Welding machine and control method therefor
First Claim
1. A welding machine comprising:
- a camera that photographs a master product to obtain a photographed master image and that photographs a workpiece to obtain a photographed workpiece image;
an operation unit by which an operator indicates coordinates on the photographed master image;
a computer thatperforms operations using the photographed master image, comprising;
receiving first coordinates on the photographed master image, the first coordinates being indicated on a master constant surface by the operation unit, the master constant surface being a region of the master product determined to lack a positional deviation with respect to a master welding point on the master product, the master welding point being a welding point set by a processing program for welding the master product;
extracting a master edge image of the master product from the photographed master image;
acquiring a master constant surface region of the master constant surface including the first coordinates; and
acquiring a master constant edge image based on the master edge image and the master constant surface region, the master constant edge image including a first edge image of the master constant surface region; and
performs operations using the photographed workpiece image, comprising;
extracting a workpiece edge image of the workpiece from the photographed workpiece image;
acquiring a workpiece constant surface region including second coordinates of a position on the photographed workpiece image, the second coordinates being obtained based on the first coordinates;
acquiring a workpiece constant edge image based on the workpiece edge image and the workpiece constant surface region, the workpiece constant edge image including a second edge image of the workpiece constant surface region;
performing pattern-matching between the master constant edge image and the workpiece constant edge image so as to match the first edge image and the second edge image to acquire a first deviation amount between the master constant edge image and the workpiece constant edge image as a correction amount for a workpiece welding point, wherein the workpiece welding point is set by the processing program and is a point at which the workpiece is welded; and
correcting the workpiece welding point by the correction amount to generate a corrected processing program for welding the workpiece; and
a welding robot that welds the workpiece based on the corrected processing program.
1 Assignment
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Accused Products
Abstract
An edge extraction unit extracts an edge image from a photographed image obtained by photographing a product with a camera. A constant edge acquisition unit acquires, as a constant edge image, an edge image in a constant surface where a positional deviation does not occur with respect to a welding point set by a processing program, the acquired image belonging to the extracted edge image. A correction amount acquisition unit performs pattern-matching between a master constant edge image and a workpiece edge image, which are acquired by the constant edge acquisition unit, and acquires a deviation amount between both thereof as a correction amount with respect to the welding point. A processing program correction unit corrects the welding point by the correction amount, and generates a corrected processing program for welding the workpiece. A welding robot welds the workpiece based on the corrected processing program.
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Citations
7 Claims
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1. A welding machine comprising:
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a camera that photographs a master product to obtain a photographed master image and that photographs a workpiece to obtain a photographed workpiece image; an operation unit by which an operator indicates coordinates on the photographed master image; a computer that performs operations using the photographed master image, comprising; receiving first coordinates on the photographed master image, the first coordinates being indicated on a master constant surface by the operation unit, the master constant surface being a region of the master product determined to lack a positional deviation with respect to a master welding point on the master product, the master welding point being a welding point set by a processing program for welding the master product; extracting a master edge image of the master product from the photographed master image; acquiring a master constant surface region of the master constant surface including the first coordinates; and acquiring a master constant edge image based on the master edge image and the master constant surface region, the master constant edge image including a first edge image of the master constant surface region; and performs operations using the photographed workpiece image, comprising; extracting a workpiece edge image of the workpiece from the photographed workpiece image; acquiring a workpiece constant surface region including second coordinates of a position on the photographed workpiece image, the second coordinates being obtained based on the first coordinates; acquiring a workpiece constant edge image based on the workpiece edge image and the workpiece constant surface region, the workpiece constant edge image including a second edge image of the workpiece constant surface region; performing pattern-matching between the master constant edge image and the workpiece constant edge image so as to match the first edge image and the second edge image to acquire a first deviation amount between the master constant edge image and the workpiece constant edge image as a correction amount for a workpiece welding point, wherein the workpiece welding point is set by the processing program and is a point at which the workpiece is welded; and correcting the workpiece welding point by the correction amount to generate a corrected processing program for welding the workpiece; and a welding robot that welds the workpiece based on the corrected processing program. - View Dependent Claims (2, 3)
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4. A control method for a welding machine, the control method comprising:
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defining a product as a master, which is taken as a reference among a plurality of products; defining another product among the plurality of products other than the master as a workpiece; acquiring a photographed master image by photographing, with a camera, a region including a master welding point and an edge on the master, the master welding point being a welding point set by a processing program for welding the master; receiving first coordinates of a position on the photographed master image, the first coordinates being indicated on a master constant surface by an operation unit, the master constant surface being a region of the master determined to lack a positional deviation with respect to the master welding point; extracting a master edge image of the master from the photographed master image; acquiring a master constant surface region of the master constant surface including the first coordinates; acquiring a master constant edge image based on the master edge image and the master constant surface region, the master constant edge image including a first edge image of the master constant surface region; acquiring a photographed workpiece image by photographing, with the camera, a region including a workpiece welding point and an edge on the workpiece, the workpiece welding point being set by the processing program for welding the workpiece together; extracting a workpiece edge image of the workpiece from the photographed workpiece image; acquiring a workpiece constant surface region including second coordinates of a position on the photographed workpiece image, the second coordinates being obtained based on the first coordinates; acquiring a workpiece constant edge image based on the workpiece edge image and the workpiece constant surface region, the workpiece constant edge image including a second edge image of the workpiece constant surface region; performing pattern-matching between the master constant edge image and the workpiece constant edge image so as to match the first edge image and the second edge image to acquire a first deviation amount between the master constant edge image and the workpiece constant edge image as a correction amount for the workpiece welding point; correcting the workpiece welding point by the correction amount to generate a corrected processing program for welding the workpiece; and controlling a welding robot to weld the workpiece based on the corrected processing program. - View Dependent Claims (5, 6, 7)
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Specification