公开(公告)号：US20190143448A1

公开(公告)日：2019-05-16

申请号：US16185364

申请日：2018-11-09

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Seiichiro FUKUSHIMA ,  Takashi MOTOYOSHI

IPC: B23K26/08 ,  B23K26/04 ,  B23K26/046 ,  B23K26/073 ,  B25J9/16

Abstract: A laser machining method includes obtaining a movement direction in which a head that variably makes a shape of a radiation locus using a laser is being moved by a robot that causes the head to move along a machining line, and adjusting the radiation locus made by the head to keep a constant relative angle between the movement direction obtained by the obtaining and a representative angle of the shape of the radiation locus.

公开(公告)号：US20190200000A1

公开(公告)日：2019-06-27

申请号：US16224817

申请日：2018-12-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi KUMAGAI ,  Takashi MOTOYOSHI ,  Seiichiro FUKUSHIMA

IPC: H04N13/246 ,  G06T7/521 ,  G01B11/25 ,  G02B26/12

CPC classification number: H04N13/246 ,  B23K26/032 ,  B23K26/082 ,  B23K26/0884 ,  B23K26/21 ,  B23K26/707 ,  G01B11/2518 ,  G02B26/127 ,  G06T7/33 ,  G06T7/521 ,  G06T7/80 ,  G06T2207/30244

Abstract: A calibrating method includes controlling a laser radiator to radiate calibration laser light to an object such that a pattern is projected in a laser coordinate system with respect to the laser radiator; controlling a camera to obtain a first image of first light points of the calibration laser light projected on a surface of the object when the object is in a first position; and controlling the camera to obtain a second image of second light points of the calibration laser light projected on the surface of the object when the object is in the second position. A positional relationship between the laser coordinate system and the camera coordinate system is calculated based on the three-dimensional positions of the first light points and the three-dimensional positions of the second light points.