公开(公告)号：US20170123403A1

公开(公告)日：2017-05-04

申请号：US15126780

申请日：2015-01-15

申请人： AMADA HOLDINGS CO., LTD.

发明人： Hiroki INOUE

IPC分类号： G05B19/402 ,  G06T7/00 ,  B23K26/21 ,  G06T7/13 ,  B23K26/03 ,  B23K26/042

CPC分类号： G05B19/402 ,  B23K26/02 ,  B23K26/032 ,  B23K26/04 ,  B23K26/042 ,  B23K26/21 ,  B25J9/1684 ,  G05B19/4083 ,  G05B2219/37563 ,  G05B2219/45104 ,  G05B2219/45138 ,  G05B2219/4705 ,  G06T7/0004 ,  G06T7/13 ,  G06T2207/10004 ,  G06T2207/30136 ,  G06T2207/30164

摘要： An edge extraction unit extracts an edge image from a photographed image obtained by photographing a product with a camera. A constant edge acquisition unit acquires, as a constant edge image, an edge image in a constant surface where a positional deviation does not occur with respect to a welding point set by a processing program, the acquired image belonging to the extracted edge image. A correction amount acquisition unit performs pattern-matching between a master constant edge image and a workpiece edge image, which are acquired by the constant edge acquisition unit, and acquires a deviation amount between both thereof as a correction amount with respect to the welding point. A processing program correction unit corrects the welding point by the correction amount, and generates a corrected processing program for welding the workpiece. A welding robot welds the workpiece based on the corrected processing program.