Work measuring method and welding system
AssigneeKobe Steel, Ltd.
InventorsTatsuya Yoshimoto, Akira Okamoto
Life of this patent
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Abstract
A work measuring method for measuring a work including a columnar member and a diaphragm and held by a positioner includes an acquiring step of acquiring point cloud data on a surface of the work held by the positioner and photographed in a predetermined direction, a detecting step of identifying a portion where distribution of the point cloud data changes in a three-dimensional coordinate system of the positioner and detecting the portion as a boundary position between the columnar member and the diaphragm, and a deriving step of deriving the number of columnar members and diaphragms included in the work on the basis of the boundary position detected in the detecting step.
Claims8
A work measuring method for measuring a work including a columnar member and a diaphragm and held by a positioner, the work measuring method comprising:
- an acquiring step of acquiring point cloud data on a surface of the work held by the positioner and photographed in a predetermined direction;
- a detecting step of identifying a portion where distribution of the point cloud data changes in a three-dimensional coordinate system of the positioner and detecting the portion as a boundary position between the columnar member and the diaphragm, the point cloud data being projected onto a plane parallel to the predetermined direction and defined by a first axis corresponding to the predetermined direction and a second axis orthogonal to the first axis, and a change point of the point cloud data being detected as the boundary position between the columnar member and the diaphragm, the change point being a point that is predetermined threshold away from a minimum coordinate value in the first axis and corresponding to a groove at a connection position of the columnar member and the diaphragm before welding;
- a deriving step of deriving the number of columnar members and diaphragms included in the work based on a number of boundary positions detected in the detecting step;
- a calculating step of calculating a dimension and position of the work based on boundary position detected in the detecting step;
- and
- a controlling step of controlling a welding robot for welding the work based on the dimension and position of the work calculated in the calculating step.
A welding system comprising:
- a welding robot including a welding torch;
- a welding control device configured to control the welding robot;
- a positioner configured to hold a work including a columnar member and a diaphragm;
- and
- a sensor configured to photograph the work in a predetermined direction to acquire point cloud data,
- wherein the welding control device includes circuitry configured to
- acquire point cloud data on a surface of the work held by the positioner and photographed by the sensor in the predetermined direction,
- identify a portion where distribution of the point cloud data changes in a three-dimensional coordinate system of the positioner and detect the portion as a boundary position between the columnar member and the diaphragm, the point cloud data being projected onto a plane parallel to the predetermined direction and defined by a first axis corresponding to the predetermined direction and a second axis orthogonal to the first axis, and a change point of the point cloud data being detected as the boundary position between the columnar member and the diaphragm, the change point being a point that is predetermined threshold away from a minimum coordinate value in the first axis and corresponding to a groove at a connection position of the columnar member and the diaphragm before welding, and
- calculate a dimension and position of the work based on the detected boundary position.
Dependencies are inferred from the claim text.