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

Abstract

The present application relates to a processing system, a robot system, a control device, a processing method, a control method, a program, and a storage medium. The processing system is configured to set a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction at a prescribed position. The detector performs an investigation of transmitting an ultrasonic wave to a welded portion of a joint body and detecting a reflected wave. A center position of the welded portion in a first plane along the first direction and the second direction is calculated based on intensity data representing an intensity of the reflected wave obtained by the investigation. A position adjustment is performed so that the detector moves along the first plane so as to reduce a distance between the center position of the welded portion and a position of the detector in the first plane. A reference distance is calculated using a moving distance of the detector in a plurality of past position adjustments. In a case where the reference distance exceeds a first threshold value, the prescribed position is corrected using at least a part of the plurality of moving distances.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application generally relate to a processing system, a robot system, a control device, a processing method, a control method, and a storage medium. BACKGROUND

[0002] There is a robot that performs inspection of a bonded body. Improvement in inspection accuracy is required for the robot. SUMMARY

[0003] Embodiments of the present application provide a processing system, a robot system, a control device, a processing method, a control method, and a storage medium that can improve inspection accuracy.

[0004] According to an embodiment of the present application, a processing system sets a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction at a prescribed position. The processing system causes the detector to perform an investigation of transmitting an ultrasonic wave to a welded portion of a bonded body and detecting a reflected wave. The processing system calculates a center position of the welded portion in a first plane along the first direction and the second direction, based on intensity data representing intensity of the reflected wave obtained by the investigation. The processing system performs a position adjustment of moving the detector along the first plane so as to reduce a distance between the center position of the welded portion and a position of the detector in the first plane. The processing system calculates a reference distance using a moving distance of the detector in a plurality of the position adjustments in the past. The processing system corrects the prescribed position using at least a part of a plurality of the moving distances when the reference distance exceeds a first threshold value.

[0005] According to an embodiment, it is possible to provide a processing system, a robot system, a control device, a processing method, a control method, and a storage medium that can improve inspection accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0006] Figure 1 is a schematic view showing a robot system of an embodiment.

[0007] Figure 2 is a schematic view showing a configuration of a detector and a bonded body.

[0008] Figure 3 is a schematic view for explaining an action of a processing system of an embodiment.

[0009] Figure 4 is a schematic view illustrating intensity data obtained by an investigation.

[0010] Figure 5 is a flowchart showing an inspection process performed by a robot system of an embodiment.

[0011] Figure 6 is a schematic view showing intensity distribution of a reflected wave obtained by processing intensity data.

[0012] Figure 7 is a schematic view illustrating a determined weld.

[0013] Figure 8 is a flowchart showing correction processing by the robot system of the embodiment.

[0014] Figure 9 is a schematic view showing a movement distance and a reference distance.

[0015] Figure 10 is a flowchart showing processing by the robot system of the embodiment.

[0016] Figure 11 is a flowchart showing inspection processing by the robot system of the first modification of the embodiment.

[0017] Figure 12 is a schematic view showing a detector.

[0018] Figure 13 is an example of an image obtained in the inspection.

[0019] Figure 14 is a flowchart showing processing by the robot system of the first modification of the embodiment.

[0020] Figure 15 is a schematic view showing a transported joint body.

[0021] Figure 16 is a flowchart showing processing by the robot system of the second modification of the embodiment.

[0022] Figure 17 is a schematic view showing a configuration of another detector.

[0023] Figure 18 is a schematic view showing a hardware configuration. DETAILED DESCRIPTION

[0024] Hereinafter, each embodiment of the present application will be described with reference to the drawings.

[0025] In the present application specification and each drawing, the same symbol is attached to the same element as that which has been explained and a detailed explanation is appropriately omitted.

[0026] Figure 1 is a schematic view showing a robot system of the embodiment.

[0027] AsFigure 1 As shown, the robot system 2 of the embodiment includes a processing system 1 and a robot 20. The processing system 1 includes a control device 10, an operation terminal 11, and a processing device 12.

[0028] The control device 10 controls the movements of the robot 20. The control device 10 is a so-called robot controller. The control device 10 includes a control circuit, a servo control unit, a power supply, etc. The control device 10 controls the servo motors of each axis according to the pre-stored action program and the teaching data set by the operation terminal 11, thereby controlling the movements of the robot 20.

[0029] The operator terminal 11 is a terminal device used to operate the robot 20. The operator terminal 11 is a so-called teaching pendant. The operator terminal 11 is connected to the control device 10 and accepts input such as the robot 20's motion program and settings. For example, the control device 10 and the operator terminal 11 are connected via wired cable, wireless communication, or a network. Furthermore, the user can use the operator terminal 11 to modify, correct, or create teaching data. Teaching data refers to the data used to teach the robot 20 its actions.

[0030] Robot 20 includes a manipulator 21 and a detector 22 mounted on the manipulator 21. For example, the manipulator 21 is a vertical articulated type. The detector 22 is disposed at the front end of the manipulator 21 as an end effector. The manipulator 21 can also be a horizontal articulated type or a parallel link type. The manipulator 21 can also include a combination of two or more types selected from vertical articulated, horizontal articulated, and parallel link types. Preferably, the manipulator 21 has six or more degrees of freedom.

[0031] Detector 22 performs a probe (detection) of the object. During the probe, it transmits an ultrasonic wave toward the object and detects (receives) the reflected wave. Detector 22 obtains intensity data representing the intensity of the reflected wave through the probe. Detector 22 transmits the intensity data to processing device 12 connected to control device 10. For example, control device 10 and processing device 12 are connected via cable, wireless communication, or a network.

[0032] exist Figure 1 In this example, an ejector 25 is also provided as an end effector. The ejector 25 ejects coupling agent toward the surface of the object.

[0033] The object of inspection is a joint formed by welding multiple components together. Multiple components are joined at the weld joint. The processing device 12 processes the strength data and obtains data related to the weld joint. For example, the processing device 12 uses the strength data to perform inspection processing on the weld joint. The robot system 2 performs inspection processing on multiple joints 50 of the same type separately.

[0034] Figure 2 This is a schematic diagram showing the structure of the detector and the assembly.

[0035] exist Figure 2 In this example, the detector 22 probes the assembly 50. The assembly 50 includes a metal plate 51 (first component) and a metal plate 52 (second component). The metal plate 51 and the metal plate 52 are joined at a weld 53. That is, there is no boundary surface between the metal plate 51 and the metal plate 52 at the weld 53. A solidified portion 54 formed by the mixing of molten metals exists at the weld 53. The weld 53 is formed by resistance spot welding.

[0036] like Figure 2 As shown, the detector 22 includes a detection element 22a, a propagation section 22b, and a housing 22c.

[0037] The detection element 22a is arranged in two dimensions along the X direction (first direction) and the Y direction (second direction). The X and Y directions intersect each other. In this example, the Y direction is perpendicular to the X direction. For example, the detection element 22a is a transducer that emits ultrasonic waves with frequencies between 1 MHz and 100 MHz. The detection element 22a also transmits ultrasonic waves along the Z direction (third direction). The Z direction is perpendicular to the XY plane (first plane).

[0038] Multiple detection elements 22a are disposed at the front end of the housing 22c and covered by a propagation section 22b. When the detector 22 is in contact with the connector 50, the propagation section 22b is located between the detection elements 22a and the connector 50. When the detection element 22a emits ultrasonic waves, the ultrasonic waves propagate in the propagation section 22b and are transmitted to the outside of the detector 22. When the ultrasonic waves are reflected, the reflected waves propagate in the propagation section 22b and reach the detection element 22a.

[0039] The detection element 22a detects the reflected wave. The signal intensity detected by the detection element 22a corresponds to the intensity of the reflected wave. The detector 22 acquires the signal (intensity data) representing the intensity of the reflected wave and sends it to the processing device 12.

[0040] The propagation section 22b is made of a resin material or similar material that facilitates the propagation of ultrasonic waves. Through the propagation section 22b, deformation and damage to the detection element 22a can be suppressed when the detector 22 comes into contact with the welded part 53. The propagation section 22b has sufficient hardness to suppress deformation and damage when in contact with the welded part 53.

[0041] During the probe, a coupling agent 55 is applied to the surface of the joint 50 to facilitate the propagation of ultrasonic waves between the detector 22 and the joint 50. Each detection element 22a sends ultrasonic waves US toward the joint 50 coated with the coupling agent 55.

[0042] For example, such as Figure 2 As shown, a detection element 22a transmits an ultrasonic wave US toward the joint 50. A portion of the ultrasonic wave US is reflected by the upper or lower surface of the joint 50. Multiple detection elements 22a detect the reflected wave RW respectively. During the probe, each detection element 22a sequentially transmits the ultrasonic wave US, and each reflected wave RW is detected by multiple detection elements 22a.

[0043] The processing device 12 uses strength data to perform various processes. For example, the processing device 12 inspects the weld 53. The processing device 12 can also determine the position of the weld 53 in the joint 50. The processing device 12 can also calculate the center position of the weld 53. The processing device 12 can also calculate the diameter of the weld 53.

[0044] Figure 3 (a)~ Figure 3 (c) is a schematic diagram used to explain the operation of the processing system of the implementation method.

[0045] like Figure 3 As shown in (a), the ultrasonic wave US is reflected by the surface of the propagation part 22b, the upper surface 51a and the lower surface 51b of the metal plate 51, and the upper surface 53a and the lower surface 53b of the welding part 53.

[0046] The surfaces of the propagation section 22b, including the upper surface 51a, upper surface 53a, lower surface 51b, and lower surface 53b, are positioned differently in the Z-direction. That is, the distances between these surfaces and the detection element 22a in the Z-direction are different. The detection element 22a detects the peak values ​​of the reflected wave intensity when it detects reflected waves from these surfaces. By calculating the time from when the ultrasonic wave US is transmitted until the detection of each peak value, it is possible to determine which surface reflects the ultrasonic wave US.

[0047] Figure 3 (b) and Figure 3 (c) are graphs illustrating the relationship between the time elapsed after an ultrasonic wave US is transmitted from point 1 in the XY plane and the intensity of the reflected wave RW. Figure 3 (b) and Figure 3 In (c), the horizontal axis represents the intensity of the detected reflected wave RW. The vertical axis represents the elapsed time after the ultrasonic wave US was transmitted. Time corresponds to position in the Z direction. Figure 3 The graph in (b) illustrates the detection results of the reflected wave RW from the surface, upper surface 51a, and lower surface 51b of the propagation section 22b. That is, Figure 3 The graph in (b) illustrates the detection results of the reflected wave RW from the unjoined point. Figure 3The graph of (c) illustrates the detection result of the reflected wave RW from the surface of the propagation section 22b, the upper surface 53a, and the lower surface 53b. That is, Figure 3 The graph of (c) illustrates the detection result of the reflected wave RW from the joined points.

[0048] In Figure 3 The graph of (b) and Figure 3 In the graph of (c), the peak value Pe10 is based on the reflected wave RW from the surface of the propagation section 22b. The peak value Pe11 is based on the reflected wave RW from the upper surface 51a. The peak value Pe12 is based on the reflected wave RW from the lower surface 51b. The time from the transmission of the ultrasonic wave US until the peak value Pe11 and the peak value Pe12 are detected corresponds to the positions of the upper surface 51a and the lower surface 51b in the Z direction, respectively.

[0049] Similarly, the peak value Pe13 is based on the reflected wave RW from the upper surface 53a. The peak value Pe14 is based on the reflected wave RW from the lower surface 53b. The time from the transmission of the ultrasonic wave US until the peak value Pe13 and the peak value Pe14 are detected corresponds to the positions of the upper surface 53a and the lower surface 53b in the Z direction, respectively.

[0050] The processing device 12 determines whether there is a peak value Pe12 in the reflected wave intensity distribution in the Z direction at each point in the X-Y plane. Specifically, the processing device 12 detects a peak value in the Z direction range in which the peak value Pe12 can be detected. The processing device 12 compares the peak value intensity with a threshold value. The Z direction range and the threshold value are set in advance.

[0051] In the case where the peak value intensity exceeds the threshold value, the processing device 12 determines that the peak value is the peak value Pe12. The presence of the peak value Pe12 indicates that the lower surface 51b, the metal plate 51, and the metal plate 52 are not joined at the point. The processing device 12 determines the point at which the peak value Pe12 is detected as unjoined. The processing device 12 determines the point at which the peak value Pe12 is not detected as joined. The processing device 12 successively determines whether each point in the X-Y plane is joined. The processing device 12 determines the set of points determined as joined as the welded portion 53.

[0052] For example, the processing device 12 determines the welded portion 53 and calculates the diameter of the welded portion 53 in the inspection process. The processing device 12 compares the diameter with a threshold value set in advance. In the case where the diameter exceeds the threshold value, the processing device 12 determines that the welded portion 53 is acceptable. In the case where the diameter is equal to or less than the threshold value, the processing device 12 determines that the welded portion 53 is unacceptable. The diameter compared with the threshold value is the major axis or the minor axis of the welded portion 53.

[0053] In Figure 4 The graph of (b) and Figure 2In the example of (c) of FIG. 8, the intensity of the reflected wave RW is expressed by an absolute value. The intensity of the reflected wave can be expressed in any manner. For example, the intensity of the reflected wave output from the detection element 22a includes positive values and negative values depending on the phase. Various processes can be performed based on the intensity of the reflected wave including positive values and negative values. The intensity of the reflected wave including positive values and negative values can be converted into an absolute value. An average value of the intensity of the reflected wave can be subtracted from the intensity of the reflected wave at each time. Alternatively, a weighted average value, a weighted moving average value, or the like of the intensity of the reflected wave can be subtracted from the intensity of the reflected wave at each time. Filtering can be performed so as to extract only a frequency component of a certain period. Even in a case where a result obtained by performing these processes on the intensity of the reflected wave is used, various processes described in the present application can be performed

[0054] Figure 4 FIG. 9 is a diagram illustrating intensity data obtained by the probe.

[0055] In the probe, as described above, the respective detection elements 22a sequentially transmit the ultrasonic waves, and the respective reflected waves are detected by the plurality of detection elements 22a. In the probe, the respective detection elements 22a sequentially transmit the ultrasonic waves, and the respective reflected waves are detected by the plurality of detection elements 22a. Figure 4 In the specific example shown in FIG. 8, 64 detection elements 22a of 8 x 8 are provided. In this case, the 64 detection elements 22a sequentially transmit the ultrasonic waves. One detection element 22a repeatedly detects the reflected wave 64 times. The detection result of the intensity distribution of the reflected wave in the Z direction output from one detection element 22a 64 times. The intensity distribution of the reflected wave output from one detection element 22a 64 times is integrated. The integrated intensity distribution becomes the intensity distribution at the coordinates at which one detection element 22a is provided in one probe. The same process is performed for the respective detection results of the 64 detection elements 22a. For the detection result of each detection element 22a, aperture synthesis can be performed in order to improve the resolution in the X direction and the Y direction. Through the above process, the intensity distribution of the reflected wave in the Z direction at each point in the X-Y plane (1st plane) is generated. That is, three-dimensional intensity data including the intensity of the reflected wave at each point in the X direction, the Y direction, and the Z direction is obtained.

[0056] Figure 4 The three-dimensional intensity distribution is schematically shown in FIG. 9. Figure 4 A case in the vicinity of the weld 53 of the three-dimensional intensity data is shown in the diagram of FIG. 9. In the diagram of FIG. 9, the intensity of the reflected wave in the Z direction at each point in the X-Y plane (1st plane) is shown by a color. Figure 5 In the diagram of FIG. 9, a portion having a high brightness is a portion in which the intensity of the reflected wave of the ultrasonic wave is relatively large. In the diagram of FIG. 9, a portion having a low brightness is a portion in which the intensity of the reflected wave of the ultrasonic wave is relatively small. Figure 6 In the example of FIG. 9, the reflected wave from the upper surface and the lower surface of the weld 53, and the reflected wave after multiple reflection between the upper surface and the lower surface of the weld 53 occur.

[0057] In a case where data related to the weld portion is obtained in the inspection process, the control device 10 causes the robot 21 to act so that the tip of the detector 22 comes into contact with the weld portion 53. In performing the probing, the detector 22 is set to a prescribed position and a prescribed posture. For example, the tip of the detector 22 is set to the prescribed position and the prescribed posture. The position and the posture of the other portion corresponding to the position and the posture of the detector 22 can also be set to the prescribed position and the prescribed posture. In this case, it can also be considered that the detector 22 is set to the prescribed position and the prescribed posture. For example, the prescribed position and the prescribed posture are set in advance as teaching points.

[0058] The control device 10 causes the robot 21 to act in accordance with the action program so as to set the detector 22 to the prescribed position and the prescribed posture. Specifically, the control device 10 acquires data indicating the rotation angles of the respective actuators from the encoders provided to the respective joints of the robot 21. The control device 10 generates a control signal on the basis of the stored prescribed position and prescribed posture and the acquired data. The control device 10 transmits the generated control signal to the robot 20, and moves the robot 21 by causing the respective actuators to act.

[0059] Figure 6 is a flowchart of the inspection process performed by the robot system of the embodiment.

[0060] In the inspection process (step S20), the control device 10 causes the discharger 25 to discharge the coupling agent 55 toward the joint body 50 (step S21). The control device 10 sets the detector 22 to a prescribed position and a prescribed posture (step S22). The detector 22 comes into contact with the joint body 50. The control device 10 causes the detector 22 to perform probing on the weld portion 53 (step S23). The detector 22 transmits intensity data obtained by the probing to the processing device 12. The processing device 12 calculates the center position of the weld portion 53 in the X-Y plane using the intensity data (step S24).

[0061] The processing device 12 compares the distance between the center position of the weld 53 in the X-Y plane and the position of the detector 22 in the X-Y plane and a preset threshold value (step S25). The probe range in the X-Y plane corresponds to the position of the detector 22 in the X-Y plane. For example, the position of the detector 22 in the X-Y plane corresponds to the center position of the intensity data in the X-Y plane. The processing device 12 can calculate the distance between the center of the weld 53 in the X-Y plane and the center of the intensity data in the X-Y plane as the distance between the center of the weld 53 in the X-Y plane and the position of the detector 22 in the X-Y plane. In the case where the distance exceeds the threshold value, the control device 10 performs position adjustment (step S26). In the position adjustment, the control device 10 moves the detector 22 along the X-Y plane so as to reduce the distance. The control device 10 stores the movement distance of the detector 22 in the position adjustment (step S27). After step S27, step S23 is performed again.

[0062] The control device 10 can also move the detector 22 away from the joint body 50 before moving the detector 22 along the X-Y plane and move the detector 22 close to the joint body 50 after moving the detector 22 along the X-Y plane. Thus, it is possible to avoid the friction of the detector 22 against the joint body 50.

[0063] In the case where the distance is below the threshold value in step S25, the processing device 12 checks the weld 53 using the intensity data obtained by the immediately preceding probe (step S28). For example, the processing device 12 compares the diameter of the weld 53 with a preset threshold value.

[0064] The method of calculating the center position of the weld 53 in the above-described checking process will be described. The center position can be calculated using any one of the following methods.

[0065] Figure 6 (a) to (c) of FIG. 8. Figure 6 (c) of FIG. 8 is a schematic view showing the intensity distribution of the reflected wave obtained by processing the intensity data.

[0066] The processing device 12 processes the intensity data and acquires the data shown in (a) to (c) of FIG. 8. Figure 6 (a) to (c) of FIG. 8. Figure 6 (c) of FIG. 8. Figure 6 (a) of FIG. 8 shows the intensity distribution of the reflected wave in the X-Y plane in the vicinity of the weld 53. Figure 6 (b) of FIG. 8 shows the intensity distribution of the reflected wave in the Y-Z plane in the vicinity of the weld 53. Figure 6 (c) of FIG. 8 shows the intensity distribution of the reflected wave in the X-Z plane in the vicinity of the weld 53.

[0067] The intensity is integrated in the Z direction at each point of the X-Y plane, thereby obtaining the intensity distribution of the reflected wave in the X-Y plane in the vicinity of the weld 53. Figure 6data of (a). The intensity is integrated along the X direction at each point in the Z direction, thereby obtaining Figure 6 data of (b). The intensity is integrated along the Y direction at each point in the Z direction, thereby obtaining Figure 6 data of (c). In Figure 6 (a) to Figure 6 (c), the intensity of the reflected wave is schematically binarized and shown. A white point indicates that the intensity of the reflected wave at the point is relatively high. A black point indicates that the intensity of the reflected wave at the point is relatively low.

[0068] For example, the processing device 12 calculates the center position of the weld 53 as the barycentric position of the intensity, based on the intensity distribution of the reflected wave in the X-Y plane shown in (a). Figure 6 For example, as shown in (a), the barycentric position of the intensity can be calculated. Alternatively, the barycentric position of the intensity can be calculated for an image in which each pixel has a pixel value of three or more levels (for example, 0 to 255). Figure 7

[0069] Alternatively, the processing device 12 can extract the reflected wave component from the weld 53 in the Z direction and calculate the barycentric position. For example, as shown in (b) and (c), the period of the reflected wave from the weld 53 is detected to be different from the period of the reflected wave from other portions. The processing device 12 filters the intensity distribution in the Z direction using the thickness of the weld 53 set in advance. Thus, the processing device 12 extracts the reflected wave component from the weld 53. The processing device 12 calculates the barycentric position of the intensity distribution in the filtered X-Y plane as the center position of the weld 53. Figure 7 Figure 7 Alternatively, the processing device 12 can determine the weld 53 and calculate the center position based on the determined weld 53.

[0070]

[0071] Figure 4 is a schematic view illustrating an example of the determined weld.

[0072] Figure 7 indicates the determination result of the joint or non-joint at each point of the X-Y plane on which the probe is performed. The range of the region in which the joint or non-joint is determined in the X direction and the Y direction corresponds to the range in which the intensity data is obtained in the X direction and the Y direction. As an example, Figure 7 the range in the X direction and the range in the Y direction of the two-dimensional data shown in (a) to (c) correspond to the range in which the intensity data is obtained in the X direction and the Y direction. Figure 5 ​​​The range of the three-dimensional intensity data shown in the X direction and the range in the Y direction correspond to each other. A part of the range of the intensity data can also be extracted in the X direction and the Y direction, and the bonded or unbonded determination can be performed on the extracted region. In Figure 8 In the drawing, the points determined to be bonded based on the intensity data are indicated in white. The points determined to be unbonded are indicated in black. The set of the points determined to be bonded is determined as the weld 53. The processing device 12 generates Figure 5 the two-dimensional data shown in the drawing using the determination result of the bonding at each point.

[0073] The processing device 12 can also calculate the center of gravity position of the determined weld 53 in the X-Y plane as the center position of the weld 53. As described above, the weld 53 can be determined by determining the bonding or the unbonding at each point in the X-Y plane. The processing device 12 can also calculate the center of the circle inscribed or circumscribed in the X-Y plane as the center position of the weld 53 for the determined weld 53.

[0074] When the inspection processing shown in the drawing is performed on a plurality of bonded bodies 50, the moving distance in the position adjustment is saved a plurality of times. The control device 10 corrects the prescribed position using the plurality of moving distances when a plurality of moving distances equal to or more than a predetermined number are saved. Figure 9

[0075] Figure 9 is a flowchart of the correction processing performed by the robot system of the embodiment.

[0076] In the correction processing (step S10), the control device 10 extracts n moving distances from the saved past all moving distances (step S11). n can also be the number of the past all moving distances. n can also be set in advance. For example, n moving distances are extracted in order from the moving distances performed in the recent time of the position adjustment. The control device 10 calculates a reference distance using the extracted plurality of moving distances (step S12). The reference distance is a value for determining the tendency of the moving distance in the position adjustment. The control device 10 compares the calculated reference distance with a threshold value (first threshold value) set in advance (step S13). In the case where the reference distance exceeds the threshold value, the control device 10 corrects the prescribed position using at least a part of the plurality of moving distances (step S14).

[0077] ​For example, the control device 10 calculates an average of the movement distances in the X direction and an average of the movement distances in the Y direction from the extracted plurality of movement distances. The control device 10 displaces the prescribed position in the X direction by the calculated average in the X direction. The control device 10 displaces the prescribed position in the Y direction by the calculated average in the Y direction. The control device 10 can also calculate a prediction value from the plurality of movement distances and displace the prescribed position by the prediction value. The control device 10 can also displace the prescribed position using an average or a prediction value obtained from a part of the plurality of movement distances. The reference distance is calculated after the correction of the prescribed position, or in the case where the reference distance is below a threshold value, the check processing shown in Figure 9

[0078] The average of the extracted plurality of movement distances is used as the reference distance. The reference distance can also be a prediction value based on the plurality of movement distances. The prediction value can be obtained using an approximation formula, a Kalman filter, or a model (artificial intelligence).

[0079] For example, the control device 10 generates an approximation formula indicating a relationship between the number of times of execution of the check processing and the plurality of movement distances. The control device 10 uses this approximation formula to calculate a prediction value of the movement distance in the next check processing. In the case of using a Kalman filter, the control device 10 generates a linear model indicating a relationship between the number of times of execution of the check processing and the plurality of movement distances based on data obtained in the past. The control device 10 calculates the next reference distance using the reference distance (prediction value) for the check processing and the actual movement distance when a new movement distance is obtained for a new check processing. In the case of using a model, the model is learned so as to output a reference distance in accordance with an input of a plurality of movement distances in the past. The model preferably includes a neural network. The control device 10 inputs a prescribed number of movement distances in the past to the model and acquires the reference distance output from the model.

[0080] Figure 9 (a) of FIG. 10 and Figure 9 (b) of FIG. 10 are graphs indicating movement distances and reference distances.

[0081] In Figure 9 (a) of FIG. 10 and Figure 10 (b) of FIG. 10, the horizontal axis indicates the number of times of execution of the position adjustment N. The further to the right, the newer the time of execution is indicated. The vertical axis indicates the movement distance D in the X direction. The point where the movement distance is zero indicates that the position adjustment is not executed. The circular plot indicates the movement distance in the position adjustment. The diamond plot indicates the reference distance.

[0082] In the example shown in Figure 11 (a) of FIG. 10, the eight movement distances d i to d​i-7 The reference distance r1 is calculated by averaging. The reference distance r1 exceeds the threshold th1. Therefore, the control device 10 uses the travel distance d. i to d i-7 At least a portion of it is used to correct the specified position in the X direction.

[0083] exist Figure 11 In the example shown in (b), an approximation AF is generated between the number of executions N and the travel distance D. In this example, the approximation AF is linear. The approximation AF can also be nonlinear. The control device 10 uses the approximation AF to adjust the travel distance d during the adjustment of the i-th position. i The calculation is performed, using a reference distance r2. The reference distance r2 exceeds a preset threshold th1. Therefore, the control device 10 uses at least a portion of a plurality of movement distances or the reference distance r2 predicted based on the plurality of movement distances to correct a predetermined position in the X direction.

[0084] The advantages of the implementation method are explained.

[0085] When using the intensity data of reflected waves to inspect the weld 53, the position of the detector 22 in the XY plane is preferably close to the center of the weld 53 in the XY plane. The closer the detector 22 is to the center of the weld 53, the easier it is to include the entire weld 53 within the detection range. This improves the inspection accuracy of the weld 53. To make the detector 22 close to the center of the weld 53, a method of adjusting the position each time detection is performed can be considered. However, according to this method, although the inspection accuracy can be improved, the inspection processing time becomes longer.

[0086] For example, a predetermined position of the detector 22 is set corresponding to the designed position of the weldment 53. The designed position is a pre-designed location where the weldment 53 will be formed. However, due to wear of the electrodes of the welding apparatus, electrode replacement, or displacement of the component relative to the welding apparatus, the weldment 53 may sometimes deviate from the designed position. In this embodiment, the processing system 1 calculates a reference distance using the movement distance of the detector 22 during multiple previous position adjustments. Then, if the reference distance exceeds a preset threshold, the processing system 1 corrects the predetermined position using at least a portion of the multiple movement distances. As a result, in the next inspection process, the distance between the detector 22 set at the predetermined position and the center of the weldment 53 can be reduced. That is, in the next inspection process, position adjustment can be omitted. According to this embodiment, the time required for inspection processing can be reduced, while inspection accuracy can be improved.

[0087] Further, by calculating the reference distance using the plurality of movement distances, it is possible to reflect the tendency of the position of the weld 53 to change to the prescribed position. For example, even in a case where the deviation of the movement distance is large, it is possible to reduce the influence of the deviation on the reference distance. It is possible to reduce the possibility that the prescribed position is corrected uselessly or the prescribed position is corrected excessively, and it is possible to correct the prescribed position more appropriately.

[0088] When calculating the reference distance, it is preferable to exclude outliers from the plurality of movement distances that are extracted. When the reference distance is calculated using outliers, the reference distance can possibly become excessively large. Thus, the prescribed position can be corrected uselessly or the prescribed position can be corrected excessively. By calculating the reference distance by excluding outliers, it is possible to correct the prescribed position more appropriately.

[0089] It is possible to determine outliers using a test statistic. It is possible to calculate the test statistic based on a Grubbs test. In the Grubbs test, a test statistic G is calculated by G = (r - x) / σ using a movement distance r, an average value x, and a variance σ. The average value x and the variance σ are calculated from the plurality of movement distances. The control device 10 calculates the test statistic G. The control device 10 determines that the movement distance r is an outlier in a case where the test statistic G exceeds 2.745. In the determination of outliers, in addition to the Grubbs test, a Thompson test can be used.

[0090] In a case where one joint body 50 is formed with a plurality of welds 53, the prescribed position and the prescribed posture are respectively set for each weld 53. Specifically, the control device 10, in a case where the correction process is performed on one weld 53 of the plurality of welds 53, refers to the result of the position adjustment related to the corresponding one weld 53 of the plurality of welds 53 in the other joint body 50 that has been performed in the past. The processing system 1 performs the above-described correction process using the results of the plurality of position adjustments.

[0091] Figure 5 is a flowchart of the process performed by the robot system of the embodiment.

[0092] For example, one joint body 50 is formed with y welds 53. The control device 10 refers to the result of the past position adjustment related to the x-th weld 53 (step S2). The initial value of x is set to 1 (step S1). The control device 10 extracts a plurality of movement amounts from the result of the reference (step S11). Hereafter, steps S12 to S14 are performed as with the above-described correction process. An inspection process is performed after the correction process (step S20).

[0093] After the inspection process, the control device 10 determines whether x and y are the same (step S3). That is, it is determined whether the correction process and the inspection process are performed for all of the y welds 53. In the case where x is smaller than y, the control device 10 adds 1 to x (step S4). Thereafter, step S2 is executed again.

[0094] In addition, the correction process related to the y welds 53 can be executed before the inspection process is executed for any one of the y welds 53. For example, the correction process related to the y welds 53 can be executed during a period in which the joint body 50 to be inspected is transported to the place of the robot 20. Thereby, the time required for the calculation process of the robot 20 can be shortened after the joint body 50 is transported.

[0095] (First Modified Example)

[0096] Figure 12 is a flowchart of the inspection process performed by the robot system of the first modified example of the embodiment.

[0097] Figure 12 The inspection process (step S20a) illustrated in Figure 12 The inspection process illustrated in

[0098] In the above inspection process, steps S33 to S37 can be executed before steps S23 to S27. Steps S24 to S27 and steps S34 to S37 can be executed in parallel based on the result of one probe.

[0099] Figure 13 is a schematic view of the detector.

[0100] The posture is, for example, the angle of the detector 22 with respect to the weld 53. Figure 13The direction D1 of the detector 22 shown corresponds to the direction of the arrangement of the plurality of detection elements 22a. The tilt angle is represented by the angle θx around the X direction and the angle θy around the Y direction between the direction D1 of the detector 22 and the normal direction D2 of the welded part 53.

[0101] express Figure 13 The angle of the posture shown may also be different from the angle in the robot coordinate system used in the teaching point. The control device 10 may also appropriately convert the angle representing the posture of the detector 22 into an angle in the robot coordinate system when setting the teaching point.

[0102] Figure 13 (a)~ Figure 13 (c) is an example of an image obtained during the inspection.

[0103] The method for calculating the tilt angle is explained. Figure 13 Image (a) is an image showing the intensity distribution of reflected waves in the XY plane near the weld 53. Figure 13 (b) is an image showing the intensity distribution of reflected waves in the YZ plane near the weld 53. Figure 13 Image (c) shows the intensity distribution of the reflected wave in the XZ plane near weld 53. Figure 14 (a)~ Figure 14 In each image of (c), brightness corresponds to the intensity of the reflected wave. That is, the brighter the color of a pixel, the higher the intensity of the reflected wave at that point.

[0104] like Figure 8 As shown in (b), the angle θx is calculated based on the detection results in the YZ plane. Figure 11 As shown in (c), the angle θy is calculated based on the detection results in the XZ plane. Specifically, the processing device 12 calculates the average value of the three-dimensional brightness gradient. The processing device 12 uses the average value of the gradient around the X direction as the angle θx. The processing device 12 uses the average value of the gradient around the Y direction as the angle θy.

[0105] Figure 15 This is a flowchart illustrating the processing performed by the robot system in the first variation of the implementation method.

[0106] Figure 15 The correction process shown (step S10a) and Figure 16 Compared to the correction process shown, it further includes steps S15 to S18.

[0107] The control device 10 extracts m rotation angles from the saved entire rotation angles of the past (step S15). m can also be the number of the entire movement distances of the past. m can also be set in advance. m can also be the same as n, the number of movement distances to be extracted. For example, m rotation angles are extracted in order from the rotation angles closer in time to the execution of the posture adjustment. The control device 10 calculates a reference angle using the extracted plurality of rotation angles (step S16). The reference angle is a value for determining the tendency of the rotation angle in the posture adjustment. For example, the reference angle is the average of the plurality of rotation angles. The reference angle can also be a predicted value based on the plurality of rotation angles. The predicted value can be obtained using an approximation formula, a Kalman filter, or a model (artificial intelligence) that represents the relationship between the number of times of execution of the inspection processing and the plurality of rotation angles.

[0108] The control device 10 compares the calculated reference angle with a threshold value (2nd threshold value) set in advance (step S17). In the case where the reference angle exceeds the threshold value, the control device 10 corrects the prescribed posture using at least a part of the plurality of rotation angles (step S18).

[0109] For example, the control device 10 calculates the average of the rotation angles around the X direction and the average of the rotation angles around the Y direction from the extracted plurality of rotation angles. The control device 10 rotates the prescribed posture around the X direction by the calculated average of the rotation angles around the X direction. The control device 10 rotates the prescribed posture around the Y direction by the calculated average of the rotation angles around the Y direction. The control device 10 can also calculate a predicted value from the plurality of rotation angles and rotate the prescribed posture by the predicted value. The control device 10 can also rotate the prescribed posture using the average or the predicted value obtained from a part of the plurality of rotation angles.

[0110] In the case where the reference angle is below the threshold value or after the correction of the prescribed posture, the inspection processing illustrated in FIG. 6 is executed. Figure 16

[0111] In order to further improve the inspection accuracy, the inclination angle of the detector 22 with respect to the weld 53 is preferably small. The smaller the inclination angle, the more easily the reflected wave from the weld 53 is detected by the detector 22. Thus, the inspection accuracy can be improved. In order to reduce the inclination angle, a method in which the posture adjustment is executed every time the probe is executed can be considered. However, according to this method, the time required for the inspection processing becomes longer.

[0112] ​According to the first modification, the processing system 1 calculates the reference angle using the rotation angles of the detector 22 in the past multiple posture adjustments. The processing system 1 corrects the prescribed posture using at least some of the multiple rotation angles in a case where the reference angle exceeds a threshold value set in advance. By using the multiple rotation angles, it is possible to reflect the tendency of the inclination angle of the weld 53 to change to the prescribed posture. Thereby, in the next inspection process, it is possible to expect an effect of reducing the inclination angle of the weld 53 with respect to the prescribed posture. That is, it is possible to reduce the possibility of requiring posture adjustment in the next inspection process. According to the first modification, it is possible to suppress the time required for the inspection process while further improving the inspection accuracy.

[0113] Further, by calculating the reference angle using the multiple rotation angles, it is possible to reflect the tendency of the inclination angle of the detector 22 to change to the prescribed posture. For example, even in a case where the deviation of the rotation angle is large, it is possible to reduce the influence of the deviation on the reference angle. It is possible to reduce the possibility of the prescribed posture being unnecessarily corrected or the prescribed posture being excessively corrected due to the deviation, and it is possible to more appropriately correct the prescribed posture.

[0114] When calculating the reference angle, it is preferable to exclude outliers from the extracted multiple rotation angles. When the reference angle is calculated using outliers, the reference angle is likely to become excessively large. Thereby, the prescribed posture is likely to be unnecessarily corrected or the prescribed posture is likely to be excessively corrected. By calculating the reference angle by excluding outliers, it is possible to more appropriately correct the prescribed posture. As described above, it is possible to determine outliers using a test statistic.

[0115] (Second Modification)

[0116] Figure 10 is a schematic view showing a transported joint body.

[0117] For example, as shown in Figure 17 , the transport device 30 transports the joint body 50 to a place where the robot 20 is provided. The joint body 50 includes multiple welds 53-1 to 53-7. The robot system 2 sequentially inspects each of the multiple welds 53-1 to 53-7.

[0118] The position at which the joint body 50 is stopped is set in advance. When the transport device 30 is stopped, the robot system 2 performs inspection on the joint body 50. It is preferable that the positioning accuracy of the transport device 30 be sufficiently high so that the detector 22 comes into contact with the weld 53 when set to the prescribed position and the prescribed posture. In a case where the positioning accuracy of the transport device 30 is not sufficiently high, the robot system 2 can also be configured to determine whether or not there is a positional deviation of the joint body 50.

[0119] As an example, in the inspection processing of two or more of the plurality of welds 53-1 to 53-7, the detector 22 is moved in the same direction when the position adjustment is performed. In this case, the control device 10 determines that a position shift of the joint body 50 has occurred in this direction. The control device 10 can also displace the position of the detector 22 by the position shift amount in the direction of the position shift with respect to the prescribed position of each of the welds 53 in the remaining inspection processing of the plurality of welds 53-1 to 53-7. The displacement of the position shift amount is performed only for the joint body 50 for which the position shift is detected.

[0120] For example, the control device 10 refers to the results of the above-described two or more position adjustments of the plurality of welds 53-1 to 53-7. The control device 10 averages the two or more displacement distances referred to. The control device 10 uses the average of the displacement distances as the position shift amount.

[0121] The robot system 2 can also include a sensor 31. The sensor 31 can also detect the position shift of the joint body 50. The sensor 31 includes at least one of an image sensor, a photoelectric sensor, a laser sensor, an ultrasonic sensor, and an infrared sensor.

[0122] In a case where the sensor 31 detects the position shift, the processing device 12 can also perform the following processing. After the inspection processing of the first weld 53 in one joint body 50 is completed, the control device 10 refers to the displacement distance of the position adjustment in this inspection processing (step S26). The control device 10 uses the referred displacement distance as the position shift amount. The control device 10 displaces the detector 22 by the referred displacement distance with respect to the prescribed position of the other welds 53 only for the inspection processing of this one joint body 50.

[0123] When the position shift of the joint body 50 is detected, the prescribed position is displaced by the position shift amount, whereby it is possible to shorten the time required for the inspection processing of this joint body 50.

[0124] Figure 17 is a flowchart of the processing performed by the robot system of the second modified example of the embodiment.

[0125] Figure 18 The flowchart illustrated in Figure 18 The flowchart illustrated in

[0126] The timing of steps S5 and S6 can be appropriately changed. For example, steps S5 and S6 can also be executed in the correction process or the inspection process.

[0127] In a case where the positional displacement is detected, the movement distance in the position adjustment is preferably saved in association with the data indicating that the positional displacement exists. The control device 10, when calculating the reference distance in the correction process later, excludes the movement distance related to the positional displacement from the plurality of movement distances extracted. In the correction process for the joint body 50 in which the position is displaced, the movement distance becomes larger than usual. When the reference distance is calculated using the movement distance related to the positional displacement, the reference distance easily exceeds the threshold value. It is possible to specify that the position is corrected unnecessarily. Furthermore, it is possible to specify that the position is corrected excessively. By excluding the movement distance related to the positional displacement, it is thus possible to correct the specified position more appropriately.

[0128] ​ is a schematic view of the configuration of another detector.

[0129] In the above, an example in which the coupling agent 55 is used when the probe is executed is described. If the propagation member that can be deformed in correspondence with the shape of the weld portion 53 is provided on the detector, the coupling agent 55 can be omitted.

[0130] ​ The detector 23 illustrated includes a first propagation member 22b1 and a second propagation member 22b2. The first propagation member 22b1 is attached to the housing 22c of the detector 23. The first propagation member 22b1 is capable of propagating an ultrasonic wave. For example, the first propagation member 22b1 is in contact with the plurality of detection elements 22a. Alternatively, another member capable of propagating an ultrasonic wave can be provided between the first propagation member 22b1 and the plurality of detection elements 22a.

[0131] The second propagation member 22b2 is attached to the first propagation member 22b1. The second propagation member 22b2 can be bonded to the first propagation member 22b1, or can be fixed with respect to the first propagation member 22b1 by a fixing tool not illustrated. The first propagation member 22b1 is located between the plurality of detection elements 22a and the second propagation member 22b2. The second propagation member 22b2 is capable of propagating an ultrasonic wave. The ultrasonic wave propagated in the first propagation member 22b1 is propagated in the second propagation member 22b2, and is transmitted to the outside of the detector 23.

[0132] The first propagation member 22b1 is a solid. The first propagation member 22b1 has a sufficient hardness so as not to substantially change at the time of the operation of the detector 22. The second propagation member 22b2 is a gel, not a liquid. The second propagation member 22b2 is softer than the first propagation member 22b1. That is, the hardness of the second propagation member 22b2 is smaller than the hardness of the first propagation member 22b1. Therefore, the second propagation member 22b2 is more easily deformed than the first propagation member 22b1. The first propagation member 22b1 has a sufficient softness so as to be able to deform according to the surface shape of the examination object at the time of the probe.

[0133] The first propagation member 22b1 and the second propagation member 22b2 include a resin. As a specific example, the first propagation member 22b1 contains acrylic acid. The second propagation member 22b2 contains segmented polyurethane. The acoustic impedance of a general steel plate used for joining is 4.5 x 10 7 (Pa s / m) or thereabout. The acoustic impedance of each of the first propagation member 22b1 and the second propagation member 22b2 is preferably greater than 1.0 x 10 5 (Pa s / m) and less than 1.0 x 10 8 (Pa s / m) so as to sufficiently propagate the ultrasonic wave between the detector 22 and the joining body 50. The acoustic impedance can be measured in accordance with JIS A1405-1 (ISO 10534-1).

[0134] ​ is a schematic diagram showing a hardware configuration.

[0135] The control device 10, the operation terminal 11, and the processing device 12, for example, respectively include ​ the configuration of the computer 90 shown in FIG. 8. The computer 90 includes a CPU 91, a ROM 92, a RAM 93, a storage device 94, an input interface 95, an output interface 96, and a communication interface 97.

[0136] The ROM 92 stores a program that controls the operation of the computer 90. In the ROM 92, a program necessary for the computer 90 to implement each of the above-described processes is stored. The RAM 93 functions as a storage area in which the program stored in the ROM 92 is developed.

[0137] The CPU 91 includes a processing circuit. The CPU 91 uses the RAM 93 as a work memory, and executes a program stored in at least any one of the ROM 92 or the storage device 94. In the execution of the program, the CPU 91 controls each of the configurations via a system bus 98, and executes various processes.

[0138] The storage device 94 stores data necessary for executing a program, and data obtained by executing a program.

[0139] An input interface (I / F) 95 connects the computer 90 with an input device 95a. The input I / F 95 is, for example, a serial bus interface such as USB. The CPU 91 can read various data from the input device 95a via the input I / F 95.

[0140] An output interface (I / F) 96 connects the computer 90 with an output device 96a. The output I / F 96 is, for example, an image output interface such as Digital Visual Interface (DVI), High-Definition Multimedia Interface (HDMI (registered trademark)). The CPU 91 can transmit data to the output device 96a via the output I / F 96, and cause the output device 96a to display an image.

[0141] A communication interface (I / F) 97 connects a server 97a outside the computer 90 with the computer 90. The communication I / F 97 is, for example, a network card such as a LAN card. The CPU 91 can read various data from the server 97a via the communication I / F 97.

[0142] The storage device 94 includes one or more selected from a Hard Disk Drive (HDD) and a Solid State Drive (SSD). The input device 95a includes one or more selected from a mouse, a keyboard, a microphone (sound input), and a touch panel. The output device 96a includes one or more selected from a monitor and a projector. A device having both the functions of the input device 95a and the output device 96a, such as a touch panel, can also be used.

[0143] Each function of the control device 10 and the processing device 12 can also be realized by cooperation of three or more computers. Each function of the control device 10 and the processing device 12 can also be realized by one computer. The subject of the above-described various processes can be appropriately changed between the control device 10 and the processing device 12.

[0144] The above-described various data processes can also be recorded as a program that can cause a computer to execute, in a magnetic disk (floppy disk and hard disk, etc.), an optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW, etc.), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0145] in a non-transitory computer-readable storage medium.

[0146] For example, information recorded in the recording medium can be read by a computer (or embedded system). In the recording medium, the recording form (storage form) is arbitrary. For example, the computer reads out a program from the recording medium, and causes a CPU to execute instructions described in the program based on the program. In the computer, the acquisition (or reading out) of the program can also be performed through a network.

[0147] According to the processing system, the robot system, the control device, the processing method, or the control method described above, it is possible to reduce the time required for the inspection processing while improving the inspection accuracy. Also, by using a program that causes a computer to execute the processing method or the control method, it is possible to reduce the time required for the inspection processing while improving the inspection accuracy.

[0148] The above-described embodiments are illustrative and do not restrict the scope of the application. The novel embodiments can be carried out in various other manners, and various omissions, substitutions, and changes can be made without departing from the spirit of the application. These embodiments and modifications thereof are included within the scope, spirit, and gist of the application, and are included in the scope of the application described in the patent claims and the scope equivalent thereto. Furthermore, the above-described embodiments can be combined with each other to be implemented.

[0149] The embodiments can also include the following aspects.

[0150] (Aspect 1)

[0151] A processing system,

[0152] A detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction is set at a prescribed position,

[0153] The detector performs an investigation of transmitting an ultrasonic wave to a welded portion of a joint and detecting a reflected wave,

[0154] Based on intensity data representing the intensity of the reflected wave obtained through the investigation, a center position of the welded portion in a first plane along the first direction and the second direction is calculated,

[0155] A position adjustment is performed in which the detector is moved along the first plane so that a distance between the center position and a position of the detector in the first plane is reduced,

[0156] In the processing system,

[0157] A reference distance is calculated using the moving distance of the detector in a plurality of the position adjustments in the past,

[0158] In a case where the reference distance exceeds the first threshold value, at least a part of the plurality of movement distances is used to correct the prescribed position.

[0159] (Scheme 2)

[0160] In the processing system described in Scheme 1,

[0161] The reference distance is an average of the plurality of movement distances or a predicted value based on the plurality of movement distances.

[0162] (Scheme 3)

[0163] In the processing system described in Scheme 1 or 2,

[0164] An outlier is excluded from the plurality of movement distances, and the remaining movement distances are used to calculate the reference distance.

[0165] (Scheme 4)

[0166] In the processing system described in any one of Schemes 1 to 3,

[0167] An outlier is excluded from the plurality of movement distances, and the remaining movement distances are used to calculate the reference distance.

[0168] (Scheme 5)

[0169] In the processing system described in any one of Schemes 1 to 4,

[0170] The setting of the prescribed position, the probing, and the position adjustment are performed for each of the plurality of welded portions in one bonding body,

[0171] In a case where a position shift of the one bonding body is detected, the prescribed position for at least a part of the plurality of welded portions is corrected according to the amount of the position shift.

[0172] (Scheme 6)

[0173] In the processing system described in any one of Schemes 1 to 5,

[0174] The detector is set to a prescribed posture,

[0175] Based on the intensity data, an inclination angle of the detector with respect to the welded portion is calculated,

[0176] A posture adjustment is performed to rotate the detector in such a way that the inclination angle is reduced.

[0177] (Scheme 7)

[0178] In the processing system described in Scheme 6,

[0179] Using the rotation angle of the detector in the plurality of the above posture adjustments in the past, a reference angle is calculated,

[0180] In a case where the above reference angle exceeds a second threshold value, at least a part of the plurality of the above rotation angles is used to correct the prescribed posture.

[0181] (Scheme 8)

[0182] In the processing system described in any one of Schemes 1 to 7,

[0183] The above strength data is used to inspect the weld.

[0184] (Scheme 9)

[0185] In the processing system described in any one of Schemes 1 to 8,

[0186] A center of gravity position of the strength in the above strength data is calculated as the above center position.

[0187] (Scheme 10)

[0188] A robot system comprising:

[0189] a robot including the above detector and a robot hand on which the above detector is mounted; and

[0190] the processing system described in any one of Schemes 1 to 9.

[0191] (Scheme 11)

[0192] A control device,

[0193] At a prescribed position, a detector is caused to perform, on a weld of a joint body, an investigation of transmission of an ultrasonic wave and detection of a reflected wave,

[0194] A position adjustment is performed in which, in a first plane in a two-dimensional arrangement direction of a plurality of detection elements included in the above detector, the above detector is moved so that a distance between a center position of the above weld calculated from a result of the above investigation and a position of the above detector is reduced,

[0195] In the above control device,

[0196] Before the above investigation, using a movement distance of the above detector in a plurality of the above position adjustments in the past, a reference distance is calculated,

[0197] In a case where the above reference distance exceeds a first threshold value, at least a part of the plurality of the above movement distances is used to correct the prescribed position.

[0198] (Scheme 12)

[0199] In the control device described in Scheme 11,

[0200] In the above investigation, intensity data indicating the intensity of the reflected wave is obtained,

[0201] The center position of the intensity in the intensity data is calculated as the center position.

[0202] (Scheme 13)

[0203] A processing method,

[0204] A detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction is set at a prescribed position,

[0205] The detector is caused to perform an investigation of transmitting an ultrasonic wave to a welded portion of a joint body and detecting a reflected wave,

[0206] Based on intensity data indicating the intensity of the reflected wave obtained by the investigation, a center position of the welded portion in a first plane along the first direction and the second direction is calculated,

[0207] A position adjustment is performed in which the detector is moved along the first plane so that a distance between the center position and a position of the detector in the first plane is reduced,

[0208] In the processing method described above,

[0209] A reference distance is calculated using the moving distance of the detector in a plurality of the above position adjustments in the past,

[0210] In a case where the reference distance exceeds a first threshold value, at least a part of the plurality of moving distances is used to correct the prescribed position.

[0211] (Scheme 14)

[0212] In the processing method described in Scheme 13,

[0213] An outlier is excluded from the plurality of moving distances, and the reference distance is calculated using the remaining moving distances.

[0214] (Scheme 15)

[0215] In the processing method described in Scheme 13 or 14,

[0216] The detector is set to a prescribed posture,

[0217] Based on the intensity data, a tilt angle of the detector with respect to the weld is calculated,

[0218] A posture adjustment is performed in which the detector is rotated to reduce the tilt angle.

[0219] (Scheme 16)

[0220] In the processing method described in Scheme 15,

[0221] Using the rotation angle of the detector in a plurality of the posture adjustments in the past, a reference angle is calculated,

[0222] In a case where the reference angle exceeds a second threshold value, at least some of the plurality of the rotation angles are used to correct the prescribed posture.

[0223] (Scheme 17)

[0224] In the processing method described in any one of Schemes 13 to 16,

[0225] A center of gravity position of the intensity in the intensity data is calculated as the center position.

[0226] (Scheme 18)

[0227] A control method causes a computer to perform the following actions:

[0228] At a prescribed position, a detector performs an investigation of transmitting an ultrasonic wave to a weld of a joint body and detecting a reflected wave,

[0229] A position adjustment is performed in which the detector is moved in a first plane along an arrangement direction of a plurality of detection elements included in the detector to reduce a distance between a center position of the weld and a position of the detector,

[0230] In the control method,

[0231] Before the investigation, a reference distance is calculated using a movement distance of the detector in a plurality of the position adjustments in the past,

[0232] In a case where the reference distance exceeds a first threshold value, at least some of the plurality of the movement distances are used to correct the prescribed position.

[0233] (Scheme 19)

[0234] A storage medium storing a computer to execute the processing method described in any one of Schemes 13 to 17 or the control method described in Scheme 18.

[0235] The above describes several embodiments of the present application, but these embodiments are presented as examples and are not intended to limit the scope of the application. These new embodiments can be implemented in other various ways, and various omissions, substitutions, and changes can be made without departing from the scope of the application. These embodiments and their modifications are included in the scope and spirit of the application, and are included in the scope of the application and equivalents thereof described in the patent claims. Furthermore, the above-described embodiments can be combined with each other to be implemented.

Claims

1. A processing system that sets a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction at a prescribed position, causes the detector to perform an investigation of transmitting an ultrasonic wave to a welded portion included in a joint and detecting a reflected wave from the welded portion, the welded portion including a solidified portion formed by solidification of molten metal, calculates a center position of the welded portion in a first plane along the first direction and the second direction based on intensity data representing intensity of the reflected wave obtained through the investigation, and performs a position adjustment of moving the detector along the first plane so as to reduce a distance between the center position and a position of the detector in the first plane, in the processing system, a reference distance is calculated using moving distances of the detector in a plurality of the position adjustments in the past, and the prescribed position is corrected using at least some of a plurality of the moving distances in a case where the reference distance exceeds a first threshold value.

2. The processing system of claim 1, wherein, The reference distance is an average of the plurality of moving distances or a predicted value based on the plurality of moving distances.

3. The processing system of claim 1 or 2, wherein, An outlier is excluded from the plurality of moving distances, and the reference distance is calculated using the remaining moving distances.

4. The processing system of claim 1 or 2, wherein, The moving distance of the position adjustment for the joint for which a positional deviation is detected is excluded from the plurality of moving distances, and the reference distance is calculated using the remaining moving distances.

5. The processing system of claim 1 or 2, wherein, The setting of the prescribed position, the investigation, and the position adjustment are performed for a plurality of the welded portions in one joint, and in a case where a positional deviation of the one joint is detected, the prescribed position for at least some of the plurality of welded portions is corrected in accordance with the amount of positional deviation.

6. The processing system of claim 1 or 2, wherein, The detector is set to a prescribed posture, a tilt angle of the detector with respect to the welded portion is calculated based on the intensity data, and a posture adjustment of rotating the detector so as to reduce the tilt angle is performed.

7. The processing system of claim 6, wherein, A reference angle is calculated using rotation angles of the detector in a plurality of the posture adjustments in the past, and the prescribed posture is corrected using at least some of a plurality of the rotation angles in a case where the reference angle exceeds a second threshold value.

8. The processing system of claim 1 or 2, wherein, The welded portion is inspected using the intensity data.

9. The processing system of claim 1 or 2, wherein, A center of gravity of intensity in the intensity data is calculated as the center position.

10. A robot system that includes the processing system according to claim 1 or 2 and a robot including the detector and a robot hand on which the detector is mounted.

11. A control device that, at a prescribed position, causes a detector to perform a probe of transmission of an ultrasonic wave and detection of a reflected wave on a weld portion in a bonded body, the weld portion including a solidified portion formed by solidification of molten metal, performs a position adjustment of moving the detector in a first plane along an arrangement direction of a plurality of detection elements included in the detector so as to reduce a distance between a center position of the weld portion calculated based on a result of the probe and a position of the detector, in the control device, a reference distance is calculated using moving distances of the detector in a plurality of the position adjustments in the past, before the probe, and the prescribed position is corrected using at least some of a plurality of the moving distances in a case where the reference distance exceeds a first threshold value.

12. The control device of claim 11, wherein, In the probe, intensity data indicating intensities of the reflected wave is acquired, and a barycentric position of the intensities in the intensity data is calculated as the center position.

13. A processing method that sets a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction at a prescribed position, causes the detector to perform a probe of transmission of an ultrasonic wave and detection of a reflected wave on a weld portion in a bonded body, the weld portion including a solidified portion formed by solidification of molten metal, calculates a center position of the weld portion in a first plane along the first direction and the second direction based on intensity data indicating intensities of the reflected wave obtained by the probe, and performs a position adjustment of moving the detector along the first plane so as to reduce a distance between the center position and a position of the detector in the first plane, in the processing method, a reference distance is calculated using moving distances of the detector in a plurality of the position adjustments in the past, and the prescribed position is corrected using at least some of a plurality of the moving distances in a case where the reference distance exceeds a first threshold value.

14. The treatment method of claim 13, wherein, An outlier is excluded from the plurality of the moving distances, and the reference distance is calculated using the remaining moving distances.

15. The treatment method according to claim 13 or 14, wherein, The detector is set to a prescribed posture, a tilt angle of the detector with respect to the weld portion is calculated based on the intensity data, and a posture adjustment of rotating the detector so as to reduce the tilt angle is performed.

16. The treatment method of claim 15, wherein, A reference angle is calculated using rotation angles of the detector in a plurality of the posture adjustments in the past, and the prescribed posture is corrected using at least some of a plurality of the rotation angles in a case where the reference angle exceeds a second threshold value.

17. The treatment method of claim 13 or 14, wherein, A barycentric position of the intensities in the intensity data is calculated as the center position.

18. A control method for causing a computer to execute an action of causing a detector to perform, at a prescribed position, an investigation of transmission of an ultrasonic wave and detection of a reflected wave with respect to a weld portion in a bonded body, the weld portion including a solidified portion formed by solidification of molten metal, and performing a position adjustment of moving the detector in a first plane along an arrangement direction of a plurality of detection elements included in the detector so as to reduce a distance between a center position of the weld portion and a position of the detector, in the control method, a reference distance is calculated using movement distances of the detector in a plurality of the position adjustments in the past, before the investigation, and in a case where the reference distance exceeds a first threshold value, the prescribed position is corrected using at least some of the plurality of the movement distances.

19. A storage medium, wherein, A program causing a computer to execute the processing method of claim 13 or the control method of claim 18 is stored.

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