公开(公告)号：US20230278224A1

公开(公告)日：2023-09-07

申请号：US18179796

申请日：2023-03-07

Applicant: Path Robotics, Inc.

Inventor： Colin BUNKER ,  Alexander James LONSBERRY ,  Andrew Gordon LONSBERRY ,  Nima Ajam GARD ,  Milad KHALEDYAN ,  Carlos Fabian BENITEZ-QUIROZ

IPC: B25J9/16 ,  B25J11/00

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  B25J11/005

Abstract: A method for calibrating a tool center point (TCP) of a robotic welding system. The method includes receiving a plurality of images captured from a plurality of image sensors of the robotic welding system, the plurality of images containing at least a portion of a protrusion extending from a tip of a weldhead of the robotic welding system, and identifying by a controller of the robotic welding system the protrusion extending from the weldhead in the plurality of images. The method additionally includes defining by the controller a longitudinal axis of the protrusion based on the protrusion identified in the plurality of images, and identifying by the controller a location in three-dimensional (3D) space of the weldhead based on the protrusion identified in the plurality of images and the defined longitudinal axis of the protrusion.