Processing device, detection system, processing method, program, and storage medium

Abstract

To provide a processing apparatus, a detection system, a processing method, a program, and a storage medium with which a position of a welded part of a joined body can be more accurately obtained.SOLUTION: A processing apparatus according to an embodiment receives intensity data of a reflected wave obtained by transmitting an ultrasonic wave toward a joined body along a first direction. The apparatus specifies a welded part of the joined body by using the intensity data. The apparatus calculates a first center position of the welded part on a first surface that intersects the first direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] SUMMARY OF THE DISCLOSURE The present invention relates to a processing device, a detection system, a processing method, a program, and a storage medium. [Background technology]

[0002] There is a system that transmits ultrasonic waves toward a joint and detects the reflected waves. For this system, there is a demand for technology that can obtain the position of the welded part of the joint with higher accuracy. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-187005 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a processing device, a detection system, a processing method, a program, and a storage medium that are capable of obtaining the position of a welded portion of a joint with higher accuracy. [Means for solving the problem]

[0005] A processing device according to an embodiment transmits ultrasonic waves along a first direction toward a bonded body and receives intensity data of a reflected wave. The device identifies a welded portion of the bonded body using the intensity data. The device calculates a first center position of the welded portion on a first plane that intersects with the first direction. [Brief description of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic diagram illustrating a detection system according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing the internal structure of a detector. [Diagram 3]1A to 1C are schematic diagrams illustrating three-dimensional detection results obtained by exploration. [Figure 4] 5A to 5C are schematic diagrams for explaining the operation of the detection system according to the embodiment. [Diagram 5] FIG. 4 is a schematic diagram showing an example of an identified welded portion. [Figure 6] FIG. 13 is a schematic diagram showing another example of an identified welded portion. [Figure 7] 5 is a flowchart illustrating an example of an operation of the detection system according to the embodiment. [Figure 8] 10 is a flowchart illustrating another example of the operation of the detection system according to the embodiment. [Figure 9] FIG. 2 is a schematic diagram illustrating another detection system according to an embodiment. [Figure 10] 10 is a flowchart illustrating an example of an operation of another detection system according to the embodiment. [Figure 11] 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 detection system according to an embodiment. The detection system 1 according to the embodiment includes a processing device 10 and a detector 20 .

[0009] The detector 20 transmits ultrasonic waves toward the bonded body 50 and detects (receives) the reflected waves. In the example of Fig. 1, the detector 20 is rod-shaped and can be held by a person. When the detector 20 detects the reflected waves, it transmits intensity data indicating the intensity of the reflected waves to the processing device 10. Hereinafter, the transmission of ultrasonic waves and the detection of the reflected waves by the detector 20 are also referred to as probing.

[0010] The joined body 50 includes a metal plate 51 (first member) and a metal plate 52 (second member). The metal plates 51 and 52 are resistance spot welded at a weld 53. The processing device 10 uses the strength data to execute various processes. For example, the processing device 10 identifies the position of the weld 53 in the joined body 50. The processing device 10 also calculates the center position of the weld 53. The processing device 10 may further determine whether the joined body 50 is good or bad. The processing device 10 may calculate the diameter of the weld 53. The processing device 10 may inspect the weld 53.

[0011] FIG. 2 is a schematic diagram showing the internal structure of the detector. As shown in Fig. 2, the detector 20 includes an element array 21 and a propagation section 22. The element array 21 includes a plurality of detection elements 21a. For example, the detection element 21a is a transducer and emits ultrasonic waves with a frequency of 1 MHz or more and 100 MHz or less. The detection element 21a transmits ultrasonic waves along the Z direction (first direction). The plurality of detection elements 21a are arranged in the X direction (second direction) and the Y direction (third direction). The X direction intersects with the Z direction. The Y direction intersects with the XZ plane. In the example of Fig. 2, the X direction, the Y direction, and the Z direction are perpendicular to each other.

[0012] The propagation section 22 is provided at the tip of the detector 20. The element array 21 is covered with the propagation section 22. When the tip of the detector 20 is brought into contact with the welded section 53, the propagation section 22 is located between the element array 21 and the welded section 53. When the element array 21 emits ultrasonic waves, the ultrasonic waves propagate through the propagation section 22 and are transmitted to the outside of the detector 20. When the ultrasonic waves are reflected, the reflected waves propagate through the propagation section 22 and reach the element array 21. The element array 21 detects the reflected waves and transmits a signal (intensity data) indicating the intensity of the reflected waves to the processing device 10. The intensity of the signal transmitted from the element array 21 corresponds to the intensity of the reflected waves.

[0013] The propagation section 22 is made of a resin material through which ultrasonic waves can easily propagate. The propagation section 22 can suppress deformation, damage, etc. of the element array 21 when the detector 20 comes into contact with the welded section 53. The propagation section 22 has sufficient hardness to suppress deformation, damage, etc. when it comes into contact with the welded section 53.

[0014] A solidified portion 54 is formed in the welded portion 53. The solidified portion 54 is formed when a part of the metal plate 51 and a part of the metal plate 52 melt, mix, and solidify. A couplant liquid 55 is applied to the surface of the bonded body 50. The couplant liquid 55 facilitates the propagation of ultrasonic waves between the detector 20 and the bonded body 50. Each detection element 21a transmits ultrasonic waves US toward the bonded body 50 to which the couplant 15 is applied, and detects reflected waves RW from the bonded body 50.

[0015] For example, as shown in Fig. 2, one detection element 21a 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 21a detects the reflected waves RW. In the inspection, each detection element 21a transmits ultrasonic waves US in sequence, and each reflected wave RW is detected by the multiple detection elements 21a.

[0016] FIG. 3 is a schematic diagram illustrating a three-dimensional detection result obtained by exploration. In the exploration, as described above, each detection element 21a sequentially transmits ultrasonic waves, and the reflected waves are detected by the multiple detection elements 21a. In the specific example shown in FIG. 2, 8×8, or 64, detection elements 21a are provided. In this case, the 64 detection elements 21a sequentially transmit ultrasonic waves. One detection element 21a repeatedly detects the reflected wave 64 times. One detection element 21a outputs the detection result of the reflected wave intensity distribution in the Z direction 64 times. The intensity distributions of the 64 reflected waves output from one detection element 21a are summed. The summed intensity distribution becomes the intensity distribution at the coordinates where one detection element 21a is provided in one exploration. The same process is performed on the detection results by each of the 64 detection elements 21a. Aperture synthesis may be performed on the detection results of each detection element 21a in order to improve the resolution in the X and Y directions. As described above, 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.

[0017] The schematic diagram of Fig. 3 shows the three-dimensional intensity data of the vicinity of welded part 53. In Fig. 3, the parts with high brightness are parts where the reflected wave intensity of the ultrasonic waves is relatively high. In the example of Fig. 3, reflected waves from the upper and lower surfaces of welded part 53 and reflected waves that are multiple-reflected between these upper and lower surfaces appear.

[0018] FIG. 4 is a schematic diagram for explaining the operation of the detection system according to the embodiment. As shown in FIG. 4( a ), the ultrasonic wave US is reflected by the surface 22 a of the propagation portion 22 , 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 .

[0019] The positions in the Z direction of the surface 22a, 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 21a are different from one another. When the detection element 21a detects the reflected waves from these surfaces, peaks of the reflected wave intensity are detected. By calculating the time from transmitting the ultrasonic wave US until each peak is detected, it is possible to determine from which surface the ultrasonic wave US is reflected.

[0020] Each of FIG. 4(b) and FIG. 4(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. 4(b) and FIG. 4(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. 4(b) illustrates the detection result of the reflected wave RW from the surface 22a, the upper surface 51a, and the lower surface 51b. That is, the graph of FIG. 4(b) illustrates the detection result of the reflected wave RW from a non-bonded point. The graph of FIG. 4(c) illustrates the detection result of the reflected wave RW from the surface 22a, the upper surface 53a, and the lower surface 53b. That is, the graph of FIG. 4(c) illustrates the detection result of the reflected wave RW from a bonded point.

[0021] 4(b) and 4(c), peak Pe10 is based on the reflected wave RW from the surface 22a. 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 ultrasonic waves US to the detection of peaks Pe11 and Pe12 correspond to the positions in the Z direction of the upper surface 51a and the lower surface 51b, respectively.

[0022] 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.

[0023] The processing device 10 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 10 detects a peak in a range in the Z direction in which the peak Pe12 can be detected. The processing device 10 compares the peak intensity with a threshold value. The range in the Z direction and the threshold value are set in advance.

[0024] When the peak intensity exceeds the threshold value, the processing device 10 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 10 determines that a point at which peak Pe12 is detected is not joined. The processing device 10 determines that a point at which peak Pe12 is not detected is joined. The processing device 10 sequentially determines whether each point in the XY plane is joined. The processing device 10 identifies a set of points determined to be joined as a welded portion 53.

[0025] In the examples of FIG. 4(b) and FIG. 4(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 21a 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.

[0026] FIG. 5 is a schematic diagram showing an example of an identified welded portion. FIG. 5 shows the result of the above-mentioned bonded or unbonded determination. The ranges in the X and Y directions of the region where the bonded or unbonded determination is performed correspond to the ranges in the X and Y directions where the strength data was obtained. As an example, the ranges in the X and Y directions of the two-dimensional data shown in FIG. 5 correspond to the ranges in the X and Y directions of the three-dimensional strength data shown in FIG. 3, respectively. A part of the range where the strength data was obtained in the X and Y directions may be extracted, and the bonded or unbonded determination may be performed for the extracted region. The determination is performed for each point in the XY plane of the strength data. In FIG. 5, the points determined to be bonded based on the strength data are shown in white. The points determined to be unbonded are shown in black. A set of points determined to be bonded corresponds to the welded portion 53. The processing device 10 generates the two-dimensional data shown in FIG. 5 using the bonded determination results at each point.

[0027] Processing device 10 calculates the center position of welded portion 53 on the XY plane using the two-dimensional data shown in Fig. 5. Here, the center position of welded portion 53 on the XY plane is referred to as the first center position. For example, processing device 10 calculates the center position of welded portion 53 on the XY plane using the two-dimensional data shown in Fig. 5. The center position of welded portion 53 is used as the first center position.

[0028] The welded portion 53 is generally circular because it is formed by resistance spot welding. The processing device 10 may use the center position calculated by any of the following methods as the center position of the welded portion 53. In a first method, the processing device 10 generates an approximation circle of the welded portion 53 by the least squares method, and calculates the center position of the approximation circle. In a second method, the processing device 10 generates a maximum inscribed circle that is inscribed on the outer edge of the welded portion 53, and calculates the center position of the inscribed circle. In a third method, the processing device 10 generates a minimum circumscribed circle that is circumscribed on the outer edge of the welded portion 53, and calculates the center position of the circumscribed circle. In a fourth method, the processing device 10 calculates the center positions of the inscribed circle and the circumscribed circle that have the smallest radius difference.

[0029] By using either method, the processing device 10 calculates the first center position C1 as shown in FIG.

[0030] Furthermore, the processing device 10 calculates the center position on the XY plane of the received intensity data. Here, the center position on the XY plane of the intensity data is referred to as the second center position. For example, the processing device 10 calculates the center position on the XY plane of the three-dimensional intensity data shown in Fig. 3 as the second center position. Alternatively, the processing device 10 may calculate the center position on the XY plane of the two-dimensional data shown in Fig. 5 as the second center position.

[0031] By using either method, the processing device 10 calculates the second center position C2 as shown in FIG.

[0032] The processing device 10 calculates a distance D between the first central position and the second central position, as shown in FIG. 5. The distance D corresponds to a deviation of the actual position of the welded portion 53 from a previously designed position of the welded portion 53 (design position). A value based on the distance D is compared with a first threshold value set in advance. For example, the distance D is compared with the first threshold value. A value calculated using the distance D may also be compared with the first threshold value. The first threshold value is set according to an allowable amount for deviation in position. When the value based on the distance D exceeds the first threshold value, the processing device 10 outputs a first notification to the user. The first notification indicates to the user that the center of the welded portion 53 is deviated from the center of the detection range of the reflected wave.

[0033] FIG. 6 is a schematic diagram showing another example of the identified welded portion. 6, like FIG. 5, shows the results of the determination of whether each point in the XY plane of the strength data is bonded or not bonded. In the example shown in FIG. 6, a part of the welded part 53 is located outside the range of the obtained strength data. In this case, as shown in FIG. 6, the distance D between the first central position C1 and the second central position C2 of the welded part 53 identified from the strength data is longer than in the example shown in FIG. 5. As a result, the distance D exceeds the first threshold value, and a first notification is output to the user.

[0034] If the entire welded portion 53 is located outside the range of the obtained strength data, it is not possible to calculate the first center position C1 and the distance D. In this case, the processing device 10 outputs a notification to the user, similarly to the case where the distance D exceeds the first threshold value.

[0035] FIG. 7 is a flowchart showing an example of the operation of the detection system according to the embodiment. The detector 20 performs an exploration and obtains intensity data of the reflected wave (step St1). The processing device 10 uses the intensity data to identify the welded portion 53 (step St2). The processing device 10 calculates a first center position (step St3). The processing device 10 calculates a second center position (step St4). The processing device 10 calculates a distance between the first center position and the second center position (step St5). The processing device 10 compares a value based on the distance with a first threshold value (step St6). When the value exceeds the first threshold value, the processing device 10 outputs a first notification (step St7).

[0036] Advantages of the embodiment will be described. In the joined body 50, a plurality of members are joined at a weld 53. The position of the weld 53 affects the quality of the joined body 50. For example, if the position of the weld 53 is deviated from the design position, the strength of the joined body 50 may be lower than the design strength.

[0037] A welding mark, which is a circular depression, is formed on the upper surface of the welded portion 53. The position of the welding mark can be detected from an image captured by a camera. However, the center position of the welding mark that can be seen from the outside may be shifted from the center position of the actual welded portion 53. In order to more accurately determine the reliability of the strength, etc. of the manufactured joint 50, it is desirable to use the actual center position of the welded portion 53.

[0038] Regarding this problem, when the processing device 10 according to the embodiment receives the intensity data of the reflected wave from the detector 20, the processing device 10 identifies the welded portion 53 of the joint 50 using the intensity data. Then, the processing device 10 calculates a first center position C1 of the welded portion 53 on the XY plane. According to the embodiment, the actual center position of the welded portion 53 can be obtained regardless of the position or shape of the external weld mark. According to the embodiment, the position of the welded portion 53 can be obtained more accurately than when the position of the welded portion 53 is detected using a camera. Also, according to the embodiment, a more accurate position of the welded portion 53 can be calculated from data used to inspect the welded portion 53 without using an external device such as a camera for identifying the position of the welded portion 53.

[0039] The processing device 10 may calculate a second center position in the XY plane of the obtained strength data, and calculate a distance D between the first center position C1 and the second center position C2. The position of the welded portion 53 is designed in advance. Resistance spot welding is performed so that the welded portion 53 is formed at the pre-designed position (design position). For example, the tip of the detector 20 is placed at the design position. When the detection is performed with the detector 20 in contact with the design position, the center of the strength data in the XY plane is located at the center of the design position. That is, the second center position C2 corresponds to the pre-designed center position of the welded portion 53. The longer the distance D between the first center position C1 and the second center position C2, the more the actual position of the welded portion 53 deviates from the design position of the welded portion 53.

[0040] The processing device 10 may use the distance D to determine whether the bonded structure 50 is good or bad. The longer the distance D, the higher the possibility of reduced reliability and the higher the possibility of the bonded structure 50 being defective. When the value based on the distance D exceeds a first threshold, the processing device 10 determines that the bonded structure 50 is defective. When the value based on the distance D is equal to or smaller than the first threshold, the processing device 10 determines that the bonded structure 50 is good.

[0041] The processing device 10 may output a first notification to a user when the value based on the distance D exceeds a first threshold. For example, the processing device 10 transmits first data to a terminal device of the user as the first notification. The processing device 10 may display the first data on a monitor. The user may be a user of the processing device 10 or the detector 20, a manager of a welding process, or a manager of a welding inspection process. By transmitting the first data, a welding defect can be notified to the user.

[0042] For improved user convenience, the first data may include identification information for identifying the joined body 50. The first data may include identification information of a welding process of the joined body 50. The first data may include text (an error message) indicating that the first center position C1 is deviated from the second center position C2. The first data may include image data shown in FIG. 5 or FIG. 6. At least one of the first center position C1, the second center position C2, and the distance D may be indicated on the image data.

[0043] The processing device 10 may output sound or light from an output device that emits sound or light. By outputting sound or light, it is possible to notify the user of defective welding.

[0044] Processing device 10 may inspect welded portion 53 using the strength data. The diameter of welded portion 53 is used for the inspection. Processing device 10 calculates the major axis of welded portion 53 using the two-dimensional data shown in FIG. 5 or FIG. 6. The major axis corresponds to the distance between the two most distant points on the outer edge of welded portion 53. Welded portion 53 compares the major axis with a preset threshold value. When the major axis exceeds the threshold value, welded portion 53 judges joined portion 50 to be acceptable. When the major axis is equal to or smaller than the threshold value, welded portion 53 judges joined portion 50 to be unacceptable.

[0045] For the inspection, the two-dimensional data shown in Fig. 5 or 6, which is generated when calculating the first center position, can be used. Therefore, when calculating the first center position and performing the inspection using the intensity data, the processing time can be shortened compared to when calculating the center position of the weld mark and performing the inspection using a camera.

[0046] When an inspection is performed, the processing device 10 may use the distance D to determine the accuracy of the inspection. The shorter the distance D, the more reliable the inspection. If the distance D is long, a part of the weld 53 is located outside the range of the obtained strength data, as shown in FIG. 6 for example. In this case, the diameter of the weld 53 may be calculated to be shorter than the actual value. Even though the weld 53 itself is properly formed, the weld 53 may be determined to be defective.

[0047] The processing device 10 determines that the inspection result is inaccurate when the value based on the distance D exceeds the second threshold. The processing device 10 determines that the inspection result is accurate when the value based on the distance D is equal to or less than the second threshold. The second threshold is set depending on the effect that the deviation of the position of the welded portion 53 from the design position has on the inspection result. The second threshold may be the same as the first threshold or may be different from the first threshold.

[0048] The processing device 10 may output a second notification to the user when the value based on the distance D exceeds a second threshold. The second notification indicates to the user that the inspection result of the welded portion 53 is inaccurate. For example, the processing device 10 transmits second data as the notification to the user's terminal device. The processing device 10 may display the second data on a monitor. By transmitting the second data, the user can be notified that the inspection is inaccurate.

[0049] For improved user convenience, the second data may include identification information of the inspection process. The second data may include text (error message) indicating that the inspection result is inaccurate. The second data may include image data shown in FIG. 5 or FIG. 6. At least one of the first center position C1, the second center position C2, and the distance D may be indicated on the image data.

[0050] FIG. 8 is a flowchart showing another example of the operation of the detection system according to the embodiment. The operation shown in Fig. 8 further includes steps St8 to St10 compared to the operation shown in Fig. 7. After step St7, the processing device 10 inspects the welded portion 53 (step St8). The processing device 10 compares the value based on the distance with a second threshold (step St9). When the value exceeds the second threshold, the processing device 10 outputs a second notification (step St10).

[0051] In the flowchart shown in Fig. 8, the timing of operations after step St6 can be changed as appropriate. For example, steps St6 and St7 may be executed after steps St8 and St9. When the first threshold and the second threshold are the same value, the comparison between the distance and these thresholds may be executed in one determination process, and the first notification and the second notification may be output simultaneously.

[0052] FIG. 9 is a schematic diagram showing another detection system according to an embodiment. The detection system 1a shown in Fig. 9 includes a processing device 10, a detector 20, and a robot 30. The robot 30 includes a manipulator 31 and a control device 32. As shown in Fig. 9, the detector 20 may be attached to the manipulator 31.

[0053] 9, the manipulator 31 is a vertical articulated type. The manipulator 31 may be a horizontal articulated type or a parallel link type. The detector 20 is provided at the tip of the manipulator 31 as an end effector. The control device 32 controls the operation of the manipulator 31. The control device 32 is a so-called robot controller.

[0054] 9, the detector 20 and the dispenser 25 are provided at the tip of the manipulator 31. The dispenser 25 dispenses the couplant liquid toward the welded portion 53. After the couplant liquid is dispensed, the control device 32 brings the tip of the detector 20 into contact with the welded portion 53.

[0055] In the detection system 1a, the processing device 10 can execute the operation shown in Fig. 7 or Fig. 8. The detection system 1a may further be capable of correcting the position of the detector 20 according to the calculation results of the first center position and the second center position.

[0056] FIG. 10 is a flowchart showing an example of the operation of another detection system according to the embodiment. 10 includes steps St11 and St12 instead of step St7 in comparison with the operation shown in FIG.

[0057] When the value based on the distance exceeds the first threshold in step St6, the processing device 10 transmits the distance between the first center position and the second center position to the control device 32 (step St11). The distance corresponds to the amount of deviation of the second center position from the first center position. The control device 32 operates the manipulator 31 to correct the position of the detector 20 so as to shorten the distance (step St12). For example, the control device 32 operates the manipulator 31 so that the first center position and the second center position coincide with each other. After step St12, step St1 is executed again.

[0058] By automatically correcting the position of the detector 20 according to the amount of deviation of the second center position from the first center position, more reliable strength data can be obtained. For example, by using this strength data, the accuracy of inspection of the welded portion 53 can be improved.

[0059] In the operation shown in Fig. 10, in addition to correcting the position of the detector 20 in steps St11 and St12, a first notification may be transmitted as shown in Fig. 7. value When is less than or equal to the first threshold, the weld 53 may be inspected and a value based on the distance may be compared to a second threshold, as shown in FIG.

[0060] FIG. 11 is a schematic diagram showing a hardware configuration. 11 can be used as the processing device 10. 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.

[0061] 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.

[0062] 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.

[0063] The storage device 94 stores data necessary for executing the programs and data obtained by executing the programs. The storage device 94 includes one or more selected from a hard disk drive (HDD) and a solid state drive (SSD).

[0064] The input interface (I / F) 95 connects the processing device 10 and the input device 95a. The input I / F 95 is, for example, a serial bus interface such as a USB. The CPU 91 can read various data from the input device 95a via the input I / F 95. The input device 95a includes one or more selected from a mouse, a keyboard, a microphone (voice input), and a touch pad.

[0065] The output interface (I / F) 96 connects the processing device 10 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 a signal (data) to the output device 96a via the output I / F 96. The output device 96a includes one or more selected from a monitor, a projector, a printer, an audio device, and a light-emitting device. A device having the functions of both the input device 95a and the output device 96a, such as a touch panel, may be used.

[0066] The communication interface (I / F) 97 connects the processing device 10 to a server 97a outside the processing device 10. 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.

[0067] The various data processing operations described above may be recorded as a program that can be executed by a computer on a non-transitory computer-readable storage medium such as a magnetic disk (such as a flexible disk or hard disk), an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD±R, DVD±RW), or a semiconductor memory.

[0068] The information recorded on the 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 obtain or read the program through a network.

[0069] 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]

[0070] 1, 1a: detection system, 10: processing device, 15: couplant, 20: detector, 21: element array, 21a: detection element, 22: propagation portion, 22a: surface, 25: dispenser, 30: robot, 31: manipulator, 32: control device, 50: joint, 51: metal plate, 51a: upper surface, 51b: lower surface, 52: metal plate, 53: 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, C1: 1st center position, C2: 2nd center position, D: Distance, Pe10~Pe14: Peak, RW: Reflected wave, US: Ultrasonic wave

Claims

1. transmitting ultrasonic waves toward the bonded body along a first direction and receiving intensity data of the reflected waves obtained; Using the strength data, identify a weld of the joint; Calculating a first center position of the weld on a first plane intersecting the first direction; A processing device that calculates a distance between a second center position on the first surface of the intensity data and the first center position.

2. The processing apparatus according to claim 1 , wherein the distance is used to determine whether the bonded body is good or bad.

3. The processing device according to claim 1 , further comprising: a first notification output for a user when the value based on the distance exceeds a first threshold value.

4. 4. The processing apparatus according to claim 1, wherein the detected diameter of the welded portion is used to inspect the welded portion.

5. The processing system of claim 4 , wherein the distance is used to determine accuracy of inspection of the weld.

6. The processing device according to claim 5 , further comprising: a second notification output for a user when the value based on the distance exceeds a second threshold value.

7. A processing device according to any one of claims 1 to 6, a detector for transmitting the ultrasonic waves, detecting the reflected waves, and transmitting the intensity data to the processing device; A detection system comprising:

8. The detection system of claim 7 , further comprising a manipulator having the detector mounted on its tip.

9. A control device for controlling the manipulator is further provided. When a value based on a distance between a second center position on the first surface of the intensity data and the first center position exceeds a first threshold value, the control device operates the manipulator to correct a position of the detector so that the distance becomes shorter; The detection system of claim 8 , wherein the detector transmits the ultrasonic waves to the weld and detects the reflected waves at the corrected position.

10. transmitting ultrasonic waves toward the bonded body along a first direction and receiving intensity data of the reflected waves obtained; Using the strength data, identify a weld of the joint; Calculating a first center position of the weld on a first plane intersecting the first direction; A processing method for calculating a distance between a second center position on the first surface of the intensity data and the first center position.

11. The processing device includes: transmitting ultrasonic waves toward the bonded body along a first direction and receiving intensity data of the reflected waves; Using the strength data, a weld of the joint is identified; Calculating a first center position of the weld on a first plane intersecting the first direction; calculating a distance between a second center position on the first surface of the intensity data and the first center position; program.

12. A storage medium storing the program according to claim 11.

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