Robot Welding Program Generation Using Marker-Based 3D Coordinates
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Solution Overview
Problem
Existing work program production systems require pre-prepared layout patterns and elements, limiting flexibility in generating correct programs for different layouts or unanticipated layout elements.
Innovation Solution
A system that includes a photographing terminal to capture images of objects, a coordinate system setting unit to establish a user coordinate system based on markers, and a program production unit to generate work programs for industrial robots, allowing them to perform tasks while avoiding interference with plotted point group data, regardless of object disposition or obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If pre-prepared layout patterns and elements are used, then program generation is simplified and standardized, but flexibility to handle various layout patterns and elements is reduced
Solution Approach 1:
The patent replaces the mechanical system of pre-prepared layout patterns with an image-based recognition system. The photographing terminal captures images of actual workpieces and layouts, and the system automatically generates coordinate systems and programs based on the captured images, eliminating the need for pre-defined layout patterns while maintaining program generation simplicity.
Solution Approach 2:
The system changes the parameter approach by transitioning from fixed, discrete layout patterns to continuous coordinate system parameters. By establishing a user coordinate system based on detected marker positions and plotting point group data in this coordinate system, the system can adapt to any layout configuration while maintaining standardized program generation processes.
2Manufacturing precision
If the robot operates close to the workpiece for precision, then work accuracy is improved, but interference with the workpiece or obstacles increases
Solution Approach 1:
The patent introduces a virtual dimension by plotting point group data in a user coordinate system and performing virtual robot operations. This allows the system to analyze and adjust robot trajectories in a virtual space before actual execution, enabling the robot to maintain close proximity to the workpiece for precision while avoiding interference through virtual trajectory optimization.
Solution Approach 2:
The system performs preliminary virtual operations to detect potential interference between the robot and point group data before actual robot execution. By identifying and correcting interference issues in the virtual space beforehand, the robot can execute precise work with high accuracy while avoiding harmful interference with the workpiece or obstacles.
Data Source
AI summary
A work program production system includes a photographing unit that photographs an image including an object to be welded, a coordinate system setting unit that sets a user coordinate system based on a marker included in the image photographed by the photographing unit, a point-group-data plotting unit that detects a specific position of the marker on the basis of the image, sets the detected specific position on point group data acquired by a distance measurement sensor that measures a distance to the object to be welded, and plots, in the user coordinate system, the point group data to which coordinates in the user coordinate system using the set specific position as an origin are given, and a program production unit that produces a welding program.