Processing system, robot system, control device, processing method, control method, program, and storage medium

Abstract

To provide a processing system, a robot system, a control unit, a processing method, a control method, a program, and a storage medium with which inspection accuracy can be improved.SOLUTION: A processing system according to an embodiment sets a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction to a predetermined position. The processing system causes the detector to execute an investigation to perform transmission of an ultrasonic wave and detection of a reflected wave for a welded part of a joined body. The processing system calculates a center position of the welded part on a first surface along the first direction and the second direction on the basis of intensity data indicating intensity of the reflected wave obtained through the investigation. The processing system executes position adjustment to move the detector along the first surface to reduce a distance between the center position of the welded part and a position of the detector on the first surface. The processing system calculates a reference distance by using a distance of movement of the detector in a plurality of times of past position adjustment. When the reference distance exceeds a first threshold, the processing system corrects the predetermined position by using at least some of the plurality of movement distances.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a processing system, a robot system, a control device, a processing method, a control method, a program, and a storage medium. [Background technology]

[0002] There is a robot that inspects joints. There is a demand for improving the inspection accuracy of this robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-278809 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a processing system, a robot system, a control device, a processing method, a control method, a program, and a storage medium that are capable of improving inspection accuracy. [Means for solving the problem]

[0005] A processing system according to an embodiment sets a detector including a plurality of detection elements arranged along a first direction and a second direction intersecting the first direction at a predetermined position. The processing system causes the detector to perform an exploration of a welded portion of a joint, in which ultrasonic waves are transmitted and reflected waves are detected. The processing system calculates a center position of the welded portion on a first surface along the first direction and the second direction based on intensity data indicating the intensity of the reflected waves obtained by the exploration. The processing system performs a position adjustment to move the detector along the first surface so as to reduce a distance between a center position of the welded portion and a position of the detector on the first surface. The processing system calculates a reference distance using movement distances of the detector in a plurality of past position adjustments. When the reference distance exceeds a first threshold value, the processing system corrects the predetermined position using at least a part of the plurality of movement distances. [Brief description of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic diagram illustrating a robot system according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing the structure of a detector and a joint body. [Diagram 3] 1A and 1B are schematic diagrams for explaining the operation of a processing system according to an embodiment. [Figure 4] FIG. 13 is a schematic diagram illustrating intensity data obtained by exploration. [Diagram 5] 1 is a flowchart showing an inspection process performed by the robot system of the embodiment. [Figure 6] FIG. 4 is a schematic diagram showing the intensity distribution of a reflected wave obtained by processing the intensity data. [Figure 7] FIG. 4 is a schematic diagram illustrating an identified welded portion. [Figure 8] 10 is a flowchart illustrating a correction process performed by the robot system according to the embodiment. [Figure 9] FIG. 13 is a schematic diagram showing a movement distance and a reference distance. [Figure 10]4 is a flowchart showing a process performed by the robot system according to the embodiment. [Figure 11] 13 is a flowchart showing an inspection process by a robot system according to a first modified example of the embodiment. [Figure 12] FIG. 2 is a schematic diagram showing a detector. [Figure 13] 1 is an example of an image obtained during an inspection. [Figure 14] 13 is a flowchart showing a process performed by a robot system according to a first modified example of the embodiment. [Figure 15] FIG. 4 is a schematic diagram showing a bonded body being transported. [Figure 16] 13 is a flowchart showing a process performed by a robot system according to a second modified example of the embodiment. [Figure 17] FIG. 13 is a schematic diagram showing the structure of another detector. [Figure 18] FIG. 2 is a schematic diagram showing a hardware configuration. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between parts, etc. are not necessarily the same as those in reality. Even when the same part is shown, the dimensions and ratios of each part may be different depending on the drawing. In this specification and each drawing, elements similar to those already explained are given the same reference numerals and detailed explanations are omitted as appropriate.

[0008] FIG. 1 is a schematic diagram showing a robot system according to an embodiment. 1, a robot system 2 according to 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.

[0009] The control device 10 controls the operation 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 unit, etc. The control device 10 controls the operation of the robot 20 by controlling the servo motors of each axis according to a pre-stored operation program, teaching data set by an operation terminal 11, etc.

[0010] The operation terminal 11 is a terminal device for operating the robot 20. The operation terminal 11 is a so-called teaching pendant. The operation terminal 11 is connected to the control device 10, and accepts input of an operation program for the robot 20, input of settings, etc. Furthermore, a user can use the operation terminal 11 to change, modify, or newly create teaching data. The teaching data is data for teaching the robot 20 the operation of the robot 20.

[0011] The robot 20 includes a manipulator 21 and a detector 22 attached to the manipulator 21. For example, the manipulator 21 is a vertical multi-joint type. The detector 22 is provided at the tip of the manipulator 21 as an end effector. The manipulator 21 may be a horizontal multi-joint type or a parallel link type. The manipulator 21 may include a combination of two or more types selected from the vertical multi-joint type, the horizontal multi-joint type, and the parallel link type. The manipulator 21 preferably has six or more degrees of freedom.

[0012] The detector 22 performs probing of the target. The probing involves transmitting ultrasonic waves toward the target and detecting (receiving) the reflected waves. The detector 22 obtains intensity data indicating the intensity of the reflected waves through the probing. The detector 22 transmits the intensity data to the processing device 12.

[0013] 1, a dispenser 25 is further provided as an end effector. The dispenser 25 dispenses couplant liquid onto a target surface.

[0014] The target of the exploration is a joint in which a plurality of members are joined by welding. The plurality of members are joined at a welded portion. The processing device 12 processes the strength data and acquires data related to the welded portion. For example, the processing device 12 executes an inspection process on the welded portion using the strength data. The robot system 2 executes the inspection process on each of a plurality of joints 50 of the same type.

[0015] FIG. 2 is a schematic diagram showing the structure of the detector and the bonded body. In the example of FIG. 2, the target of detection by detector 22 is a joined body 50. Joined body 50 includes a metal plate 51 (first member) and a metal plate 52 (second member). Metal plate 51 and metal plate 52 are joined at a welded portion 53. That is, in welded portion 53, there is no boundary surface between metal plate 51 and metal plate 52. In welded portion 53, there is a solidified portion 54 formed by mixing of molten metals. Welded portion 53 is formed by resistance spot welding.

[0016] As shown in FIG. 2, the detector 22 includes a detection element 22a, a propagation portion 22b, and a housing 22c.

[0017] The detection elements 22a are two-dimensionally arranged along the X direction (first direction) and the Y direction (second direction). The X direction and the Y direction intersect with each other. In this example, the Y direction is perpendicular to the X direction. For example, the detection elements 22a are transducers and emit ultrasonic waves with a frequency of 1 MHz or more and 100 MHz or less. The detection elements 22a transmit ultrasonic waves along the Z direction (third direction). The Z direction is perpendicular to the XY plane (first plane).

[0018] The multiple detection elements 22a are provided at the tip of the housing 22c and are covered by the propagation part 22b. When the detector 22 is brought into contact with the joint 50, the propagation part 22b is located between the detection elements 22a and the joint 50. When the detection elements 22a emit ultrasonic waves, the ultrasonic waves propagate through the propagation part 22b and are transmitted to the outside of the detector 22. When the ultrasonic waves are reflected, the reflected waves propagate through the propagation part 22b and reach the detection elements 22a.

[0019] The detection element 22a detects the reflected wave. The intensity of the signal detected by the detection element 22a corresponds to the intensity of the reflected wave. The detector 22 obtains a signal (intensity data) indicating the reflected wave intensity and transmits it to the processing device 12.

[0020] The propagation part 22b is made of a resin material through which ultrasonic waves can easily propagate. The propagation part 22b can suppress deformation, damage, etc. of the detection element 22a when the detector 22 comes into contact with the welded part 53. The propagation part 22b has sufficient hardness to suppress deformation, damage, etc. when it comes into contact with the welded part 53.

[0021] During the inspection, a couplant liquid 55 is applied to the surface of the bonded body 50 so that ultrasonic waves can easily propagate between the detector 22 and the bonded body 50. Each of the detection elements 22a transmits ultrasonic waves US toward the bonded body 50 to which the couplant liquid 55 has been applied.

[0022] For example, as shown in Fig. 2, one detection element 22a transmits ultrasonic waves US toward the bonded body 50. A part of the ultrasonic waves US is reflected by the upper or lower surface of the bonded body 50. Each of the multiple detection elements 22a detects the reflected waves RW. In the inspection, each detection element 22a transmits ultrasonic waves US in sequence, and each reflected wave RW is detected by the multiple detection elements 22a.

[0023] The processing device 12 executes various processes using the strength data. For example, the processing device 12 inspects the welded portion 53. The processing device 12 may identify the position of the welded portion 53 in the joined body 50. The processing device 12 may calculate the center position of the welded portion 53. The processing device 12 may calculate the diameter of the welded portion 53.

[0024] 3(a) to 3(c) are schematic views for explaining the operation of the processing system according to the embodiment. As shown in FIG. 3( a ), the ultrasonic wave US is reflected by the surface of the propagation portion 22 b , the upper surface 51 a and the lower surface 51 b of the metal plate 51 , and the upper surface 53 a and the lower surface 53 b of the welded portion 53 .

[0025] The positions in the Z direction of the surfaces of the propagation portion 22b, the upper surface 51a, the upper surface 53a, the lower surface 51b, and the lower surface 53b are different from one another. That is, the distances in the Z direction between these surfaces and the detection element 22a are different from one another. When the detection element 22a detects the reflected waves from these surfaces, peaks of the reflected wave intensity are detected. After transmitting the ultrasonic wave US, the time until each peak is detected is calculated, thereby making it possible to determine from which surface the ultrasonic wave US is reflected.

[0026] Each of FIG. 3(b) and FIG. 3(c) is a graph illustrating the relationship between the time after transmitting ultrasonic waves US and the intensity of the reflected wave RW at one point in the XY plane. In FIG. 3(b) and FIG. 3(c), the horizontal axis represents the intensity of the detected reflected wave RW. The vertical axis represents the elapsed time after transmitting ultrasonic waves US. The time corresponds to the position in the Z direction. The graph of FIG. 3(b) illustrates the detection result of the reflected wave RW from the surface, upper surface 51a, and lower surface 51b of the propagation part 22b. That is, the graph of FIG. 3(b) illustrates the detection result of the reflected wave RW from a point that is not joined. The graph of FIG. 3(c) illustrates the detection result of the reflected wave RW from the surface, upper surface 53a, and lower surface 53b of the propagation part 22b. That is, the graph of FIG. 3(c) illustrates the detection result of the reflected wave RW from a point that is joined.

[0027] 3(b) and 3(c), peak Pe10 is based on the reflected wave RW from the surface of the propagation portion 22b. Peak Pe11 is based on the reflected wave RW from the upper surface 51a. Peak Pe12 is based on the reflected wave RW from the lower surface 51b. The times from the transmission of the ultrasonic wave US to the detection of peak Pe11 and peak Pe12 correspond to the positions in the Z direction of the upper surface 51a and lower surface 51b, respectively.

[0028] Similarly, peak Pe13 is based on the reflected wave RW from the upper surface 53a. Peak Pe14 is based on the reflected wave RW from the lower surface 53b. The times from the transmission of the ultrasonic wave US to the detection of peaks Pe13 and Pe14 correspond to the positions of the upper surface 53a and the lower surface 53b in the Z direction, respectively.

[0029] The processing device 12 determines whether or not a peak Pe12 exists in the reflected wave intensity distribution in the Z direction at each point in the XY plane. Specifically, the processing device 12 detects a peak in a range in the Z direction in which the peak Pe12 can be detected. The processing device 12 compares the peak intensity with a threshold value. The range in the Z direction and the threshold value are set in advance.

[0030] If the peak intensity exceeds the threshold value, the processing device 12 determines that the peak is peak Pe12. The presence of peak Pe12 indicates that a lower surface 51b exists at that point, and that the metal plates 51 and 52 are not joined. The processing device 12 determines that the points at which peak Pe12 is detected are not joined. The processing device 12 determines that the points at which peak Pe12 is not detected are joined. The processing device 12 sequentially determines whether each point in the XY plane is joined. The processing device 12 identifies a set of points determined to be joined as a welded portion 53.

[0031] For example, in the inspection process, the processing device 12 identifies the welded portion 53 and calculates the diameter of the welded portion 53. The processing device 12 compares the diameter with a preset threshold value. If the diameter exceeds the threshold value, the processing device 12 determines that the welded portion 53 is acceptable. If the diameter is equal to or smaller 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 diameter or minor diameter of the welded portion 53.

[0032] In the examples of FIG. 3(b) and FIG. 3(c), the intensity of the reflected wave RW is expressed as an absolute value. The intensity of the reflected wave may be expressed in any manner. For example, the reflected wave intensity output from the detection element 22a includes positive and negative values ​​depending on the phase. Various processes may be performed based on the reflected wave intensity including positive and negative values. The reflected wave intensity including positive and negative values ​​may be converted to an absolute value. The average value of the reflected wave intensity may be subtracted from the reflected wave intensity at each time. Alternatively, the weighted average value, weighted moving average value, etc. of the reflected wave intensity may be subtracted from the reflected wave intensity at each time. Filtering may be performed so that only frequency components of a specific period are extracted. Even when the results of applying these processes to the reflected wave intensity are used, the various processes described in the present application can be performed.

[0033] FIG. 4 is a schematic diagram illustrating intensity data obtained by the exploration. In the exploration, as described above, each detection element 22a sequentially transmits ultrasonic waves, and the reflected waves are detected by the multiple detection elements 22a. In the specific example shown in FIG. 2, 8×8, or 64, detection elements 22a are provided. In this case, the 64 detection elements 22a sequentially transmit ultrasonic waves. Each detection element 22a repeatedly detects the reflected wave 64 times. A detection result of the reflected wave intensity distribution in the Z direction is output 64 times from one detection element 22a. The intensity distributions of the 64 reflected waves output from one detection element 22a are summed. The summed intensity distribution becomes the intensity distribution at the coordinates where one detection element 22a is provided in one exploration. The same process is performed on the detection results by each of the 64 detection elements 22a. Aperture synthesis may be performed on the detection results of each detection element 22a in order to improve the resolution in the X and Y directions. By the above process, the intensity distribution of the reflected wave in the Z direction is generated at each point in the XY plane (first plane). That is, three-dimensional intensity data including the reflected wave intensity at each point in the X, Y, and Z directions is obtained.

[0034] Fig. 4 shows a schematic diagram of the three-dimensional intensity distribution. The schematic diagram of Fig. 4 shows the state of the vicinity of the welded part 53 in the three-dimensional intensity data. In Fig. 4, the parts with high brightness are parts where the reflected wave intensity of the ultrasonic waves is relatively high. In the example of Fig. 4, reflected waves from the upper and lower surfaces of the welded part 53 and reflected waves that are multiple-reflected between these upper and lower surfaces appear.

[0035] When obtaining data on a welded portion in the inspection process, the control device 10 operates the manipulator 21 so that the tip of the detector 22 comes into contact with the welded portion 53. When the exploration is performed, the detector 22 is set to a predetermined position and a predetermined posture. For example, the tip of the detector 22 is set to a predetermined position and a predetermined posture. The position and posture of another part corresponding to the position and posture of the detector 22 may be set to a predetermined position and a predetermined posture. In this case, too, the detector 22 can be considered to be set to a predetermined position and a predetermined posture. For example, the predetermined position and the predetermined posture are set in advance as teaching points.

[0036] The control device 10 operates the manipulator 21 according to an operation program so that the detector 22 is set to a predetermined position and a predetermined posture. Specifically, the control device 10 acquires data indicating the rotation angle of each actuator from an encoder provided at each joint of the manipulator 21. The control device 10 generates a control signal based on the stored predetermined position and predetermined posture and the acquired data. The control device 10 transmits the generated control signal to the robot 20, and moves the manipulator 21 by operating each actuator.

[0037] FIG. 5 is a flowchart showing an inspection process performed by the robot system according to the embodiment. In the inspection process (step S20), the control device 10 causes the dispenser 25 to dispense the couplant liquid 55 to the joined body 50 (step S21). The control device 10 sets the detector 22 to a predetermined position and a predetermined posture (step S22). The detector 22 contacts the joined body 50. The control device 10 causes the detector 22 to perform an inspection of the welded portion 53 (step S23). The detector 22 transmits strength data obtained by the inspection to the processing device 12. The processing device 12 uses the strength data to calculate the center position of the welded portion 53 in the XY plane (step S24).

[0038] The processing device 12 compares the distance between the center position of the welded portion 53 in the XY plane and the position of the detector 22 in the XY plane with a preset threshold value (step S25). The range of the search in the XY plane corresponds to the position of the detector 22 in the XY plane. For example, the position of the detector 22 in the XY plane corresponds to the center position of the intensity data in the XY plane. The processing device 12 can calculate the distance between the center of the welded portion 53 in the XY plane and the center of the intensity data in the XY plane as the distance between the center of the welded portion 53 in the XY plane and the position of the detector 22 in the XY plane. If 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 XY plane so as to reduce the distance. The control device 10 saves the movement distance of the detector 22 in the position adjustment (step S27). After step S27, step S23 is executed again.

[0039] The control device 10 may move the detector 22 away from the joint body 50 before the detector 22 moves along the XY plane, and may move the detector 22 closer to the joint body 50 after the detector 22 moves along the XY plane. This makes it possible to avoid friction between the detector 22 and the joint body 50.

[0040] If the distance is equal to or less than the threshold in step S25, the processing device 12 inspects the welded portion 53 using the strength data obtained by the immediately preceding inspection (step S28). For example, the processing device 12 compares the diameter of the welded portion 53 with a preset threshold.

[0041] A method for calculating the center position of the welded portion 53 in the above-mentioned inspection process will be described below. The center position can be calculated using any of the following methods.

[0042] 6(a) to 6(c) are schematic diagrams showing the intensity distribution of the reflected wave obtained by processing the intensity data. Processing device 12 processes the intensity data to obtain the data shown in Figures 6(a) to 6(c). Figure 6(a) shows the intensity distribution of the reflected wave in the XY plane near welded portion 53. Figure 6(b) shows the intensity distribution of the reflected wave in the YZ plane near welded portion 53. Figure 6(c) shows the intensity distribution of the reflected wave in the XZ plane near welded portion 53.

[0043] The data in FIG. 6(a) is obtained by adding up the intensities in the Z direction at each point on the XY plane. The data in FIG. 6(b) is obtained by adding up the intensities in the X direction at each point in the Z direction. The data in FIG. 6(c) is obtained by adding up the intensities in the Y direction at each point in the Z direction. In FIG. 6(a) to FIG. 6(c), the intensity of the reflected wave is shown in a schematic binarized form. A white point indicates that the intensity of the reflected wave at that point is relatively high. A black point indicates that the intensity of the reflected wave at that point is relatively low.

[0044] For example, the processing device 12 calculates the position of the center of intensity for the intensity distribution of the reflected wave on the XY plane shown in Fig. 6(a) as the center position of the welded part 53. For example, as shown in Fig. 6(a), the position of the center of intensity may be calculated for a binarized image. Alternatively, the position of the center of intensity may be calculated for an image in which each pixel has a pixel value of three or more levels (for example, 0 to 255).

[0045] Alternatively, the processing device 12 may extract the reflected wave component from the welded portion 53 in the Z direction and calculate the center of gravity position. For example, as shown in Figs. 6(b) and 6(c), the period in which the reflected wave from the welded portion 53 is detected is different from the period in which the reflected wave from other portions is detected. The processing device 12 filters the intensity distribution in the Z direction using a preset thickness of the welded portion 53. In this way, the processing device 12 extracts the reflected wave component from the welded portion 53. The processing device 12 calculates the center of gravity position of the intensity distribution in the XY plane after filtering as the center position of the welded portion 53.

[0046] Alternatively, the processing device 12 may identify the welded portion 53 and calculate the center position based on the identified welded portion 53.

[0047] FIG. 7 is a schematic diagram illustrating an example of an identified welded portion. FIG. 7 shows the result of the determination of whether each point is bonded or not bonded at each point on the XY plane where the search is performed. The range in the X direction and the Y direction of the region where the determination of whether the bonded or not bonded is performed corresponds to the range in the X direction and the Y direction where the strength data is obtained. As an example, the range in the X direction and the Y direction of the two-dimensional data shown in FIG. 7 correspond to the range in the X direction and the Y direction of the three-dimensional strength data shown in FIG. 4, respectively. A part of the range where the strength data is obtained in the X direction and the Y direction may be extracted, and the determination of whether the bonded or not bonded may be performed for the extracted region. In FIG. 7, the points determined to be bonded based on the strength data are shown in white. The points determined to be not bonded are shown in black. A set of points determined to be bonded is specified as the welded portion 53. The processing device 12 generates the two-dimensional data shown in FIG. 7 using the determination result of the bond at each point.

[0048] The processing device 12 may calculate the position of the center of gravity of the identified welded portion 53 on the XY plane as the center position of the welded portion 53. As described above, the welded portion 53 can be identified by determining whether each point on the XY plane is joined or unjoined. The processing device 12 may calculate the center of a circle inscribed or circumscribed on the XY plane for the identified welded portion 53 as the center position of the welded portion 53.

[0049] 5 is performed on a plurality of bonded structures 50, a plurality of movement distances in position adjustment are stored. When a set number or more of movement distances are stored, the control device 10 corrects the predetermined position using the plurality of movement distances.

[0050] FIG. 8 is a flowchart showing the correction process performed by the robot system according to the embodiment. In the correction process (step S10), the control device 10 extracts n moving distances from all the stored past moving distances (step S11). n may be the number of all the past moving distances. n may be preset. For example, n moving distances are extracted in order of the most recent execution time of the position adjustment. The control device 10 calculates a reference distance using the extracted multiple 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 preset threshold value (first threshold value) (step S13). If the reference distance exceeds the threshold value, the control device 10 corrects the predetermined position using at least a part of the multiple moving distances (step S14).

[0051] For example, the control device 10 calculates an average value of the movement distance in the X direction and an average value of the movement distance in the Y direction from the extracted multiple movement distances. The control device 10 shifts the predetermined position in the X direction by the calculated average value in the X direction. The control device 10 shifts the predetermined position in the Y direction by the calculated average value in the Y direction. The control device 10 may calculate a predicted value from the multiple movement distances and shift the predetermined position by the predicted value. The control device 10 may shift the predetermined position using an average value or a predicted value obtained from a part of the multiple movement distances. When the reference distance is equal to or less than the threshold value, or after the predetermined position is corrected, the inspection process shown in FIG. 5 is executed.

[0052] The average value of the extracted multiple travel distances is used as the reference distance. The reference distance may be a predicted value based on the multiple travel distances. The predicted value is obtained using an approximation formula, a Kalman filter, or a model (artificial intelligence).

[0053] For example, the control device 10 generates an approximation formula showing the relationship between the number of times the inspection process is performed and a plurality of travel distances. The control device 10 calculates a predicted value of the travel distance in the next inspection process using the approximation formula. When a Kalman filter is used, the control device 10 generates a linear model showing the relationship between the number of times the inspection process is performed and a plurality of travel distances based on data obtained in the past. When a new travel distance is obtained for a new inspection process, the control device 10 calculates the next reference distance using a reference distance (predicted value) for the inspection process and the actual travel distance. When a model is used, the model is trained to output a reference distance in response to input of a plurality of past travel distances. The model preferably includes a neural network. The control device 10 inputs a specified number of past travel distances into the model and obtains a reference distance output from the model.

[0054] 9(a) and 9(b) are schematic diagrams showing the movement distance and the reference distance. In Figures 9(a) and 9(b), the horizontal axis represents the number of times N that position adjustment has been performed. The further to the right it is, the more recently it has been performed. The vertical axis represents the movement distance D in the X direction. A point with a movement distance of zero indicates that no position adjustment has been performed. The circle plots represent the movement distance in the position adjustment. The diamond plots represent the reference distance.

[0055] In the example shown in FIG. 9(a), the reference distance r1 is the eight moving distances d i From d i-7 The reference distance r1 exceeds the threshold th1. Therefore, the control device 10 calculates the travel distance d i From d i-7 At least a part of the above is used to correct the predetermined position in the X direction.

[0056] In the example shown in FIG. 9B, an approximation AF between the number of executions N and the moving distance D is generated. In this example, the approximation AF is linear. The approximation AF may be nonlinear. The control device 10 uses the approximation AF to calculate the moving distance d in the i-th position adjustment. i is calculated as the reference distance r2. The reference distance r2 exceeds a preset threshold value th1. Therefore, the control device 10 corrects the predetermined position in the X direction using at least a part of the multiple movement distances or the reference distance r2 predicted from the multiple movement distances.

[0057] Advantages of the embodiment will be described. When inspecting welded portion 53 using intensity data of the reflected wave, it is preferable that the position of detector 22 in the XY plane is close to the center position of welded portion 53 in the XY plane. The closer detector 22 is to the center of welded portion 53, the more likely it is that the entire welded portion 53 will be included in the range of the inspection. This can improve the inspection accuracy of welded portion 53. In order to bring detector 22 closer to the center of welded portion 53, a method of performing position adjustment each time an inspection is performed can be considered. However, although this method can improve the inspection accuracy, it takes a long time to complete the inspection process.

[0058] For example, the predetermined position of the detector 22 is set according to the design position of the welded portion 53. The design position is a position designed in advance where the welded portion 53 is to be formed. However, the welded portion 53 may deviate from the design position due to wear of the electrode of the welding device, replacement of the electrode, misalignment of the member relative to the welding device, and the like. In the embodiment, the processing system 1 calculates a reference distance using the movement distance of the detector 22 in multiple past position adjustments. Then, when the reference distance exceeds a preset threshold value, the processing system 1 corrects the predetermined position using at least a part of the multiple movement distances. This makes it possible to reduce the distance between the detector 22 set at the predetermined position and the center of the welded portion 53 in the next inspection process. That is, it is possible to omit position adjustment in the next inspection process. According to the embodiment, it is possible to improve the inspection accuracy while reducing the time required for the inspection process.

[0059] Furthermore, by calculating the reference distance using a plurality of movement distances, the tendency of the position of the welded portion 53 to change can be reflected in the predetermined position. For example, even if the movement distance varies greatly, the influence of the variation on the reference distance can be reduced. This reduces the possibility that the predetermined position is unnecessarily corrected or excessively corrected due to the variation, and allows the predetermined position to be corrected more appropriately.

[0060] When calculating the reference distance, it is preferable to exclude outliers from the extracted multiple movement distances. If the reference distance is calculated using the outliers, the reference distance may become excessively large. This may result in the predetermined position being unnecessarily corrected or the predetermined position being overcorrected. By calculating the reference distance while excluding the outliers, the predetermined position can be more appropriately corrected.

[0061] An outlier can be determined using a test statistic. The test statistic can be calculated based on the Grubbs test. In the Grubbs test, the test statistic G is calculated using the moving distance r, the mean value x, and the variance σ as G=(rx) / σ. The mean value x and the variance σ are calculated from a plurality of moving distances. The control device 10 calculates the test statistic G. If the test statistic G exceeds 2.745, the control device 10 determines that the moving distance r is an outlier. In addition to the Grubbs test, the Thompson test may also be used to determine an outlier.

[0062] When a plurality of welds 53 are formed in one joined body 50, a predetermined position and a predetermined posture are set for each of the welds 53. Specifically, when the control device 10 executes a correction process for one of the plurality of welds 53, the control device 10 refers to a result of a position adjustment executed in the past for the one of the plurality of welds 53 in another joined body 50. The processing system 1 executes the above-mentioned correction process using the results of the plurality of position adjustments.

[0063] FIG. 10 is a flowchart showing the processing performed by the robot system according to the embodiment. For example, y welds 53 are formed in one joint 50. The control device 10 refers to the result of past position adjustment for 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 referred result (step S11). Thereafter, steps S12 to S14 are executed similarly to the correction process described above. After the correction process, an inspection process (step S20) is executed.

[0064] After the inspection process, the control device 10 determines whether x is equal to y (step S3). That is, it is determined whether the correction process and the inspection process have been performed on all of the y welded portions 53. If x is less than y, the control device 10 adds 1 to x (step S4). Then, step S2 is executed again.

[0065] Note that, before the inspection process for any of the y welds 53, the correction process for the y welds 53 may be performed. For example, the correction process for the y welds 53 may be performed while the joined structure 50 to be inspected is being transported to the location of the robot 20. This can reduce the time required for the calculation process of the robot 20 after the joined structure 50 is transported.

[0066] (First Modification) FIG. 11 is a flowchart showing an inspection process by the robot system according to the first modified example of the embodiment. The inspection process (step S20a) shown in FIG. 11 further includes steps S33 to S37 compared to the inspection process shown in FIG. 5. When it is determined in step S25 that the distance is equal to or less than the threshold, the processing device 12 calculates the inclination of the detector 22 with respect to the welded portion 53 (step S34). The processing device 12 compares the inclination with a preset threshold (step S35). If the inclination exceeds the threshold, the control device 10 executes an attitude adjustment (step S36). In the attitude adjustment, the control device 10 rotates the detector 22 so as to reduce the inclination. The center of rotation is set to the tip of the detector 22. The control device 10 saves the rotation angle of the detector 22 in the attitude adjustment (step S37). After step S37, the control device 10 causes the detector 22 to perform an inspection (step S33). Then, step S34 is executed again. If the inclination is equal to or less than the threshold, the processing device 12 inspects the welded portion 53 using the strength data obtained by the immediately preceding inspection (step S28).

[0067] In the above-described inspection process, steps S33 to S37 may be executed before steps S23 to S27. Based on the result of one search, steps S24 to S27 and steps S34 to S37 may be executed in parallel.

[0068] FIG. 12 is a schematic diagram showing a detector. The posture corresponds to the direction D1 of the detector 22 shown in Fig. 12, for example. The direction D1 is perpendicular to the arrangement direction of the multiple detection elements 22a. The inclination is represented by the angle θx about the X direction and the angle θy about the Y direction between the direction D1 of the detector 22 and the normal direction D2 of the welded portion 53.

[0069] 12 may be different from the angle in the robot coordinate system used to express the teaching point. When setting the teaching point, the control device 10 may convert the angle representing the posture of the detector 22 into an angle in the robot coordinate system as appropriate.

[0070] 13(a) to 13(c) are examples of images obtained during the inspection. A method for calculating the slope will now be described. Fig. 13(a) is an image showing the intensity distribution of the reflected wave in the XY plane near the welded portion 53. Fig. 13(b) is an image showing the intensity distribution of the reflected wave in the YZ plane near the welded portion 53. Fig. 13(c) is an image showing the intensity distribution of the reflected wave in the XZ plane near the welded portion 53. In each of the images in Figs. 13(a) to 13(c), the brightness corresponds to the intensity of the reflected wave. That is, the brighter the color of a pixel, the higher the reflected wave intensity at that point.

[0071] The angle θx is calculated based on the detection result in the YZ plane as shown in Fig. 13(b). The angle θy is calculated based on the detection result in the XZ plane as shown in Fig. 13(c). Specifically, the processing device 12 calculates the average of the three-dimensional brightness gradient. The processing device 12 uses the average of the gradient around the X direction as the angle θx. The processing device 12 uses the average of the gradient around the Y direction as the angle θy.

[0072] FIG. 14 is a flowchart showing a process performed by the robot system according to the first modified example of the embodiment. The correction process (step S10a) shown in FIG. 14 further includes steps S15 to S18 compared to the correction process shown in FIG.

[0073] The control device 10 extracts m rotation angles from all the stored past rotation angles (step S15). m may be the number of all past moving distances. m may be set in advance. m may be the same as the number n of moving distances to be extracted. For example, m rotation angles are extracted in order of the most recent posture adjustment. The control device 10 calculates a reference angle using the extracted multiple rotation angles (step S16). The reference angle is a value for determining the tendency of the rotation angle in posture adjustment. For example, the reference angle is an average value of the multiple rotation angles. The reference angle may be a predicted value based on the multiple rotation angles. The predicted value is obtained using an approximation formula, a Kalman filter, or a model (artificial intelligence) that indicates the relationship between the number of times the inspection process is executed and the multiple rotation angles.

[0074] The control device 10 compares the calculated reference angle with a preset threshold (second threshold) (step S17). If the reference angle exceeds the threshold, the control device 10 corrects the predetermined attitude using at least a part of the multiple rotation angles (step S18).

[0075] For example, the control device 10 calculates an average value of the rotation angle around the X direction and an average value of the rotation angle around the Y direction from the extracted multiple rotation angles. The control device 10 rotates the specified orientation around the X direction by the calculated average value around the X direction. The control device 10 rotates the specified orientation around the Y direction by the calculated average value around the Y direction. The control device 10 may calculate a predicted value from the multiple rotation angles and rotate the specified orientation by the predicted value. The control device 10 may rotate the specified orientation using an average value or a predicted value obtained from a portion of the multiple rotation angles.

[0076] If the reference angle is equal to or smaller than the threshold value, or after the predetermined attitude has been corrected, the inspection process shown in FIG. 11 is executed.

[0077] To further improve the inspection accuracy, it is preferable that the inclination of detector 22 with respect to welded portion 53 is small. The smaller the inclination, the easier it is for detector 22 to detect reflected waves from welded portion 53. This can improve the inspection accuracy. In order to reduce the inclination, a method of performing attitude adjustment every time an inspection is performed can be considered. However, this method increases the time required for the inspection process.

[0078] According to the first modification, the processing system 1 calculates a reference angle using the rotation angle of the detector 22 in multiple past attitude adjustments. When the reference angle exceeds a preset threshold, the processing system 1 corrects the predetermined attitude using at least a part of the multiple rotation angles. By using multiple rotation angles, the tendency of changes in the inclination of the welded portion 53 can be reflected in the predetermined attitude. This can be expected to have the effect of reducing the inclination of the predetermined attitude with respect to the welded portion 53 in the next inspection process. In other words, it is possible to reduce the possibility that an attitude adjustment will be required in the next inspection process. According to the first modification, it is possible to further improve the inspection accuracy while reducing the time required for the inspection process.

[0079] Furthermore, by calculating the reference angle using a plurality of rotation angles, the tendency of changes in the inclination of the detector 22 can be reflected in the specified attitude. For example, even if the rotation angles vary greatly, the influence of the variation on the reference angle can be reduced. This reduces the possibility that the specified attitude is unnecessarily corrected or overcorrected due to the variation, and allows the specified attitude to be corrected more appropriately.

[0080] When calculating the reference angle, it is preferable to exclude outliers from the extracted multiple rotation angles. If the reference angle is calculated using the outliers, the reference angle may become excessively large. This may result in unnecessary correction of the specified orientation or excessive correction of the specified orientation. By calculating the reference angle while excluding the outliers, the specified orientation can be more appropriately corrected. The outliers can be determined using the test statistic as described above.

[0081] (Second Modification) FIG. 15 is a schematic diagram showing a bonded body being transported. 15, for example, the transport device 30 transports the joined body 50 to a location where the robot 20 is installed. The joined body 50 includes a plurality of welded parts 53-1 to 53-7. The robot system 2 sequentially inspects each of the plurality of welded parts 53-1 to 53-7.

[0082] The position where the joined body 50 is stopped is set in advance. When the conveying device 30 stops, the robot system 2 performs an inspection on the joined body 50. It is preferable that the positioning accuracy of the conveying device 30 is sufficiently high so that the detector 22 contacts the welded portion 53 when set to a predetermined position and a predetermined attitude. When the positioning accuracy of the conveying device 30 is not sufficiently high, the robot system 2 may be configured to determine whether or not there is a positional deviation of the joined body 50.

[0083] As an example, when position adjustment is performed in two or more inspection processes of the plurality of welds 53-1 to 53-7, the detector 22 is moved in the same direction. In this case, the control device 10 determines that a positional deviation of the joint 50 has occurred in that direction. In the remaining inspection processes of the plurality of welds 53-1 to 53-7, the control device 10 may shift the predetermined position of the detector 22 with respect to each of the welds 53 in the direction of the positional deviation by the positional deviation amount. The shift in the positional deviation amount is performed only for the joint 50 in which a positional deviation has been detected.

[0084] For example, the control device 10 refers to the results of the position adjustments of the two or more of the plurality of welded parts 53-1 to 53-7. The control device 10 averages the two or more movement distances referred to. The control device 10 uses the average of the movement distances as the amount of positional deviation.

[0085] The robot system 2 may include a sensor 31. The sensor 31 may detect a positional deviation of the joined 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.

[0086] When the sensor 31 detects a positional deviation, the processing device 12 may execute the following process. After completing the inspection process for the first welded portion 53 in one joined body 50, the control device 10 refers to the movement distance of the position adjustment (step S26) in that inspection process. The control device 10 uses the referred movement distance as the amount of positional deviation. The control device 10 shifts the predetermined position of the detector 22 with respect to the other welded portion 53 by the referred movement distance only for the inspection process for that one joined body 50.

[0087] When a positional deviation of the bonded structure 50 is detected, the time required for the inspection process of the bonded structure 50 can be reduced by shifting the predetermined position according to the amount of the positional deviation.

[0088] FIG. 16 is a flowchart showing a process performed by a robot system according to a second modified example of the embodiment. The flowchart shown in Fig. 16 further includes steps S5 and S6 compared to the flowchart shown in Fig. 10. In step S5, the control device 10 determines whether or not there is a positional deviation. The presence of a positional deviation may be determined based on the results of multiple position adjustments, or may be determined based on the detection result by the sensor 31. If there is a positional deviation, in step S6, the control device 10 collectively corrects the predetermined positions of the detector 22 with respect to the other welds 53.

[0089] The timing at which steps S5 and S6 are performed can be changed as appropriate. For example, steps S5 and S6 may be performed during the correction process or the inspection process.

[0090] When a positional deviation is detected, the movement distance in the position adjustment is preferably stored in association with data indicating the presence of the positional deviation. When calculating a reference distance in a subsequent correction process, the control device 10 excludes the movement distance related to the positional deviation from the extracted multiple movement distances. In the correction process for the misaligned joint 50, the movement distance becomes larger than normal. If the reference distance is calculated using the movement distance related to the positional deviation, the reference distance is likely to exceed the threshold value. There is a possibility that the predetermined position will be corrected unnecessarily. In addition, there is a possibility that the predetermined position will be corrected excessively. By excluding the movement distance related to the positional deviation, the predetermined position can be corrected more appropriately.

[0091] FIG. 17 is a schematic diagram showing the structure of another detector. In the above, an example has been described in which the couplant liquid 55 is used when performing the exploration. If the detector is provided with a propagation member that can deform according to the shape of the welded portion 53, the couplant liquid 55 can be omitted.

[0092] The detector 23 shown in Fig. 17 includes a first propagation member 22b1 and a second propagation member 22b2. The first propagation member 22b1 is attached to a housing 22c of the detector 23. The first propagation member 22b1 is capable of propagating ultrasonic waves. For example, the first propagation member 22b1 contacts the multiple detection elements 22a. Alternatively, another member capable of propagating ultrasonic waves may be provided between the first propagation member 22b1 and the multiple detection elements 22a.

[0093] The second propagation member 22b2 is attached to the first propagation member 22b1. The second propagation member 22b2 may be adhered to the first propagation member 22b1 or may be fixed to the first propagation member 22b1 by a fixture (not shown). The first propagation member 22b1 is located between the multiple detection elements 22a and the second propagation member 22b2. The second propagation member 22b2 is capable of propagating ultrasonic waves. The ultrasonic waves propagating through the first propagation member 22b1 propagate through the second propagation member 22b2 and are transmitted to the outside of the detector 23.

[0094] The first propagation member 22b1 is solid. The first propagation member 22b1 has sufficient hardness so that substantial deformation does not occur even when the detector 22 is in operation. The second propagation member 22b2 is gel-like, not 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 sufficient softness so that it can deform according to the surface shape of the inspection target during inspection.

[0095] The first propagation member 22b1 and the second propagation member 22b2 include resin. As a specific example, the first propagation member 22b1 includes acrylic. The second propagation member 22b2 includes segmented polyurethane. The acoustic impedance of a typical steel plate used for joining is 4.5×10 7 (Pa·s / m). In order to allow sufficient propagation of ultrasonic waves between the detector 22 and the bonded body 50, the acoustic impedance of each of the first propagation member 22b1 and the second propagation member 22b2 is about 1.0×10 5 (Pa s / m) greater than 1.0×10 8 It is preferable that the acoustic impedance is smaller than (Pa·s / m). The acoustic impedance can be measured in accordance with JIS A1405-1 (ISO 10534-1).

[0096] FIG. 18 is a schematic diagram showing a hardware configuration. The control device 10, the operation terminal 11, and the processing device 12 each include, for example, the configuration of a computer 90 shown in Fig. 18. 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.

[0097] The ROM 92 stores a program for controlling the operation of the computer 90. The ROM 92 stores a program necessary for causing the computer 90 to realize each of the above-mentioned processes. The RAM 93 functions as a storage area in which the programs stored in the ROM 92 are expanded.

[0098] The CPU 91 includes a processing circuit. The CPU 91 uses a RAM 93 as a working memory and executes a program stored in at least one of a ROM 92 and a storage device 94. During execution of the program, the CPU 91 controls each component via a system bus 98 and executes various processes.

[0099] The storage device 94 stores data necessary for executing the programs and data obtained by executing the programs.

[0100] The input interface (I / F) 95 connects the computer 90 and the 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.

[0101] The output interface (I / F) 96 connects the computer 90 and the output device 96a. The output I / F 96 is, for example, a video output interface such as a Digital Visual Interface (DVI) or a High-Definition Multimedia Interface (HDMI (registered trademark)). The CPU 91 transmits data to the output device 96a via the output I / F 96 and can cause the output device 96a to display an image.

[0102] The communication interface (I / F) 97 connects the computer 90 to a server 97a external to 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.

[0103] 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 (audio input), and a touch pad. The output device 96a includes one or more selected from a monitor and a projector. A device having the functions of both the input device 95a and the output device 96a, such as a touch panel, may be used.

[0104] The functions of the control device 10 and the processing device 12 may be realized by cooperation of three or more computers. The functions of the control device 10 and the processing device 12 may be realized by one computer. The subject of the various processes described above can be appropriately changed between the control device 10 and the processing device 12.

[0105] The various data processing operations described above may be recorded as a program that can be executed by a computer on a magnetic disk (such as a flexible disk or a hard disk), an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW), a semiconductor memory, or other non-transitory computer-readable storage medium.

[0106] For example, information recorded on a recording medium can be read by a computer (or an embedded system). The recording medium may have any recording format (storage format). For example, the computer reads a program from the recording medium and causes a CPU to execute instructions described in the program based on the program. The computer may acquire (or read) the program via a network.

[0107] According to the processing system, the robot system, the control device, the processing method, or the control method described above, the time required for the inspection process can be reduced while the inspection accuracy can be improved. Similarly, by using a program that causes a computer to execute the processing method or the control method, the time required for the inspection process can be reduced while the inspection accuracy can be improved.

[0108] Although some embodiments of the present invention have been illustrated above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. In addition, the above-mentioned embodiments can be implemented in combination with each other. [Explanation of symbols]

[0109] 1: processing system, 2: robot system, 10: control device, 11: operation terminal, 12: processing device, 20: robot, 21: manipulator, 22: detector, 22a: detection element, 22b: propagation portion, 22b1: first propagation member, 22b2: second propagation member, 22c: housing, 23: detector, 25: discharger, 30: conveying device, 31: sensor, 50: joint, 51: metal plate, 51a: upper surface, 51b: lower surface, 52: metal plate, 53, 53-1 to 53-7: welded portion, 53a: upper surface, 53b: lower surface, 54: solidified portion, 55: couplant liquid, 90: computer, 91: CPU, 92: ROM, 93: RAM, 94: storage device, 95: input interface, 95a: input device, 96: output interface, 96a: output device, 97: communication interface, 97a: server, 98: system bus, AF: approximation formula, D: movement distance, N: number of executions, Pe10 to Pe14: peak, RW: reflected wave, US: ultrasonic wave, r1, r2: reference distance, th1: threshold, θx, θy: angle

Claims

1. 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 predetermined position; The detector is caused to carry out an inspection of the welded portion of the joint by transmitting ultrasonic waves and detecting reflected waves; calculating a center position of the weld on a first surface along the first direction and the second direction based on intensity data indicating an intensity of the reflected wave obtained by the exploration; performing an alignment to move the detector along the first surface to reduce a distance between the center position and a position of the detector in the first surface; inspecting the weld using the strength data obtained by the probe after performing the position adjustment; 1. A processing system comprising: Calculating a first reference value using a moving distance of the detector in a plurality of past position adjustments; When the first reference value exceeds a first threshold value, the predetermined position is corrected using at least a part of the plurality of movement distances to perform the position adjustment. Processing system.

2. The processing system according to claim 1 , wherein the first reference value is an average value of the plurality of travel distances or a predicted value based on the plurality of travel distances.

3. The processing system according to claim 1 , further comprising: excluding outliers from the plurality of travel distances; and calculating the first reference value using the remaining travel distances.

4. 4. The processing system according to claim 1, further comprising: excluding the movement distance of the position adjustment for the bonded body in which a positional deviation has been detected from the plurality of movement distances; and calculating the first reference value using the remaining movement distance.

5. performing the setting of the predetermined position, the exploration, and the position adjustment for each of the plurality of welds in one of the joints; 5. The processing system according to claim 1, wherein, when a positional deviation of the one joined body is detected, the predetermined position for at least a part of the plurality of welds is corrected according to an amount of the positional deviation.

6. Setting the detector in a predetermined position; Calculating an inclination of the detector relative to the weld based on the intensity data; performing an attitude adjustment to rotate the detector to reduce the tilt; inspecting the weld using the strength data obtained by the exploration after performing the position adjustment and the attitude adjustment; The processing system according to any one of claims 1 to 5.

7. Calculating a second reference value using rotation angles of the detector in a plurality of past attitude adjustments; When the second reference value exceeds a second threshold, the predetermined attitude is corrected using at least a part of the plurality of rotation angles to perform the attitude adjustment. The processing system of claim 6.

8. 8. The processing system according to claim 1, wherein a center position of intensity in the intensity data is calculated as the central position.

9. a robot including the detector and a manipulator to which the detector is attached; A processing system according to any one of claims 1 to 8; A robot system having

10. A detector is caused to perform an inspection of a welded portion of a joint at a predetermined position by transmitting an ultrasonic wave and detecting a reflected wave; A control device that performs a position adjustment to move the detector so as to reduce a distance between a center position of the weld calculated from a result of the exploration and a position of the detector on a first plane along a two-dimensional arrangement direction of a plurality of detection elements included in the detector, calculating a first reference value using a moving distance of the detector in a plurality of past position adjustments before the search; When the first reference value exceeds a first threshold value, the predetermined position is corrected using at least a part of the plurality of movement distances to perform the position adjustment; The weld is inspected using results of the probe after performing the alignment.

11. In the exploration, intensity data indicating an intensity of the reflected wave is acquired, The control device according to claim 10 , wherein a center position of the intensity in the intensity data is calculated as the central position.

12. 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 predetermined position; The detector is caused to carry out an inspection of the welded portion of the joint by transmitting ultrasonic waves and detecting reflected waves; calculating a center position of the weld on a first surface along the first direction and the second direction based on intensity data indicating an intensity of the reflected wave obtained by the exploration; performing an alignment by moving the detector along the first surface to reduce a distance between the center position and a position of the detector in the first surface; inspecting the weld using the strength data obtained by the probe after performing the position adjustment; A processing method comprising the steps of: Calculating a first reference value using a moving distance of the detector in a plurality of past position adjustments; When the first reference value exceeds a first threshold value, the predetermined position is corrected using at least a part of the plurality of movement distances. Processing methods.

13. The processing method according to claim 12 , further comprising excluding outliers from the plurality of travel distances, and calculating the first reference value using the remaining travel distances.

14. Setting the detector in a predetermined position; Calculating an inclination of the detector relative to the weld based on the intensity data; performing an attitude adjustment to rotate the detector to reduce the tilt; inspecting the weld using the strength data obtained by the exploration after performing the position adjustment and the attitude adjustment; 14. The method according to claim 12 or 13.

15. Calculating a second reference value using rotation angles of the detector in a plurality of past attitude adjustments; If the second reference value exceeds a second threshold, the predetermined attitude is corrected using at least a portion of the plurality of rotation angles to perform the attitude adjustment; The method of claim 14.

16. The processing method according to any one of claims 12 to 15, wherein a center position of intensity in the intensity data is calculated as the central position.

17. A detector is caused to perform an inspection of a welded portion of a joint at a predetermined position by transmitting an ultrasonic wave and detecting a reflected wave; A control method comprising: performing a position adjustment to move the detector so as to reduce a distance between a center position of the weld calculated from a result of the inspection and a position of the detector on a first plane along a two-dimensional arrangement direction of a plurality of detection elements included in the detector; calculating a first reference value using a moving distance of the detector in a plurality of past position adjustments before the search; When the first reference value exceeds a first threshold value, the predetermined position is corrected using at least a part of the plurality of movement distances to perform the position adjustment; The weld is inspected using results of the probe after performing the alignment.

18. A program for causing a computer to execute the processing method according to any one of claims 12 to 16 or the control method according to claim 17.

19. A storage medium storing a program for causing a computer to execute the processing method according to any one of claims 12 to 16 or the control method according to claim 17.

Images