Processing system, processing method and program

Abstract

To make it possible to quickly and correctly determine quality of a butt surface before performing butt welding.SOLUTION: A processing system comprises: point group data acquisition means which acquires point group data on a cross section of a butt surface of a component when performing butt welding of the component; and butt surface determination means which extracts a straight line part of the point group data by use of Hough transformation with respect to the point group data acquired by the point group acquisition means, and determines quality of the butt surface on the basis of the extracted straight line part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a processing system, a processing method, and a program for butt welding members together. [Background technology]

[0002] BACKGROUND ART There is known an inspection device that uses infrared rays to evaluate whether or not a weld line of a member has a defect (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-224780 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when butt welding two members together, the butt surfaces may be in poor condition, such as having low flatness and a small contact area. If the members are butt-welded together while the butt surfaces are in poor condition, there is a risk of welding defects. Therefore, it is preferable to determine the quality of the butt surfaces before butt welding.

[0005] However, if the user manually determines whether the welding is good or bad, it takes a lot of time and there is a limit to how accurately the determination can be made. On the other hand, the above-mentioned inspection device is a device that inspects the welded portion after welding, and is not a device that determines whether the butt surface is good or bad before butt welding is performed, as described above.

[0006] The present disclosure has been made to solve such problems, and its main purpose is to provide a processing system, processing method, and program that can quickly and accurately determine the quality of the butt surface before butt welding is performed. [Means for solving the problem]

[0007] In order to achieve the above object, one aspect of the present disclosure is to a point cloud data acquisition means for acquiring point cloud data of a cross section of a butt surface of the members when the members are butt-welded; a butting surface determination means for extracting straight line portions of the point cloud data acquired by the point cloud data acquisition means using a Hough transform and determining whether the butting surfaces are good or bad based on the extracted straight line portions; A processing system comprising: is. In this aspect, The welding device may further comprise welding means for performing the butt welding on the butt surfaces determined to be good by the butt surface determination means. In order to achieve the above object, one aspect of the present disclosure is to A step of acquiring point cloud data of a cross section of a butt surface of the members when butt welding the members; extracting straight line portions from the acquired point cloud data using a Hough transform, and determining whether the butt surfaces are good or bad based on the extracted straight line portions; Processing method including is. In order to achieve the above object, one aspect of the present disclosure is to A process of acquiring point cloud data of a cross section of a butt surface of members when butt welding the members; A process of extracting straight line portions from the acquired point cloud data using a Hough transform, and determining whether the butt surfaces are good or bad based on the extracted straight line portions; A program that causes a computer to execute is. [Effects of the Invention]

[0008] The present disclosure has been made to solve such problems, and can provide a processing system, processing method, and program that can quickly and accurately determine the quality of the butt surface before butt welding is performed. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a schematic system configuration of a processing system according to an embodiment of the present invention; [Figure 2] FIG. 10 is a diagram illustrating an example of point cloud data for a cross section of abutting surfaces. [Figure 3] FIG. 10 is a diagram illustrating a straight line portion of point cloud data. [Figure 4] 1 is a flowchart showing a flow of a processing method according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] DESCRIPTION OF THE PREFERRED EMBODIMENTS In recent years, tailored blank materials such as frames having different thicknesses have been butt-welded in order to reduce the weight of vehicles.

[0011] For example, the end faces of material A and material B and C are butted together and welded using a welding device. However, because the end faces of these components have been subjected to shearing or other processing, the end faces (butt faces) may be in poor condition, with low flatness and little contact area. If butt welding is performed on the butt faces of these components in such poor condition, there is a risk of poor welding.

[0012] In contrast, the processing system according to this embodiment automatically judges the quality of the butt surfaces of the components before butt welding them together, thereby enabling the quality of the butt surfaces to be judged accurately in a short time.

[0013] 1 is a block diagram showing a schematic system configuration of a machining system according to this embodiment. The machining system 1 according to this embodiment includes a point cloud data acquisition unit 2, a butt surface determination unit 3, and a welding device 4.

[0014] The processing system 1 has a hardware configuration of a typical computer, including, for example, a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), internal memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory), storage devices such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), an input / output I / F for connecting peripheral devices such as a display, and a communication I / F for communicating with devices outside the device.

[0015] The point cloud data acquisition unit 2 is a specific example of a point cloud data acquisition means. The point cloud data acquisition unit 2 acquires point cloud data on a cross section of the butt surfaces of the members when butt welding the members together.

[0016] 2, the point cloud data acquisition unit 2 acquires point cloud data for the cross section of the butt surface 100 using a contact-type three-dimensional measuring device that brings a measuring probe into contact with the butt surface 100. Note that the point cloud data acquisition unit 2 may also acquire point cloud data for the cross section of the butt surface 100 using a non-contact-type measuring device that uses laser light.

[0017] The point cloud data acquisition unit 2 acquires point cloud data of cross sections at 15 locations on the butt surface 100 of one member, for example. Note that the number of cross sections of the butt surface 100 from which point cloud data is acquired may be arbitrary. The point cloud data acquisition unit 2 outputs the acquired point cloud data of each cross section of the butt surface 100 to the butt surface determination unit 3.

[0018] The butting surface determination unit 3 is a specific example of a butting surface determination means. The butting surface determination unit 3 extracts a straight line portion L of the point cloud data by applying a Hough transform to the point cloud data of each cross section from the point cloud data acquisition unit 2, as shown in FIG.

[0019] The Hough transform is based on the theory that if the points are on the same line, the same equation r = x cosθ + y sinθ is used for all (x0, y0). For example, if you vote for the area where you are in increments of r = 0.001 mm and θ = 0.01°, you will get r = 0.070 mm and θ = 90.60°. Substituting these derived values ​​of r and θ into the above formula gives the following formula. 0.07=x·cos(90.6°)+y·sin(90.6°)

[0020] When the above equation is converted into the format y=ax+b, the straight line portion L (straight line equation) of the point cloud data shown in FIG. 3 can be derived.

[0021] The butt surface determination unit 3 determines the quality of each cross section of the butt surface 100 based on the extracted straight line portion L. First, the butt surface determination unit 3 extracts a start point X1 and an end point X2 of a straight line along the straight line portion L from the point cloud data based on the straight line portion L.

[0022] Specifically, the butting surface determination unit 3 extracts, from the point cloud data, a start point X1 and an end point X2 that are within a first predetermined distance from the straight line portion L and that are points where N or more consecutive points are within a second predetermined distance from the straight line portion L from the start point X1 to the end point X2. For example, the first predetermined distance is set to a (mm), the second predetermined distance is set to b (mm), and N is set to c. The first and second predetermined distances a, b, and N may be set to optimal values ​​obtained experimentally.

[0023] The butt surface judging unit 3 judges the acceptability of each cross section of the butt surface 100 based on the start point X1 and end point X2 extracted as described above.

[0024] The butt surface determination unit 3 may determine, for example, whether the distance between the start point X1 and the end point X2 extracted as described above, the difference in the Y direction (height direction) between the start point X1 and the end point X2 and the maximum point Ymax, the difference in the Y direction between the start point X1 and the end point X2 and the maximum point Xmax, and the difference in the Y direction between the start point X1 and the end point X2 and the minimum point Xmin are each within a threshold value.

[0025] When it is determined that each of the above values ​​is within a threshold value, the butt surface determination unit 3 may determine that the cross section of the butt surface 100 is good. Furthermore, the butt surface determination unit 3 may use the ratio of the shear surface to the fracture surface, the amount of sagging, the amount of gouging, etc. in the cross section of the butt surface 100 for the above determination.

[0026] For example, when it is determined that all cross sections of the butt surface 100 of the members are good, the butt surface determination unit 3 determines that the butt surface 100 of the members is good. The butt surface determination unit 3 outputs the determination result of the butt surface 100 to the welding device 4.

[0027] The welding device 4 is a specific example of a welding means. The welding device 4 performs butt welding on the butt surfaces 100 of the members that have been determined to be good by the butt surface determination unit 3. The welding device 4 performs butt welding by supplying a welding material to the butt surfaces 100 and irradiating them with a laser beam.

[0028] Next, a description will be given of a processing method performed by the processing system 1 according to this embodiment. Fig. 4 is a flowchart showing the flow of the processing method according to this embodiment.

[0029] The point cloud data acquisition unit 2 acquires point cloud data for the cross section of the butt surface 100 using a three-dimensional measuring device or the like (step S101).

[0030] The abutting surface determination unit 3 extracts a straight line portion L of the point cloud data by applying a Hough transform to the point cloud data of each cross section from the point cloud data acquisition unit 2 (step S102).

[0031] The butt surface determination unit 3 determines the acceptability of each cross section of the butt surface 100 based on the extracted straight line portion (step S103).

[0032] The welding device 4 performs butt welding on the butt surfaces 100 of the members that have been determined to be good by the butt surface determination unit 3 (step S104).

[0033] As described above, the processing system 1 according to this embodiment includes a point cloud data acquisition unit 2 that acquires point cloud data on a cross section of the butt surface 100 of members when butt welding the members together, and a butt surface determination unit 3 that extracts straight line segments from the point cloud data acquired by the point cloud data acquisition unit 2 using a Hough transform and determines the quality of the butt surface 100 based on the extracted straight line segments. This allows the quality of the butt surface 100 to be determined accurately in a short time.

[0034] For example, in the past, a user manually inputs measurement data of measurement points and visually judges the quality of the butt surfaces 100. This required a lot of time to judge the quality, and there were limitations to how accurately the judgement could be made. In contrast, the processing system 1 according to this embodiment, as described above, automatically acquires point cloud data of the butt surfaces 100 and judges the quality of the butt surfaces 100. Therefore, the quality of the butt surfaces 100 can be judged accurately in a short time.

[0035] Although several embodiments of the present disclosure have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims.

[0036] The present disclosure can also be implemented by causing a processor to execute a computer program to perform the processing shown in FIG. 4, for example.

[0037] The program can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)).

[0038] The program may be provided to the computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable media may provide the program to the computer via a wired communication path such as an electrical wire or optical fiber, or via a wireless communication path.

[0039] Each part constituting the processing system 1 according to each of the above-described embodiments can be realized not only by a program, but also in part or in whole by dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or FPGA. [Explanation of symbols]

[0040] 1 Processing System 2 Point cloud data acquisition section 3. Butt surface judgment section 4. Welding equipment 100 butt surface

Claims

1. a point cloud data acquisition means for acquiring point cloud data of a cross section of a butt surface of the members when the members are butt-welded; a butting surface determination means for extracting straight line portions of the point cloud data acquired by the point cloud data acquisition means using a Hough transform and determining whether the butting surfaces are good or bad based on the extracted straight line portions; A processing system comprising:

2. 2. The processing system according to claim 1, The processing system further comprises a welding means for performing the butt welding on the butt surfaces determined to be good by the butt surface determination means.

3. A step of acquiring point cloud data of a cross section of a butt surface of the members when butt welding the members; extracting straight line portions from the acquired point cloud data using a Hough transform, and determining whether the butt surfaces are good or bad based on the extracted straight line portions; A processing method comprising:

4. A process of acquiring point cloud data of a cross section of a butt surface of members when butt welding the members; A process of extracting straight line portions from the acquired point cloud data using a Hough transform, and determining whether the butt surfaces are good or bad based on the extracted straight line portions; A program that causes a computer to execute the following.

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