Weld-line generating apparatus, method for generating weld line, and program for generating weld line

A weld-line generating apparatus comprising:

• a point-cloud-data acquiring unit that acquires three-dimensional (3D) point cloud data of a plurality of workpieces that are to be welded together and that are arranged in a predetermined space, the point cloud data including data of the edges of said plurality of workpieces;
• an edge extracting unit that extracts the 3D point cloud data of said edges from the 3D point cloud data acquired by the point-cloud-data acquiring unit;
• a workpiece point-cloud-data generating unit that generates a 3D point cloud data component of each of the plurality of workpieces based on 3D point cloud data that is extracted by the edge extracting unit from the 3D point cloud data acquired by the point-cloud-data acquiring unit;
• and
• a weld-line generating unit that generates weld lines for the plurality of workpieces based on the 3D point cloud data components of the plurality of workpieces generated by the workpiece point-cloud-data generating unit,
• further comprising:
• a weld-line excluding unit that removes a weld line having a length that is equal to or smaller than a predetermined second threshold length from weld lines generated by the weld-line generating unit.

A weld-line generating apparatus comprising:

• a point-cloud-data acquiring unit that acquires three-dimensional (3D) point cloud data of a plurality of workpieces that are to be welded together and that are arranged in a predetermined space, the point cloud data including data of the edges of said plurality of workpieces;
• an edge extracting unit that extracts the 3D point cloud data of said edges from the 3D point cloud data acquired by the point-cloud-data acquiring unit;
• a workpiece point-cloud-data generating unit that generates a 3D point cloud data component of each of the plurality of workpieces based on 3D point cloud data that is extracted by the edge extracting unit from the 3D point cloud data acquired by the point-cloud-data acquiring unit;
• and
• a weld-line generating unit that generates weld lines for the plurality of workpieces based on the 3D point cloud data components of the plurality of workpieces generated by the workpiece point-cloud-data generating unit,
• further comprising:
• a weld-line integrating unit that connects and integrates one of weld lines generated by the weld-line generating unit and another one of the weld lines generated by the weld-line generating unit into a single weld line when a distance between a first end point of the one weld line and a second end point of the other weld line is equal to or smaller than a predetermined third threshold.