Welding teaching system, welding teaching program generation device, welding program generation method, and generation program for welding program

Abstract

To correct a taught posture to a posture more appropriate to actual welding.SOLUTION: A welding teaching system is provided with: a marker installed in a controller teaching a teaching point for welding a real world work; and an MR device mounted by a worker and imaging the marker and the real world work. The MR device acquires a posture of the controller at the teaching point on the basis of the marker, generates a virtual welding torch having the acquired posture of the controller, and displays the generated virtual welding torch on the captured image capturing the real world work so as to be superimposed on each other.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a welding teaching system, a welding teaching program generation device, a welding program generation method, and a welding program generation program. [Background technology]

[0002] Patent Document 1 discloses a welding system including a welding robot equipped with a torch and a welding robot control program creation device. The welding system acquires position information of the welding start point and welding end point of welding on a workpiece, and posture information that can identify the posture of the torch relative to the welding line at a welding teaching point on the welding line connecting the welding start point and welding end point, creates a welding robot control program for welding from the welding start point to the welding end point based on the position information and posture information, and welds the workpiece based on the welding robot control program. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 251087 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure aims to provide a welding teaching system, a welding teaching program generation device, a welding program generation method, and a welding program generation program that correct a taught posture to a posture more suitable for actual welding. [Means for solving the problem]

[0005] The present disclosure provides a welding teaching system that includes a marker provided on a controller that teaches teaching points for welding a real-world workpiece, and an MR device that is worn by a worker and captures images of the marker and the real-world workpiece, wherein the MR device acquires the posture of the controller at the teaching point based on the marker, generates a virtual welding torch having the acquired posture of the controller, and displays the generated virtual welding torch superimposed on an image of the real-world workpiece.

[0006] The present disclosure also provides a welding instruction program generation device having at least one processor, wherein the welding instruction program is executed by a marker provided on a controller worn by a worker and instructing teaching points for welding a real-world workpiece and an MR device that images the real-world workpiece, and the device generates the welding instruction program to execute the following steps: acquiring the posture of the controller at the teaching point based on the marker; generating a virtual welding torch having the acquired posture of the controller; and superimposing and displaying the generated virtual welding torch on an image of the real-world workpiece.

[0007] The present disclosure also provides a method for generating a welding instruction program performed by an apparatus having at least one processor, wherein the welding instruction program is executed by a marker provided on a controller worn by an operator and instructing instruction points for welding a workpiece in the real world, and an MR device that images the workpiece in the real world, and the method generates the welding instruction program to execute the following steps: acquiring the posture of the controller at the instruction point based on the marker; generating a virtual welding torch having the acquired posture of the controller; and superimposing and displaying the generated virtual welding torch on an image of the workpiece in the real world.

[0008] The present disclosure also provides a welding teaching program executed by a marker provided on a controller worn by a worker and teaching teaching points for welding a workpiece in the real world, and an MR device that images the workpiece in the real world, the welding teaching program executing the steps of: acquiring the posture of the controller at the teaching point based on the marker; generating a virtual welding torch having the acquired posture of the controller; and superimposing and displaying the generated virtual welding torch on an image of the workpiece in the real world. [Effects of the Invention]

[0009] According to the present disclosure, the taught posture can be corrected to a posture more suitable for actual welding. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an example of a welding teaching system according to an embodiment. [Figure 2] FIG. 1 shows an example of the internal configuration of an MR device and a processing device. [Figure 3] Diagram showing the workpiece coordinate system, tool coordinate system, and robot coordinate system [Figure 4] A diagram for explaining an example of teaching points [Figure 5] FIG. 10 is a diagram illustrating an example of posture correction at a teaching point. [Figure 6] FIG. 10 is a diagram illustrating an example of posture correction at a teaching point. [Figure 7] 1 is a flowchart showing an example of an operation procedure of a processing device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] (Background to this disclosure) In recent years, a teaching method using virtual reality (VR) equipment has become available for teaching welding movements. Compared to using a conventional offline teaching system such as a teach pendant, this teaching method allows the operator to directly teach the teaching points, thereby shortening the time required to teach the teaching points. However, because this welding movement teaching method requires the operator to manually operate the welding, the welding torch posture may differ for each of the multiple teaching points taught to weld a single weld line. Therefore, the operator must use an offline teaching system or the like to correct the welding torch posture in the welding teaching program generated based on the teaching points, which is very time-consuming.

[0012] Therefore, in the following embodiments, a welding teaching system, a welding teaching program generating device, a welding program generating method, and a welding program generating program that correct a taught posture to a posture more suitable for welding will be described.

[0013] Hereinafter, with reference to the drawings as appropriate, detailed descriptions of embodiments specifically disclosing a welding teaching system, a welding teaching program generation device, a welding program generation method, and a welding program generation program according to the present disclosure will be provided. However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims.

[0014] <Welding system overview> First, a welding teaching system 100 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of welding teaching system 100 according to an embodiment. Note that welding teaching system 100 shown in Fig. 1 is an example and is not limited to this.

[0015] The welding teaching system 100 receives instruction of a teaching point for a real-world workpiece Wk using a teaching tool TL, which resembles a welding torch provided on a welding robot RB, and corrects the posture of the welding torch at the taught teaching point. The welding teaching system 100 supports the worker in teaching work by visualizing an image of the corrected welding torch posture superimposed on the workpiece Wk via an MR device DV. The welding teaching system 100 includes a teaching tool TL, an MR device DV, and a processing device P1. Note that if the MR device DV can realize the functions of the processing device P1, the processing device P1 may be omitted. Note that while this disclosure describes an example in which instruction of a teaching point for a real-world workpiece Wk is received, the workpiece Wk may also be a virtual workpiece Wk constructed based on a 3D model.

[0016] The teaching tool TL is held by the worker and receives instruction of a teaching point relative to the workpiece Wk, i.e., the position (three-dimensional) of the teaching point relative to the workpiece Wk, and the attitude (three-dimensional) of the welding torch at this teaching point. The teaching tool TL includes a marker Mk that is read by the MR device DV to enable detection of the position and attitude of the teaching tool TL, and a tip TC that resembles the tip of the welding torch. The teaching tool TL is connected to the MR device DV so as to be able to communicate wirelessly or via wire, and transmits information about the teaching point taught by the worker. Specifically, when the teaching tool TL receives a teaching operation from the worker, it calculates the position (three-dimensional) of the tip TC at the time the teaching operation was performed in a tool coordinate system O (described later). t The position (three-dimensional) of the teaching point is acquired and transmitted to the processing device P1.

[0017] The marker Mk is a hexahedron having a cubic shape, and has a two-dimensional code (e.g., a barcode, a QR code (registered trademark), etc.) on each surface that can be read by the MR device DV. The marker Mk makes it possible to read the orientation of the teaching tool TL based on the appearance of the two-dimensional code on each surface. The orientation of the teaching tool TL read by the marker Mk is determined in a tool coordinate system O that is set for the teaching tool TL.t (See Figure 3) This is information on the tilt angle, forward / backward lead angle, and twist angle of the teaching tool TL (welding torch) above.

[0018] The MR device DV is a so-called head-mounted display, and is connected to the teaching tool TL and the processing device P1 so that data can be communicated between them. The MR device DV is worn on the head of the worker. The MR device DV displays an image of a workpiece Wk in the real world captured by the camera 15, superimposed on the image of the virtual production equipment (e.g., a welding torch or a jig at each teaching point) constructed based on a 3D model.

[0019] The MR device DV recognizes the position (three-dimensional) and orientation (three-dimensional) of the marker Mk by reading the two-dimensional code provided on each surface of the marker Mk of the teaching tool TL. The MR device DV acquires information on the position (three-dimensional) and orientation (three-dimensional) of the teaching tool TL based on the position and orientation of the marker Mk and the relative position between the marker Mk and the tip part TC that is set in advance.

[0020] In addition, the MR device DV superimposes and displays a virtual welding torch, constructed based on a 3D model and with a corrected posture, on an image of the real-world workpiece Wk captured by the camera 15 based on the posture (corrected) of the welding torch at the teaching point transmitted from the processing device P1.

[0021] The processing device P1 is connected to the MR device DV so that data communication can be performed between the processing device P1 and the MR device DV. The processing device P1 acquires the position (three-dimensional) and orientation (three-dimensional) of the teaching point transmitted from the MR device DV, and information on the plane of the workpiece Wk. Based on the information on the plane of the workpiece Wk, the processing device P1 determines the orientation of the workpiece Wk (in the workpiece coordinate system O, which will be described later). w The processing device P1 corrects the orientation of the acquired teaching point to an orientation set in advance.

[0022] After the teaching is completed, the processing device P1 converts the position and posture (corrected) of the taught teaching point into the robot coordinate system O set in the welding robot RB that welds the workpiece Wk. r The welding robot RB is then converted into the above position and posture and sent to a robot controller (not shown) that controls the welding robot RB, thereby teaching the welding to be performed on the workpiece Wk.

[0023] Next, an example of the internal configuration of the MR device DV and the processing device P1 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the internal configuration of the MR device DV and the processing device P1.

[0024] The MR device DV includes a communication unit 10, a processor 11, a memory 12, a display unit 13, a depth sensor 14, and a camera 15.

[0025] The communication unit 10 is connected to the teaching tool TL and the processing device P1 so as to be able to communicate wirelessly or via wires, and transmits and receives data. The communication unit 10 outputs various data transmitted from the teaching tool TL and the processing device P1 to the processor 11. The communication unit 10 transmits various data output from the processor 11 to the processing device P1. The wireless communication here refers to communication via a wireless local area network (LAN) such as Wi-Fi (registered trademark). When the processing device P1 is omitted from the welding teaching system 100, the communication unit 10 is connected to the robot controller so as to be able to communicate data.

[0026] Processor 11 is configured using, for example, a central processing unit (hereinafter referred to as "CPU") or a field programmable gate array (hereinafter referred to as "FPGA"), and performs various processes and controls in cooperation with memory 12. Specifically, processor 11 references the programs and data stored in memory 12 and executes the programs to realize various functions for generating a welding teaching program. Note that when processing device P1 is omitted from welding teaching system 100, processor 11 is configured to be able to realize functions similar to those of processor 21 of processing device P1.

[0027] The processor 11 recognizes and acquires the position and posture of the teaching tool TL based on the marker Mk captured by the camera 15. The processor 11 also acquires information about the plane of the workpiece Wk based on the detection result output from the depth sensor 14.

[0028] The memory 12 includes, for example, a random access memory (hereinafter referred to as "RAM") as a work memory used when executing each process of the processor 11, and a read only memory (hereinafter referred to as "ROM") that stores programs and data that define the operations of the processor 11. The RAM temporarily stores data or information generated or acquired by the processor 11. The ROM stores programs that define the operations of the processor 11.

[0029] Display unit 13 is configured using, for example, a Liquid Crystal Display (LCD) or an organic electroluminescence (EL). Display unit 13 displays image data output from processor 11. Display unit 13 realizes mixed reality by displaying, for example, an image of a virtual space in which virtual production equipment (e.g., a workpiece Wk, a virtual welding torch VTA, a virtual welding robot, a virtual jig, or the surrounding environment where welding is performed) generated by processor 11 is superimposed on an image of the real world captured by camera 15. Note that the image data referred to here is, for example, an image (hereinafter sometimes referred to as a "screen") in which a virtual welding torch is superimposed on an image captured by camera 15.

[0030] The depth sensor 14 is a sensor that detects the plane of the workpiece Wk. In the example shown in Fig. 4, the depth sensor 14 recognizes each of the two planes (planes SF1 and SF2) of the workpiece Wk that are to be welded using the taught teaching points, and acquires plane information of the detected workpiece Wk. The depth sensor 14 outputs the information about the plane of the workpiece Wk to the communication unit 10, which then transmits it to the processing device P1.

[0031] The plane of the workpiece Wk may be recognized by a device other than the depth sensor 14 provided in the MR device DV. The plane of the workpiece Wk may be recognized by any device capable of acquiring the shape of the workpiece Wk, and may be realized by, for example, another depth sensor (not shown), or multiple cameras (not shown) installed so as to be able to capture the image of the workpiece Wk, or may be realized by a depth sensor and a camera.

[0032] The camera 15 captures an image of an area corresponding to the field of view of the worker wearing the MR device DV. The camera 15 outputs the captured image to the processor 11.

[0033] The processing device P1 includes a communication unit 20, a processor 21, and a memory 22.

[0034] The communication unit 20 is connected to the MR device DV so as to be able to communicate wirelessly or via wired communication, and transmits and receives data. The communication unit 20 outputs various data transmitted from the MR device DV to the processor 21. The communication unit 20 transmits various data output from the processor 21 to the MR device DV or the robot controller. The wireless communication here refers to communication via a wireless local area network (LAN) such as Wi-Fi (registered trademark).

[0035] Processor 21 is configured using, for example, a CPU or FPGA, and performs various processes and controls in cooperation with memory 22. Specifically, processor 21 references the programs and data stored in memory 22 and executes the programs to realize various functions for generating a welding teaching program.

[0036] The memory 22 has, for example, a RAM as a work memory used when executing each process of the processor 21, and a ROM for storing programs and data that define the operations of the processor 21. The RAM temporarily stores data or information generated or acquired by the processor 21. The ROM stores programs that define the operations of the processor 21. The memory 22 is configured to store a work coordinate system O, which will be described later. w , tool coordinate system O t , and the robot coordinate system O r The memory 22 may store the above information. The memory 22 also stores correction information for correcting the posture of the teaching point taught by the teaching tool TL to a posture suitable for welding.

[0037] The correction information here refers to information for correcting the tilt angle, front / rear lead angle, or twist angle acquired as the posture of the welding torch at the teaching point to a preset optimal posture (angle), and is set in advance by the operator. The correction information includes information on the optimal posture (optimal angle) of the tilt angle, front / rear lead angle, or twist angle adjusted in the correction process. The correction information may be set for any one of the tilt angle, front / rear lead angle, and twist angle, or may be set for all of them.

[0038] <Coordinate system explanation> Next, referring to Figure 3, the workpiece coordinate system O w , tool coordinate system O t , and the robot coordinate system O r Each of these will be explained. Figure 3 shows the work coordinate system O w , tool coordinate system O t , and the robot coordinate system O r FIG.

[0039] Work coordinate system O w is a three-dimensional coordinate system for defining the relative position and orientation with respect to the workpiece Wk. First, the processing device P1 calculates the intersection line between the two planes SF1 and SF2 based on the two planes SF1 and SF2 of the workpiece Wk recognized by the MR device DV. yw The processing device P1 is defined as e yw Based on the axis, on a plane close to the horizontal plane (the surface of the Earth) based on the global coordinate system, e yw perpendicular to the axis e xw Define the axes and yw axis and e xw The vertical direction is defined by the horizontal axis. zw Define the axis.

[0040] The twist angle is e xw The angle of the welding torch is defined as the axis of rotation. yw The welding torch position (angle) is defined with the axis as the center of rotation. The forward / backward advance angle is e zwThis is the orientation (angle) of the welding torch defined around the axis.

[0041] Tool coordinate system t is a three-dimensional coordinate system set based on the tip TC of the teaching tool TL. t can be obtained based on the pose of the marker Mk.

[0042] e xt The axis is the axis in the direction in which the tip TC of the teaching tool TL faces. yt The axis is the axis along the intersection line of two planes SF1 and SF2 of the workpiece Wk. The tilt angle of the welding torch is e yt The welding torch position (angle) is defined with the axis as the center of rotation. zt The axis is an axis for defining the forward and backward advance angle of the welding torch.

[0043] Robot coordinate system O r is a three-dimensional coordinate system for defining the relative position of the robot RB. r is e xr axis and e yr The horizontal direction of the welding robot RB (the installation surface on which the welding robot RB is installed) is defined by the axis, and the e zr The processing device P1 defines the vertical direction of the welding robot RB by the axis. r Get information about.

[0044] Here, the workpiece coordinate system O w The orientation of the teaching tool TL on the robot coordinate system O r The following describes the transformation method for converting the orientation into the above. In the following explanation, the work coordinate system O w and the robot coordinate system O r The rotation between zw axis,e zr Although an example of rotation around only one axis will be described, similar conversion is possible when there is rotation around other axes.

[0045] (Equation 1) is the workpiece coordinate system O w and the tool coordinate system O t Based on the workpiece coordinate system O w The position and orientation of the teaching point on the tool coordinate system O t Here, the tool coordinate system O t is the workpiece coordinate system O as shown in Figure 3. w e yw This is a coordinate system that rotates around the axis and translates it. Note that the orientation of the teaching tool TL to be taught is set to a forward / rearward advance angle of 0 (zero) degrees.

[0046]

number

[0047] Here, the angle α is e xt axis and e xw The angle between the vector O and the axis is w O t is the workpiece coordinate system O w and the origin of the tool coordinate system O t This indicates the three-dimensional distance between the origin of the

[0048] (Equation 2) is the workpiece coordinate system O w and the robot coordinate system O r Based on the workpiece coordinate system O w The position and orientation of the teaching point on the robot coordinate system O r Here, the robot coordinate system O r is the workpiece coordinate system O w e zw It is a coordinate system that rotates around an axis and translates it.

[0049]

number

[0050] Here, the angle β is e xt axis and e xrThe angle between the vector O and the axis is w O r is the workpiece coordinate system O w and the origin of the robot coordinate system O r This indicates the three-dimensional distance between the origin of the

[0051] From the above (Equation 1) and (Equation 2), the processing device P1 calculates the tool coordinate system O by using the following (Equation 3). t The position and orientation of the teaching point on the robot coordinate system O r It can be transformed into the above position and posture.

[0052]

number

[0053] This allows the processing device P1 to convert the position and posture of the teaching point taught by the teaching tool TL into the position and posture of the teaching point to be taught to the welding robot RB.

[0054] <Teaching points> Next, a teaching example of teaching points WP1 and WP2 using the teaching tool TL will be described with reference to Fig. 4. Fig. 4 is a diagram for explaining a teaching example of teaching points WP1 and WP2.

[0055] The virtual welding torch TLA shown in Fig. 4 is constructed by the MR device DV and is displayed on the display unit 13. The virtual welding torch TLA is constructed based on the position and orientation of the teaching point, and is visualized by being superimposed on a captured image of the real world.

[0056] 4, the workpiece Wk has two planes SF1 and SF2 to be welded with a weld line taught by a teaching tool TL in the real world. Plane SF2 is disposed perpendicular to plane SF1. The worker teaches teaching point WP1, which is the welding start point, and teaching point WP2, which is the welding end point, while viewing the workpiece Wk existing in the real world and the virtual welding torch TLA displayed on display 13 of the MR device DV, which reflects the position and posture of the teaching tool TL.

[0057] Next, an example of correcting the posture at the teaching points WP1 and WP2 will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a diagram illustrating an example of correcting the posture at the teaching point WP1. Fig. 6 is a diagram illustrating an example of correcting the posture at the teaching point WP2.

[0058] The MR device DV constructs a virtual welding torch TL11 corresponding to the position and orientation of the teaching tool TL based on the position and orientation of the teaching tool TL recognized based on the position and orientation of the marker Mk. The MR device DV generates an image in which the virtual welding torch TL11 is superimposed on an image captured by the camera 15, and displays the image on the display unit 13. As shown in FIG. 5, the screen viewed by the worker through the MR device DV is generated to include at least the workpiece Wk to be welded and the virtual welding torch TL11. Note that the screen may be generated to include real-world production equipment (e.g., a jig, etc.) or virtual production equipment constructed based on a 3D model.

[0059] The worker performs the work of teaching the teaching point while viewing the screen displayed on the display unit 13. The worker presses the tip TC of the teaching tool TL against the position of the welding start point (teaching point WP1) on the real world or virtual workpiece Wk. The worker teaches the welding start point (teaching point WP1) by pressing an operation button (not shown) of the teaching tool TL while the tip TC of the teaching tool TL is in contact with the welding start point (teaching point WP1) on the workpiece Wk. The operation button (not shown) of the teaching tool TL may be a physical button or a virtual button displayed on the display unit 13.

[0060] The MR device DV acquires the position of the tip TC and the attitude of the teaching tool TL based on the position and attitude of the marker Mk at the timing when an operation button (not shown) is pressed. The MR device DV acquires the acquired position of the tip TC as the position of the welding start point (teaching point WP1) of the workpiece Wk. The MR device DV also acquires the acquired attitude information of the teaching tool TL as information on the attitude of the welding torch at the welding start point (teaching point WP1) of the workpiece Wk. The MR device DV transmits information on the position and attitude of the welding torch at the welding start point (teaching point WP1) to the processing device P1. Note that the example shown in FIG. 5 illustrates an example in which the teaching tool TL (a virtual welding torch TL11 before attitude correction) has a tilt angle of θ11.

[0061] The processing device P1 corrects the acquired orientation of the teaching point (tilt angle = θ11) to a predetermined ideal angle (tilt angle = θ1A) that has been set in advance. The processing device P1 transmits information on the position and orientation of the teaching point WP1 after the correction to the MR device DV.

[0062] The MR device DV constructs a virtual welding torch TL11A based on the information on the position and posture of the teaching tool TL at the corrected teaching point WP1. The MR device DV deletes the currently displayed virtual welding torch TL11 before correcting the posture, and generates an image in which the virtual welding torch TL11A after the posture correction is superimposed on the captured image captured by the camera 15, and displays the image on the display unit 13.

[0063] 5 shows the position and posture of the teaching tool TL that has been retracted from the teaching point WP1 after teaching the welding start point (teaching point WP1). The method for calculating the position and posture of the virtual welding torch TL12 is the same as the method for calculating the position and posture of the teaching tool TL at the teaching point WP1, and therefore a description thereof will be omitted.

[0064] The worker presses the tip TC of the teaching tool TL against the position of the welding end point (teaching point WP2) on the real or virtual workpiece Wk. With the tip TC of the teaching tool TL in contact with the welding end point (teaching point WP2) on the workpiece Wk, the worker teaches the welding end point (teaching point WP2) by pressing an operation button (not shown) of the teaching tool TL.

[0065] The MR device DV acquires the position of the tip TC and the attitude of the teaching tool TL based on the position and attitude of the marker Mk at the timing when an operation button (not shown) is pressed. The MR device DV acquires the acquired position of the tip TC as the position of the welding end point (teaching point WP2) of the workpiece Wk. The MR device DV also acquires the acquired attitude information of the teaching tool TL as attitude information of the welding end point (teaching point WP2) of the workpiece Wk. The MR device DV transmits information on the position and attitude of the teaching point at the welding end point (teaching point WP2) to the processing device P1. Note that the example shown in FIG. 6 illustrates an example in which the teaching tool TL (a virtual welding torch TL13 before attitude correction) has a tilt angle of θ13.

[0066] The processing device P1 corrects the acquired orientation of the teaching point (tilt angle = θ13) to a predetermined ideal angle (tilt angle = θ3A) that has been set in advance. The processing device P1 transmits information on the position and orientation of the teaching point WP2 after the correction to the MR device DV.

[0067] The MR device DV constructs a virtual welding torch TL13A based on the information on the position and posture of the teaching tool TL at the corrected teaching point WP2. The MR device DV deletes the currently displayed virtual welding torch TL13 before correcting the posture, and generates an image in which the virtual welding torch TL13A after the posture correction is superimposed on the captured image captured by the camera 15, and displays the image on the display unit 13.

[0068] As described above, welding teaching system 100 according to the embodiment can correct the posture of taught teaching points WP1 and WP2 in real time during the teaching work of the worker. Welding teaching system 100 constructs virtual welding torches TL11A and TL13A after the posture correction and visualizes them by superimposing them on a captured image of the real world. In this way, welding teaching system 100 corrects the posture of the welding torch (teaching tool TL) at the teaching points to a posture more suitable for welding and visualizes it in real time, thereby improving the efficiency of the worker's confirmation of the taught position and posture.

[0069] Although not shown here, the teaching tool TL may accept an operation to cancel the registration of a registered teaching point when the worker desires to correct the position or posture of the teaching point based on the positions and postures of the virtual welding torches TL11A and TL13A, thereby enabling the worker to re-register the teaching point more efficiently in a shorter time.

[0070] Also, although not shown here, if the correction process for the posture of the teaching point is omitted, the display unit 13 of the MR device DV will continue to display a virtual welding torch TL11 in the same posture as the posture of the teaching tool TL that taught the teaching point.

[0071] Next, an example of an operation procedure of the processing device P1 will be described with reference to Fig. 7. Fig. 7 is a flowchart showing an example of an operation procedure of the processing device P1 in the embodiment. Note that, although the operation procedure shown in Fig. 7 will be described as an example executed by the processing device P1, it may also be executed by the MR device DV.

[0072] The processing device P1 receives a setting operation for correction setting by the operator to correct the attitude of the teaching point, and determines whether the correction setting is valid (St11).

[0073] When the processing device P1 determines that the correction setting is valid (St11, YES), it accepts the registration of the teaching point using the teaching tool TL (St12). Note that the registration here refers to the teaching of the teaching point based on the pressing operation of the operation button (not shown) of the teaching tool TL.

[0074] The processing device P1 is configured to calculate the robot coordinate system O of the welding robot to be taught. r The robot coordinate system O r This information may be obtained from the robot controller or may be recorded in the memory 22 in advance.

[0075] The processing device P1 acquires information on the position (three-dimensional) and orientation (three-dimensional) of the teaching point transmitted from the MR device DV (St14). The processing device P1 also acquires information on the planes SF1 and SF2 of the workpiece Wk detected by the MR device DV, and calculates and acquires the orientations of the planes SF1 and SF2 based on the acquired information on the planes SF1 and SF2 (St15). The processing device P1 calculates and acquires the orientations of the workpiece Wk in the workpiece coordinate system O based on the acquired orientations of the planes SF1 and SF2 of the workpiece Wk. w Here, the plane acquired by the MR device DV may be at least one plane that the workpiece Wk has.

[0076] The processing device P1 determines the orientation of the acquired planes SF1 and SF2, that is, the workpiece coordinate system O w Based on this, the processing device P1 calculates the welding torch posture suitable for welding this workpiece Wk, that is, the corrected welding torch posture (St16). t The position and orientation of the teaching point in the work coordinate system O wThe posture at the teaching point after conversion is corrected to a welding torch posture suitable for welding this workpiece Wk.

[0077] The processing device P1 is a workpiece coordinate system O after correcting the posture. w The position and orientation of the teaching point in the robot coordinate system O is converted into the robot coordinate system O using the conversion formula shown in (Formula 3) above. r Transform it into the above position and posture (St17).

[0078] The processing device P1 transmits information about the corrected posture to the MR device DV. The processing device P1 causes the MR device DV to generate a virtual welding torch (for example, virtual welding torches TL11A and TL13A shown in FIGS. 5 and 6) in the corrected posture (proposed posture) based on the taught position and the corrected posture (proposed posture), and generates a screen including the generated virtual welding torch and causes the display unit 13 to virtually display it (St18).

[0079] When the processing device P1 determines that the correction setting is not valid (St11, NO), it accepts the registration of the teaching point using the teaching tool TL (St19).

[0080] The processing device P1 is configured to calculate the robot coordinate system O of the welding robot to be taught. r The processing device P1 acquires information about the planes SF1 and SF2 of the workpiece Wk detected by the MR device DV, and calculates and acquires the orientations of the planes SF1 and SF2 based on the acquired information about the planes SF1 and SF2 (St21). The processing device P1 calculates and acquires the orientations of the planes SF1 and SF2 of the workpiece Wk based on the acquired orientations of the planes SF1 and SF2 of the workpiece Wk in the workpiece coordinate system O. w Define and obtain (St22).

[0081] The processing device P1 is based on the tool coordinate system O t The position and orientation of the teaching point in the work coordinate system O w The position and orientation of the teaching point in the work coordinate system O wThe position and orientation of the teaching point in the robot coordinate system O is converted into the robot coordinate system O using the conversion formula shown in (Formula 3) above. r Transform it into the above position and posture (St23).

[0082] The processing device P1 causes the MR device DV to generate a virtual welding torch based on the taught position and posture, and generates a screen including the generated virtual welding torch and virtually displays it on the display unit 13 (St24).

[0083] As described above, welding teaching system 100 according to the embodiment can correct the posture of a taught teaching point in real time during the teaching work of the teaching point by the worker. Furthermore, welding teaching system 100 can visualize the position and posture of the teaching point relative to workpiece Wk by constructing a virtual welding torch TLA with the posture corrected and superimposing it on a captured image of the real world. This allows welding teaching system 100 to support the teaching work of the teaching point by the worker.

[0084] (Addendum) The above description of each embodiment discloses the following techniques.

[0085] (Technology 1) A marker Mk provided on a controller (teaching tool TL) that teaches teaching points WP1 and WP2 for welding a workpiece Wk in the real world; A welding teaching system 100 including an MR device DV that is worn by a worker and captures an image of the marker Mk and the workpiece Wk in the real world, The MR device DV is The posture of the controller (teaching tool TL) at the teaching points WP1 and WP2 is acquired based on the marker Mk; Generate a virtual welding torch TLA having the acquired posture of the controller (teaching tool TL); The generated virtual welding torch TLA is superimposed and displayed on a captured image of the workpiece Wk in the real world. Welding teaching system 100. As a result, welding teaching system 100 generates a virtual welding torch TLA corresponding to the posture of the teaching point taught by the worker using the teaching tool TL during the worker's teaching work of the teaching point, and can visualize an image in which the generated virtual welding torch TLA is superimposed on the real-world workpiece Wk. In other words, the worker can visually confirm in real time the posture of the welding torch at the teaching point taught by the worker himself / herself by using the virtual welding torch TLA superimposed on the captured image. Therefore, by visually confirming the posture of the virtual welding torch and checking in real time whether the posture taught by the worker himself / herself is suitable for welding, the worker can quickly determine whether the teaching point needs to be re-taught. Therefore, welding teaching system 100 can support the worker's teaching work of the teaching point.

[0086] (Technology 2) The MR device DV is The virtual welding torch TL11A that welds the teaching point WP1 is superimposed and displayed on the captured image. A welding teaching system 100 as described in (Technology 1). As a result, welding teaching system 100 can generate an image in which a virtual welding torch corresponding to the posture of teaching tool TL at the time the teaching point was taught is superimposed so that the tip of virtual welding torch TL11A (corresponding to tip TC of teaching tool TL) welds teaching point WP1 on workpiece Wk in the real world. In other words, the worker can visually confirm the posture of the welding torch when welding workpiece Wk in the real world using the teaching results (position and posture) taught by the worker himself. Therefore, welding teaching system 100 can assist the worker in teaching the teaching point.

[0087] (Technology 3) The MR device DV is acquiring the attitude of the controller (teaching tool TL) at each of the plurality of teaching points WP1 and WP2; Generate virtual welding torches TL11A and TL13A corresponding to the plurality of teaching points WP1 and WP2, respectively; The plurality of virtual welding torches TL11A, TL13A that weld the plurality of teaching points WP1, WP2, respectively, are displayed superimposed on the captured image. The welding teaching system 100 according to (Technology 1) or (Technology 2). As a result, even when multiple teaching points WP1 and WP2 have been taught, welding teaching system 100 can generate an image in which virtual welding torches corresponding to the posture of the teaching tool TL at the time when each teaching point WP1 and WP2 was taught are superimposed so that the tips of the virtual welding torches TL11A and TL13A (corresponding to the tip TC of the teaching tool TL) weld the teaching points on the real-world workpiece Wk. In other words, even when there are multiple teaching points taught by the worker himself, the worker can visually recognize the posture of the welding torch at each teaching point when welding the real-world workpiece Wk. Therefore, welding teaching system 100 can assist the worker in teaching the teaching points.

[0088] (Technology 4) The MR device DV is At least one plane SF1, SF2 of the workpiece Wk is read, and the coordinate system of the workpiece Wk (workpiece coordinate system O w ) and The coordinate system of the workpiece Wk (workpiece coordinate system O w ) and calculate and acquire the attitude of the controller (teaching tool TL) at the teaching point WP1. The welding teaching system 100 according to any one of (Technology 1) to (Technology 3). As a result, the welding teaching system 100 can calculate the workpiece coordinate system O of the workpiece Wk. w Define this work coordinate system O w The posture of the teaching tool TL relative to the object can be calculated.

[0089] (Technology 5) The MR device DV is The coordinate system of the workpiece Wk (workpiece coordinate system O w ), correcting the attitude of the controller (teaching tool TL) based on the The virtual welding torches TL11A and TL13A are generated based on the corrected posture of the controller (teaching tool TL). A welding teaching system 100 described in (Technology 4). As a result, welding teaching system 100 can assist in the posture correction work by correcting the posture of the welding torch taught using teaching tool TL to a posture more suitable for welding workpiece Wk. Welding teaching system 100 generates virtual welding torches TL11A, TL13A corresponding to the corrected posture, thereby visualizing the virtual welding torches TL11A, TL13A after the posture has been corrected. Therefore, by visually checking the virtual welding torches TL11A, TL13A having the corrected posture, the worker can easily confirm whether the teaching result is what the worker desires.

[0090] (Technology 6) The MR device DV is When the attitude of the controller (teaching tool TL) is corrected, the virtual welding torches TL11A and TL13A for the attitude of the controller (teaching tool TL) before correction are deleted; The virtual welding torches TL11A and TL13A based on the corrected posture of the controller (teaching tool TL) are displayed by superimposing the virtual welding torches TL11A and TL13A welding the teaching points WP1 and WP2 on the captured image. and displaying the teaching points WP1 and WP2 superimposed thereon. A welding teaching system 100 described in (Technology 5). This allows welding teaching system 100 to make it easier to visually recognize the virtual welding torches TL11A and TL13A corresponding to the corrected postures.

[0091] (Technology 7) A welding teaching program generation device (processing device P1) having at least one processor 11, the welding teaching program is executed by a marker Mk provided in a controller (teaching tool TL) that is worn by a worker and that teaches teaching points WP1 and WP2 for welding a workpiece Wk in the real world, and an MR device DV that captures an image of the workpiece Wk in the real world; acquiring the attitude of the controller (teaching tool TL) at the teaching points WP1 and WP2 based on the marker Mk; generating virtual welding torches TL11A and TL13A having the acquired posture of the controller (teaching tool TL); and displaying the generated virtual welding torches TL11A and TL13A superimposed on a captured image of the workpiece Wk in the real world. A welding teaching program generation device (processing device P1). As a result, the welding instruction program generation device (processing device P1) can generate a welding instruction program that supports the worker in his teaching work by generating a virtual welding torch TLA corresponding to the posture of the teaching point taught using the teaching tool TL during the worker's teaching work of the teaching point, and visualizing to the worker an image in which the virtual welding torch TLA generated on the real-world workpiece Wk is superimposed.

[0092] (Technology 8) A method for generating a welding teaching program performed by a device (processing device P1) having at least one processor 11, the welding teaching program is executed by a marker Mk provided in a controller (teaching tool TL) that is worn by a worker and that teaches teaching points WP1 and WP2 for welding a workpiece Wk in the real world, and an MR device DV that captures an image of the workpiece Wk in the real world; acquiring the attitude of the controller (teaching tool TL) at the teaching points WP1 and WP2 based on the marker Mk; generating virtual welding torches TL11A and TL13A having the acquired posture of the controller (teaching tool TL); and displaying the generated virtual welding torches TL11A and TL13A superimposed on a captured image of the workpiece Wk in the real world. A method for generating a welding teaching program. As a result, the device (processing device P1) can generate a welding teaching program that assists the worker in teaching the teaching point by generating a virtual welding torch TLA corresponding to the posture of the teaching point taught using the teaching tool TL and visualizing to the worker an image in which the virtual welding torch TLA generated on the real-world workpiece Wk is superimposed.

[0093] (Technology 9) A welding teaching program executed by a marker Mk provided in a controller (teaching tool TL) that is worn by a worker and that teaches teaching points WP1 and WP2 for welding a workpiece Wk in the real world, and an MR device DV that captures an image of the workpiece Wk in the real world, acquiring the attitude of the controller (teaching tool TL) at the teaching points WP1 and WP2 based on the marker Mk; generating virtual welding torches TL11A and TL13A having the acquired posture of the controller (teaching tool TL); and displaying the generated virtual welding torches TL11A and TL13A superimposed on a captured image of the workpiece Wk in the real world. Welding teaching program. As a result, the welding teaching program can assist the worker in teaching the teaching point by generating a virtual welding torch TLA corresponding to the posture of the teaching point taught using the teaching tool TL, and visualizing to the worker an image in which the virtual welding torch TLA generated on the real-world workpiece Wk is superimposed.

[0094] The welding system, welding robot control program creation device, welding robot control program creation method, and welding robot control program creation program according to the present disclosure have been described above with reference to the drawings. However, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0095] The present disclosure is useful as a welding teaching system, a welding teaching program generating device, a welding program generating method, and a welding program generating program that correct a taught posture to a posture more suitable for actual welding. [Explanation of symbols]

[0096] 10,20 Communications Department 11,21 processor 12,22 memory 13 Display section 14 Depth Sensor 15 Camera 100 Welding Teaching System DV MR device Mk Marker O r Robot Coordinate System O t Tool coordinate system O w Work coordinate system P1 Processing Unit RB welding robot SF1,SF2 plane TC tip TL Teaching Tool TL11, TL11A, TL12, TL13, TL13A, TLA Virtual welding torch Wk Work WP1, WP2 teaching points

Claims

1. a marker provided in a controller that teaches teaching points for welding a workpiece in the real world; a welding teaching system including an MR device worn by a worker and capturing images of the marker and the workpiece in the real world, The MR device is acquiring an attitude of the controller at the teaching point based on the marker; generating a virtual welding torch having the acquired pose of the controller; and displaying the generated virtual welding torch superimposed on a captured image of the workpiece in the real world. Welding teaching system.

2. The MR device is the virtual welding torch for welding the teaching point is displayed superimposed on the captured image; The welding teaching system according to claim 1 .

3. The MR device is acquiring an attitude of the controller at each of the plurality of teaching points; generating virtual welding torches corresponding to the plurality of teaching points, respectively; a plurality of virtual welding torches for welding the plurality of teaching points, respectively, are displayed superimposed on the captured image; The welding teaching system according to claim 1 .

4. The MR device is reading at least one plane of the workpiece to obtain a coordinate system of the workpiece; Calculating and acquiring the attitude of the controller at the teaching point on the coordinate system of the workpiece; The welding teaching system according to claim 1 .

5. The MR device is correcting the attitude of the controller based on the coordinate system of the workpiece; generating the virtual welding torch based on the corrected posture of the controller; The welding teaching system according to claim 4 .

6. The MR device is When the attitude of the controller is corrected, the virtual welding torch for the attitude of the controller before the correction is deleted; the virtual welding torch based on the corrected attitude of the controller is displayed by superimposing the virtual welding torch welding the teaching point on the captured image; and displaying the teaching point superimposed on the teaching point. The welding teaching system according to claim 5 .

7. A welding teaching program generation device including at least one processor, the welding teaching program is executed by a marker provided in a controller that is worn by a worker and that teaches teaching points for welding a workpiece in the real world, and an MR device that captures an image of the workpiece in the real world; acquiring an attitude of the controller at the teaching point based on the marker; generating a virtual welding torch having the acquired pose of the controller; and displaying the generated virtual welding torch superimposed on a captured image of the workpiece in the real world. A welding teaching program generator.

8. A method for generating a welding teaching program performed by an apparatus having at least one processor, comprising: the welding teaching program is executed by a marker provided in a controller that is worn by a worker and that teaches teaching points for welding a workpiece in the real world, and an MR device that captures an image of the workpiece in the real world; acquiring an attitude of the controller at the teaching point based on the marker; generating a virtual welding torch having the acquired pose of the controller; and displaying the generated virtual welding torch superimposed on a captured image of the workpiece in the real world. A method for generating a welding teaching program.

9. A welding teaching program executed by a marker provided in a controller that is worn by a worker and that teaches teaching points for welding a workpiece in the real world and an MR device that captures an image of the workpiece in the real world, acquiring an attitude of the controller at the teaching point based on the marker; generating a virtual welding torch having the acquired pose of the controller; and displaying the generated virtual welding torch superimposed on a captured image of the workpiece in the real world. Welding teaching program.

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