure in robot coordinate system respectively；

L_S’、α_s’、β_s' be respectively, when laser range finder measures weld seam start point/end point, the diastimeter coordinate system that diastimeter records Distance between initial point and weld seam start point/end point, and now diastimeter axis and X_E、Y_EBetween the angle that formed；ΔL、Δ , Δ β be the measurement error of laser range finder.

The weld joint recognition method of automatic welding the most according to claim 1, it is characterised in that described laser range finder is certainly Body carries out leveling correction and comprises the following steps:

Robot fixed coordinate system is set to world coordinate system, and { W} sets up laser measurement coordinate system on laser range finder { E} adjusts diastimeter and makes the X of laser range finder_E、Y_EX in two axles Parallel World coordinate system respectively_W、Y_W。

The weld joint recognition method of automatic welding the most according to claim 1, it is characterised in that described by robot mark Will point carries out relative position to laser range finder and relative attitude is demarcated and comprised the following steps:

Calibrated by distance L of welding robot impact point surveyed to laser range finder with laser range finder initial point, laser The angle of self is calibrated by diastimeter, and the angle of laser range finder self includes laser range finder axis and its X_EAxle, Y_EAxle Angle that positive direction is formed, β, obtain the measurement error Δ L of laser range finder, Δ, Δ β.

The weld joint recognition method of automatic welding the most according to claim 1, it is characterised in that described in pass through laser ranging Instrument butt welding machine device people carries out calibration and comprises the following steps:

By laser range finder calibration machine people at the world coordinate system { X of W}_W、Y_W、Z_WThe distance that direction is moved, obtains robot Distal point is at X_W、Y_W、Z_WError delta X on direction, Δ Y, Δ Z.

The weld joint recognition method of automatic welding the most according to claim 1, it is characterised in that described utilize laser ranging Instrument records the distance between laser range finder coordinate origin and robot end's point, obtains laser range finder coordinate origin and exists Coordinate in robot end point coordinates system；Laser range finder coordinate origin is obtained in world coordinate system according to coordinate transform Coordinate comprise the following steps:

1) robot end's point coordinates system { T} is that set up with robot end's point for initial point puts down with each axle of world coordinate system Coordinate system { the T} of row；By the distance between laser range finder robot measurement distal point t and laser range finder coordinate origin L_t', can obtain laser range finder coordinate origin robot end point coordinates system the position of T}:

$\left[\begin{array}{c}{X}_{Te}\\ Y_{Te}\\ Z_{Te}\end{array}\right]=\left[\begin{array}{c}{L}_t{\mathrm{sin\β}}_t{\mathrm{cos\α}}_t\\ -L_t{\mathrm{cos\β}}_t\\ L_t{\mathrm{sin\β}}_t{\mathrm{sin\α}}_t\end{array}\right]=\left[\begin{array}{c}({L_t}^{\′}+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ}\mathrm{\β})\cos ({{\mathrm{\α}}_t}^{\′}+\mathrm{\Δ}\mathrm{\α})\\ -({L_t}^{\′}+\mathrm{\Δ}L)\cos ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ}\mathrm{\β})\\ ({L_t}^{\′}+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}_t}^{\′}+\mathrm{\Δ}\mathrm{\β})\sin ({{\mathrm{\α}}_t}^{\′}+\mathrm{\Δ}\mathrm{\α})\end{array}\right]$

Wherein, L_t’、α_t’、β_t' be respectively, as laser range finder robot measurement distal point t, the diastimeter that diastimeter records Distance between coordinate origin and robot end's point and now diastimeter axis and X_E、Y_EBetween the angle that formed α_t’、β_t’；L_t、α_t、β_tIt is respectively L_t’、α_t’、β_t' value after error compensation, i.e. L_t=L_t'+Δ L, α_t=α_t'+Δ α, β_t =β_t’+Δβ；Δ L, Δ, Δ β are the measurement error of laser range finder；

2) laser range finder coordinate origin coordinate in world coordinate system is:

$\begin{array}{c}\left[\begin{array}{c}{X}_{We}\\ Y_{We}\\ Z_{We}\end{array}\right]=\left[\begin{array}{c}{X}_{Wt}\\ Y_{Wt}\\ Z_{Wt}\end{array}\right]+\left[\begin{array}{c}{X}_{Te}\\ Y_{Te}\\ Z_{Te}\end{array}\right]=\left[\begin{array}{c}{X}_{Wt}+L_t{\mathrm{sin\β}}_t{\mathrm{cos\α}}_t\\ Y_{Wt}-L_t{\mathrm{cos\β}}_t\\ Z_{wt}+L_t{\mathrm{sin\β}}_t{\mathrm{sin\α}}_t\end{array}\right]\\ =\left[\begin{array}{c}({X^{\′}}_{Wt}+\mathrm{\Δ}X)+({L^{\′}}_t+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ}\mathrm{\β})\cos ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ}\mathrm{\α})\\ ({Y^{\′}}_{Wt}+\mathrm{\Δ}Y)-({L^{\′}}_t+\mathrm{\Δ}L)\cos ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ}\mathrm{\β})\\ ({Z^{\′}}_{Wt}+\mathrm{\Δ}Z)-({L^{\′}}_t+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}^{\′}}_t+\mathrm{\Δ}\mathrm{\β})\sin ({{\mathrm{\α}}^{\′}}_t+\mathrm{\Δ}\mathrm{\α})\end{array}\right]\end{array}$

Wherein L_t’、α_t’、β_t' be respectively, as laser range finder robot measurement distal point t, the diastimeter that diastimeter records is sat Distance between mark system initial point and robot end's point, and now diastimeter axis and X_E、Y_EBetween the angle [alpha] that formed_t’、 β_t’；Wherein L_t、α_t、β_tIt is respectively L_t’、α_t’、β_t' value after error compensation, i.e. L_t=L_t'+Δ L, α_t=α_t'+Δ α, β_t =β_t’+Δβ；X_Wt’、Y_Wt’、Z_Wt' represent that the robot end of robot output puts the coordinate in robot coordinate system respectively Value, X_Wt、Y_Wt、Z_WtThe value after robot output valve is compensated, i.e. X_Wt=X_Wt'+Δ X, Y_Wt=Y_Wt'+Δ Y, Z_Wt=Z_Wt’+ΔZ； Δ L, Δ, Δ β are the measurement error of laser range finder.

The weld joint recognition method of automatic welding the most according to claim 1, it is characterised in that described utilize laser ranging Instrument records the distance between laser range finder coordinate origin and weld seam start point/end point, and detection weld seam start point/end point is in Laser Measuring Coordinate in distance meter coordinate system comprises the following steps:

Distance L of weld seam starting point/between terminal and diastimeter coordinate origin is measured by laser range finder_S’；According to this away from From and diastimeter axis and its X_E、Y_EAngle α between axle_s’、β_s', obtain weld seam starting point seat in diastimeter coordinate system Mark is respectively X_Es、Y_Es、Z_Es；

$\left[\begin{array}{c}{X}_{Es}\\ Y_{Es}\\ Z_{Es}\end{array}\right]=\left[\begin{array}{c}-L_s{\mathrm{sin\β}}_s{\mathrm{cos\α}}_s\\ L_s{\mathrm{cos\β}}_s\\ L_s{\mathrm{sin\β}}_s{\mathrm{sin\α}}_s\end{array}\right]=\left[\begin{array}{c}-({L^{\′}}_s+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ}\mathrm{\β})\cos ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ}\mathrm{\α})\\ ({L^{\′}}_s+\mathrm{\Δ}L)\cos ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ}\mathrm{\β})\\ -({L^{\′}}_s+\mathrm{\Δ}L)\sin ({{\mathrm{\β}}^{\′}}_s+\mathrm{\Δ}\mathrm{\β})\sin ({{\mathrm{\α}}^{\′}}_s+\mathrm{\Δ}\mathrm{\α})\end{array}\right]$

Wherein, Δ L, Δ, Δ β be the measurement error of laser range finder, respectively diastimeter the distance static error recorded, And laser range finder axis and its X_E、Y_EThe static error of axle positive direction institute angulation；

L_S’、α_s’、β_s' be respectively, when laser range finder measures weld seam start point/end point, the diastimeter coordinate system that diastimeter records Distance between initial point and weld seam start point/end point, and now diastimeter axis and X_E、Y_EBetween the angle [alpha] that formed_s’、 β_s’；L_s、α_s、β_sIt is respectively L_s’、α_s’、β_s' value after error compensation, i.e. L_s=L_s'+Δ L, α_s=α_s'+Δ α, β_s=β_s’ +Δβ；Δ L, Δ, Δ β are the measurement error of laser range finder.