Processing system, robot system, control device, processing method, control method, and storage medium

A control device, comprising:

• processing circuitry configured to
• cause a detector to perform a probing process of a weld portion of a joined body at a prescribed position, the probing process including a transmission of an ultrasonic wave and a detection of a reflected wave, and
• perform a position adjustment of moving the detector to reduce a distance in a first plane between a center position of the weld portion and a position of the detector, the center position being calculated from a result of the probing process, the first plane being along two-dimensional arrangement directions of a plurality of detection elements included in the detector, wherein
• the processing circuitry is configured to
• calculate a reference distance before the probing process by using a plurality of movement distances of the detector in a plurality of previous position adjustments, and
• correct the prescribed position using at least a portion of the plurality of movement distances when the reference distance is greater than a first threshold.

A processing method, comprising:

• setting a detector to a prescribed position, the detector including a plurality of detection elements arranged along a first direction and a second direction, the second direction crossing the first direction;
• causing the detector to perform a probing process of a weld portion of a joined body, the probing process including a transmission of an ultrasonic wave and a detection of a reflected wave;
• calculating a center position of the weld portion in a first plane along the first and second directions based on intensity data, the intensity data being of an intensity of the reflected wave obtained by the probing process;
• and
• performing a position adjustment of moving the detector along the first plane to reduce a distance between the center position and a position of the detector in the first plane,
• a reference distance being calculated using a plurality of movement distances of the detector in a plurality of previous position adjustments, and
• the prescribed position being corrected using at least a portion of the plurality of movement distances when the reference distance is greater than a first threshold.

A control method, comprising:

• causing a detector to perform a probing process of a weld portion of a joined body at a prescribed position, the probing process including a transmission of an ultrasonic wave and a detection of a reflected wave;
• and
• causing a computer to perform a position adjustment of moving the detector to reduce a distance in a first plane between a center position of the weld portion and a position of the detector, the first plane being along two-dimensional arrangement directions of a plurality of detection elements included in the detector,
• a reference distance being calculated before the probing process by using a plurality of movement distances of the detector in a plurality of previous position adjustments, and
• the prescribed position being corrected using at least a portion of the plurality of movement distances when the reference distance is greater than a first threshold.