JPH09159410A - Machining position detector and automatic machining system - Google Patents

Abstract

(57) Abstract: When a surface of a processed object is irradiated with slit light and reflected light from the surface of the object is imaged and image-processed to detect a feature amount of the object, it enters a shaded area or otherwise. There is provided a processing position detecting device which eliminates a region which cannot be detected behind the object. SOLUTION: The slit lights 7a and 7b are arranged on opposite sides with respect to a perpendicular Ps to a predicted processing line R, and the slit lights 7a and 7b are on the same plane H.
A plurality of light projecting means 3a for irradiating the surface H of the object to be processed,
3b, which are arranged apart from each other by arbitrary distances L1 and L2 with respect to the perpendicular Ps in the direction orthogonal to the processing direction, and the optical axes O1 and
O2 includes two-dimensional imaging means 9 and 10 that receive reflected light from the processing object H within the same plane H2 forming a predetermined angle θo with respect to the irradiation plane H1 and output a light-section image, and processing with different imaging directions is performed. The light section image of the object surface H is subjected to image processing to detect the feature amount such as the gap position of the processed object.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a processing position detecting device and an automatic processing system, and more particularly to irradiating the surface of an object to be processed with slit light and capturing the reflected light from the surface of the object with a camera to obtain an image. The present invention relates to a processing position detecting device for processing and detecting a processing position and the like, and an automatic processing system applying the processing position detecting device.

[0002]

2. Description of the Related Art Among machining position detecting devices, a detecting device utilizing a slit light projecting means and a one-dimensional image pickup means for detecting, for example, a welding work position, is disclosed in Japanese Patent Laid-Open No. 60-2162.
No. 09, JP-A No. 61-027178, etc. A method for detecting the gap at the groove portion using this detection principle is disclosed in Japanese Patent Laid-Open No. 5-296.
No. 734, JP-A-6-042926 and the like.

Further, a detecting device utilizing the slit light projecting means and the two-dimensional image pickup means is disclosed in JP-A-55-30339, JP-A-55-50984, JP-A-61-132274, and JP-A-61-132274. 61-18680
3, JP-A-4-83105, JP-A-5-296734, JP-A-6
-42926 and so on. A method / apparatus for automatically welding using the result of welding work position detection is disclosed in JP-A-61-132274.
JP-A-61-166803, JP-A-4-83105 and the like.

FIG. 11 is a perspective view showing the principle of detecting the welding position on the groove using the slit light projecting means and the two-dimensional image pickup means. In FIG. 11, the light projecting means 3 and the IT
The image pickup means 9 including a V camera or the like is integrally attached to the welding torch 1 by an attachment support member (not shown). The light projecting means 3 irradiates the groove portion 6 preceding the arc point A of the tip of the welding electrode 2 on the welding members 4 and 5 with a laser beam 7 that is sharply focused like light transmitted through the slit. To do. The two-dimensional imaging means 9 images the reflected light Q from the groove portion 6. An image processing device (not shown) is a line segment Q1Q formed by a bending point of the groove surface of the illustrated optical cutting line image from the optical cutting image obtained at the groove portion 6 of the welded joint.
The line images corresponding to 2, Q2Q3, Q3Q4 are detected, the intersections of the respective line segments are calculated, and finally the processing position, that is, the position Q3 to be welded is obtained.

[0005]

FIG. 12 shows a piping member W.
It is a figure which shows the schematic cross-sectional shape of the butt welding part of R and WL. In this butt welding, since the pipe members WR and WL are thick, the groove portion is joined by multi-pass welding. At that time, in order to realize good quality first layer welding,
As shown in FIG. 2, the pipe members WR and WL are abutted with the insert ring I interposed to form a groove portion.

In this multi-layer welding, gaps may be generated on both sides of the insert ring I due to the processing accuracy of the pipe members WR and WL and the insert ring I, the temporary assembly accuracy of the joints of each component before welding, and the like. . Even in such a case, in order to ensure a predetermined welding quality, it is necessary to accurately measure the sizes of the gaps GR and GL, and to perform welding under proper working conditions according to the size of these gaps. There is.

In the above-mentioned conventional welding position detecting device, the bending point of each line segment forming the light section image is image-processed to detect the position and shape of the object surface. When this is applied to the detection of the gap, unless the optical axes of the light projecting means 3 and the image pickup means 9 are exactly aligned with the widthwise center position of the insert ring I forming the groove portion, that is, immediately above, the root face. Corner Rc of the insert ring I
Even if it enters the shaded area or is illuminated by the light from the light projecting means 3, it is imaged as an invisible part behind the insert ring I from the imaging means. Therefore, there is a problem that the groove information of that portion cannot be obtained and the size of the gap cannot be accurately measured.

As means for solving the above problems, the center position of the insert ring I is detected by a welding position detecting device, and the optical axes of the light projecting means 3 and the image pickup means 9 of the welding position detecting device are arranged in the width direction of the insert ring I. Control the position of the welding position detector so that it always matches the center position exactly,
Profile welding can be considered. However, this method has a practical problem because the control mechanism and the control algorithm are complicated.

An object of the present invention is to provide a processing position detecting device which can accurately detect information such as the size of the gap, the welding position, and the shape feature amount even when a gap is generated around the insert ring.

Another object of the present invention is to provide an automatic machining system to which such a machining position detecting device is applied.

[0011]

In order to achieve the above object, the present invention provides a light projecting means for irradiating a surface of a processed object with slit light, and a light cut image of the processed object by receiving reflected light from the processed object. In a processing position detecting device having a two-dimensional image pickup means for outputting and a means for processing a light cut image to detect a processing position, the light projecting means are arranged on opposite sides with respect to a perpendicular to the expected processing position. The two-dimensional imaging means comprises a plurality of light projecting means for irradiating the surface of the object to be processed with each slit light in the same plane. And the optical axes are separated from each other and the reflected light from the processing object is received in the same plane forming a predetermined angle with respect to the irradiation plane including the optical axes of the plurality of light projecting means and the light cut image is output. Two two-dimensional imaging Consist stage, the processing position detecting means,
The present invention proposes a processing position detecting device including image processing means for performing image processing on light-section images of a surface of a processed object from two two-dimensional imaging means having different imaging directions and detecting a feature amount such as a gap position of the processed object. .

The two-dimensional image pickup means has a central axis whose optical axis forms a predetermined angle with respect to an irradiation plane including the optical axes of a plurality of light projecting means, and which divides a distance between the optical axes of the two image pickup means into equal parts. It is also possible to include a third image pickup means arranged so as to lie in a plane including, and in that case, the processing position detection means obtains the light section images of the surface of the processed object from the three two-dimensional image pickup means in different image pickup directions. Image processing means for image processing and detecting a feature amount such as a gap position of the processed object is included.

In any case, it is desirable to house a plurality of light projecting means and two or three image pickup means in the same case.

When they are housed in the same case as described above, it is possible to provide a cooling path for circulating cooling water inside the case.

In order to achieve the above-mentioned other object, the present invention comprises any one of the processing position detecting device, an object processing means, and a means for driving the processing position detecting device and the object processing means along a processing line. The present invention proposes an automatic machining system comprising a drive means and a control means for controlling an object machining means based on a signal from a machining position detecting device.

FIG. 1 is a diagram showing the construction of the optical system of the machining position detecting apparatus according to the present invention and the principle of position detection. FIG.
In the above, the irradiation optical axis S1 of the first light projecting means 3a and the irradiation optical axis S2 of the second light projecting means 3b are respectively inclined by arbitrary angles θs1 and θs2 from the axis Ps in the direction perpendicular to the line R indicating the welding direction. In addition, the slit lights 7a and 7b are arranged so that they are in the same irradiation plane H1.
The irradiation plane H1 is arranged so as to be substantially perpendicular to the detection target object plane H. First imaging means 9 and second imaging means 1
0 means that each of the optical axis O1 and the optical axis O2 forms a predetermined angle θo with respect to the irradiation plane H1 formed by the irradiation optical axes S1 and S2, and the distance between both optical axes is L1 and L2.
So that The plane H2 is an observation plane generated by the optical axis O1 and the optical axis O2, and the center line Po is
It is a central axis line of the optical axis O1 and the optical axis O2. Irradiation plane H1
The axis Ps of and the Po of the observation plane H2 are in the same plane H3.

In the processing position detecting device arranged as described above, the first light projecting means 3a emits the slit light 7a toward the object surface H to be detected, and the second light projecting means 3b is the object to be detected. The slit light 7b is emitted toward the surface H. First
The image capturing unit 9 and the second image capturing unit 10 observe and image the optical cutting line Q from the detection target object H from above.

In the present invention, the groove light cutting images separated from the center of the insert ring located near the welding line R in the direction orthogonal to the welding line are separately imaged in the direction orthogonal to the welding line and image-processed. Therefore, even if the center of the detecting portion does not exactly coincide with the center position of the insert ring in the direction orthogonal to the welding line, for example, even if the root face portion is in the shadow or is exposed to light, the image pickup means does not Since there is no possibility of being imaged in an invisible part behind the insert ring, necessary groove information can be obtained.

Here, the irradiation optical axis S1 of the first light projecting means 3a
And the inclination angle θs2 of the irradiation optical axis S2 of the second light projecting means b becomes larger than the angle shown in FIG.
Even if the optical axes of the two intersect with each other in the irradiation plane H1, the gap and the like can be accurately detected. In essence, the first light projecting means 3a and the second light projecting means 3b only need to be on the opposite side of the perpendicular Ps to the line R indicating the welding direction. Therefore, in the present invention, the irradiation light axis S1 of the first light projecting means 3a and the irradiation light axis S2 of the second light projecting means 3b do not necessarily have to coincide with the point C on the welding line R.

Further, the first image pickup means 9 and the second image pickup means 10
If and are arranged at a distance of L1 and L2 on the intersection line S of the plane H1 and the plane H2, the gap and the like can be accurately detected even if the optical axes O1 and O2 are not necessarily parallel. Therefore, the optical axis O1 of the first imaging means 9
And the optical axis O2 of the second image pickup means 10 do not necessarily have to be parallel.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION Next, referring to FIGS.
An embodiment of the processing position detecting device according to the present invention will be described.
It should be noted that although the present invention will be described mainly with respect to an example in which the present invention is applied to the detection of a groove face of welding, the present invention is not limited to this and can be widely applied to detection of a three-dimensional position on a processed object. Will become apparent from the description below.

FIG. 2 is a diagram showing the construction of the sensor head and its control system of one embodiment of the processing position detecting apparatus according to the present invention. In FIG. 2, the welding torch 1 to which the welding electrode 2 is attached and fixed to the lower side is provided with the first light projecting means 3a and the second light projecting means 3a.
Projecting means 3b, first imaging means 9 and second imaging means 1
0 and 1 are mounted integrally. Welding members 4 and 5
Forms a weld groove surface 6 having a V-shaped butt groove shape, and an insert ring 8 is interposed therebetween. First imaging means 9
Is composed of an interference filter 11 and a two-dimensional camera 13 such as ITV, and the second image pickup means 10 is composed of an interference filter 12 and a two-dimensional camera 14 such as ITV.

The irradiating optical axis of the first light projecting means 3a and the irradiating optical axis of the second light projecting means 3b are each inclined at an arbitrary angle from the axis perpendicular to the insert ring 8, and the slit light 7a and slit The light 7b and the light 7b are arranged in the same irradiation plane. The irradiation plane is arranged so as to be substantially perpendicular to the object surface to be detected, that is, the upper surfaces of the welding members 4 and 5. The first imaging means 9 and the second imaging means 10 each have an optical axis that forms a predetermined angle with respect to an irradiation plane formed by the irradiation optical axis, and both optical axes are on the opposite side of the insert ring 8. Arrange it as it is.

The first light projecting means 3a and the second light projecting means 3b are controlled by the light projecting means control circuits 17a and 17b, respectively, and slit light 7 is applied to the groove 6 of the welding members 4 and 5.
A and slit light 7b are overlapped and irradiated so as to be on the same plane. The first image pickup means 9 and the second image pickup means 10 are controlled by the image pickup means control circuits 16a and 16b, respectively,
The light cutting line Q is observed from above the groove 6 and imaged. The image pickup means control circuits 16a and 16b each output an analog image signal to the image processing device 20.

The welding torch 1, the light projecting means 3a and 3b, and the imaging means 9 and 10 are integrally fixed, and the welding torch position control circuit 19 and the position control mechanism 18 freely drive above the groove 6. To be done.

The image processing apparatus 20 includes an image pickup means control circuit 1
The analog image signals output from 6a and 16b are A / D
An image input unit 21 for converting and outputting digital multi-valued image data, multi-valued image memories 22a, 22b for storing the converted multi-valued image data, and multi-valued image memories 22a, 22.
The binarization processing unit 23 that extracts only the bright portion in the image from the multivalued image data stored in b, the binary image memories 24a and 24b that stores the obtained binary image, and the binary image memory 24a. , 24b, an arithmetic processing unit 25 for obtaining an arbitrary feature amount in an image, such as a groove position to be welded, by image processing from the image data stored in the external device control unit 2.
6, a main control unit 27 that integrally controls the above-mentioned units, a reference point memory 28 of the first image pickup means, and a reference point memory 29 of the second image pickup means.

FIG. 3 is a flow chart of the welding position detecting procedure of the embodiment of the processing position detecting device of FIG. Step S1: Image input unit 21 of the image processing device 20
Inputs the first groove light section image obtained from the image pickup means control circuit 16a and stores it in the multi-valued image memory 22. Step S2: The image input unit 21 inputs the second groove light section image obtained from the image pickup means control circuit 16b and stores it in the multi-valued image memory 22a. Step S3: The binarization processing unit 23 binarizes the first groove image stored in the multi-valued image memory 22a, compresses and extracts only the light section image, and stores this data in the binary image memory 24a. Remember. Step S4: The binarization processing unit 23 binarizes the second groove image stored in the multi-valued image memory 22b, compresses and extracts only the light section image, and stores this data in the binary image memory 24b. Remember. Step S5: The arithmetic processing section 5 uses the binary image memory 24.
Using the light section image data stored in a, a groove information detection process described below is executed. Step S6: The arithmetic processing section 5 uses the binary image memory 24.
Using the light section image data stored in b, the groove information detection process described below is executed.

FIG. 4 is a diagram schematically showing the light section image data obtained by the first image pickup means 9 in step S3 as screen data, and FIG. 5 shows the light obtained by the second image pickup means 10 in step S4. It is a figure which shows cutting image data as screen data typically. In these figures, FIG.
The welding member 4 of FIG. 4 is located in the upper right of FIG. 4, the insert ring 8 is located below it, the welding member 5 of FIG. 2 is located in the lower right of FIG. 5, and the insert ring 8 is located above it. It has become a direction. That is, the y-direction is the welding member 4
From the upper surface of the welding member 5 to the insert ring 8. The x direction is the direction of the welding torch 1 toward the insert ring 8.

In the example of the light section image data of FIG. 4, as shown in FIG. 1, the optical axis of the first image pickup means 9 is L from the groove center.
Since they are arranged so as to be offset by 1, an optical cut image from the welding member 4 including the vicinity of the insert ring 8 in the welding groove surfaces 6 of the welding member 4 and the welding member 5 can be obtained. Therefore, it is possible to detect the position of the insert ring 8 which is important for properly controlling the welding torch 1 on the welding line or the welding condition, and the gap and misalignment between the insert ring 8 and the welding member 4. Become. The insert position is the start point qR5 of the reflection image L4 on the surface of the insert ring 8.
Is detected as the center position of the end point qL5. On the other hand, the gap and misalignment between the insert ring 8 and the welding member 4 are obtained by calculating the distances in the vertical direction y and the horizontal direction x of the end point position qR3 of the reflection image LR3 on the root flat surface and qR5.

In the example of the light section image data of FIG. 5, as shown in FIG. 1, the optical axis of the second image pickup means 10 is displaced from the center of the groove by L2. An optical cut image from the welding member 5 including the vicinity of the insert ring 8 on the welding groove surface 6 of the member 5 is obtained. Therefore, the insert ring 8 which is important for properly controlling the condition for aligning the welding torch 1 on the welding line or the welding condition
It is possible to detect the position, the gap between the insert ring 8 and the welding member 5 and the misalignment. The insert position is the start point qR5 of the reflection image L4 on the surface of the insert ring 8.
Is detected as the center position of the end point qL5. On the other hand, the gap and misalignment between the insert ring 8 and the welding member 4 are obtained by calculating the distances in the vertical direction y and the horizontal direction x between the end point position qL4 of the reflection image LL3 on the root flat surface and the above qL5.

Two positions of the insert ring 8 are obtained from the light section image data of FIG. 4 and the light section image data of FIG. As a method of determining the actual position of the insert ring 8 from the detected positions of these two insert rings 8, for example, the average value of the two detection results is used as the actual value. However, the present invention is not limited to this determination method.

Since the optical axes of the first image pickup means 9 and the second image pickup means 10 are arranged so as to be shifted from the groove center by L1 and L2 respectively, if the positional deviation of the welding work is within L1 or L2, the route is set. The face portion is not imaged as a shadow, the groove information in the vicinity of the insert ring 8 is accurately acquired, and the size of the gap and the like can be accurately measured.

The displacement of the welding work can be determined based on the insert ring position on the screen of FIG. 4 or FIG. In this case, as shown in FIG. 2, independent values are measured for reference points on the screen such as the optical axes of the first image pickup means 9 and the second image pickup means 10, and the reference values of the first image pickup means are measured. Point memory 28 and reference point memory 2 of the second imaging means
9 memory and refer to it as needed. For example, when obtaining the positional deviation of the welding work, the difference from the reference point described above may be obtained from the position of the insert ring 8 detected on the screen. The positions of the optical axes O1 and O2 of the two image pickup means 9 and 10 are always L1 or L2 from the point O.
The detection can be performed without exactly matching with, and the assembling and adjustment of the sensor head described later becomes easy.

In this embodiment, the case where the first layer groove has an insert ring has been described, but the groove information can be similarly measured even when the first layer groove has no insert ring.

FIG. 6 is a diagram showing the construction of another embodiment of the processing position detecting apparatus according to the present invention. The embodiment of FIG. 6 is different from the embodiment of FIG. 2 in that the interference filter 31 and the two-dimensional camera 32 are used.
This is an example in which a third image pickup means 33 consisting of is added.
The third image pickup means 33 is obtained when the optical axis is arranged in the plane H3 of FIG. 1, that is, on the welding line, and the slit surfaces 7a and 7b from the light projecting means 3a and 3b are applied to the groove surface. The light cutting line Q is observed and imaged from above the groove.

The third image pickup means is composed of two image pickup means 9 and 1.
The imaging magnification is set smaller than 0, and for example, the shoulder q in FIG.
R2 and shoulder qL2 in FIG. 5 are imaged in one screen,
Allows observation of a wide range of groove light section images. Here, the groove position, which is one of the groove information in the groove in which the beads are formed after the first layer welding, that is, the welding of the first layer, is the center position of both shoulders. In this case, in the embodiment shown in FIG. 1, as shown in the flowchart of FIG. 3, the detection processing is executed using the image input from the two image pickup means 9 and 10 and the respective light section image data. On the contrary,
In the case of the embodiment of FIG. 6 provided with the third image pickup means 33, using the light section image data obtained from the third image pickup means 33,
It is possible to detect both shoulder center positions. The image input time, the image processing time, and the like are better when the image processing is performed using the light section image data obtained from the third image capturing unit 33 than when the image capturing is performed by using the two image capturing units 9 and 10. By omitting it, the image processing time can be shortened.

FIG. 7 is a flow chart showing the detection procedure in the embodiment of FIG. The detection procedure of FIG. 7 is similar to the detection procedure of FIG. 3 in steps S0, S0a, and S.
7 to S10 are added.

Step S0: Externally input which of the two types of image processing numbers 1 and 2 is to be executed. Step S0a: The processing number of the input processing is determined.
If the process number is 1, the process proceeds from steps S1 to S6 in FIG. On the other hand, when the process number is 2, the process proceeds to steps S7, S8 and S9.

Step 7: Input the third groove light section image. Step 8: The light section image data is compressed by the binarization process to extract the binary image data. Step 9: Detect the groove information from the binary image data. Step 10: It is determined whether or not the detection processing is completed. When the detection processing is completed, the welding position detection is completed. If not, the above-mentioned processing from step S0a is repeated.

The determination of the end of the detection process in step S10 may be made by the total number of detections or may be made by the detection end signal from the outside, and is not particularly limited.

Further, since the processing number set in advance may be used to start the image processing of the third image pickup means first, the processing number input processing of step S0 is not always a necessary procedure. Absent.

According to the detection procedure of FIG. 7, the operator combines the first image pickup means and the second image pickup means out of the three image pickup means in accordance with the type of groove shape to be detected, welding conditions and the like. It is possible to select whether to process the groove image by (1) or the groove image by only the third imaging means to detect the groove information, and the degree of freedom in selection regarding accuracy and image processing time is increased.

FIG. 8 is a sectional view showing the structure of the sensor head in which the two light projecting means and the three image pickup means are mounted in the embodiment of FIG. 6, and FIG. 9 is seen from above the sensor head of FIG. It is a figure which shows an external appearance.

The first light projecting means 3a is attached to the sensor case 35 by the mounting member 36a, and the second light projecting means 3 is attached.
b is attached to the sensor case 35 by an attachment member 36b. Reflecting mirrors 37a and 37b are attached to the sensor case 35 by supports 39a and 39b for adjusting and fixing the angle and position. The slit light emitted from the first light projecting means 3a is reflected by the reflection mirror 37a, passes through the slit 38, and is emitted in the direction of the intersection of the optical axis Ps and the groove surface. The slit light emitted from the second light projecting unit 3b is reflected by the reflection mirror 37b, passes through the slit 38, and is emitted in the direction of the intersection of the optical axis Ps and the groove surface.

The light projecting means 3a and 3b are, for example, a combination of a semiconductor laser diode and an optical lens, and transmit electric signals such as a drive current to the cables 44a and 44b.
Have been introduced respectively.

The first image pickup means 9 is attached to the sensor case 35 by the attaching member 40. The O-ring 42 closes the inside of the sensor case 35 and the outside air around the first imaging unit 9. The second imaging means 10 has a first
The sensor case 3 is attached by the same attachment member as the image pickup means 9.
5 is attached. Although not shown in FIG.
An O-ring similar to the O-ring 42 blocks the inside of the sensor case 35 from the outside air around the second imaging unit 10. The third image pickup means 33 is attached to the sensor case 35 by the attachment member 41. O-ring 43
Surrounds the inside of the sensor case 35 from the outside air around the third image pickup means 33.

First imaging means 9, second imaging means 10, third
A transparent window 46 is installed on the front surface of the image pickup means 33 by a mounting bracket 41.

As shown in FIG. 9, the outer shape of the sensor head is defined by the sensor case 35 and the two lids 60 and 61. The slit 38 is the only place communicating with the outside air when the lid 60 and the lid 61 are finally attached to the sensor case 35. When air is injected into the sensor head from the direction shown by the arrow 47 in FIG. 8, the internal pressure of the sensor head rises slightly and the slit 38
Air is exhaled from. This air prevents fumes and the like generated during welding from entering the inside of the sensor head.

At the end of the sensor case 35, the cooling path 4
8a to 48d are formed. These cooling paths 48a
Although not clearly shown in the figure, ~ 48d are connected in a spiral shape, and when high-pressure cooling water is injected from the pipe 49a in the direction indicated by the arrow 50, the cooling water flows into the cooling paths 48a, 4a.
From 8b, 48c and 48d, it is discharged to the outside of the sensor through the pipe 49b. By this circulation, first, the cooling path 48
The temperature of the portion close to a to 48d is lowered, and further, the temperature of the entire sensor case 35 is lowered by heat conduction, so that the temperature rise due to arc heat generated during welding can be prevented.

In the embodiment shown in FIGS. 8 and 9, the first light projecting means 3a, the second light projecting means 3b, and
First imaging means 9, second imaging means 10, third imaging means 33
Since it is integrally configured, if the adjustment and calibration of the optical system are performed only once when assembling each member, the adjustment at the time of actual use is unnecessary and the usability is good.

FIG. 10 is a diagram showing an embodiment in which the processing position detecting device of the present invention is applied to an automatic processing system for welding work (robot system). In FIG. 10, the welding member 5
A rail 51 is fixed to the rail 51, and on the rail 51,
A traveling carriage 52 is mounted. The welding torch 1 is mounted on the vertical drive control shaft 53 fixed to the traveling carriage 52 via the drive shaft 54 in a direction orthogonal to the groove 6 of the abutting portion of the welding members 4 and 5. Vertical drive shaft 5
3 controls driving of the welding torch 1 in the vertical direction with respect to the welding line, that is, the groove 6 at the abutting portion of the welding members 4 and 5. The orthogonal drive shaft 54 is coupled to the vertical drive control shaft 53 and is drive-controlled in a direction orthogonal to the welding line and the vertical control shaft 53. A welding wire 55 is also mounted on the traveling carriage 52. The processing position detecting device 62 includes, for example, the first light projecting means 3a and the second light projecting means 3 of the embodiment shown in FIG.
b, the first image pickup device 9, the second image pickup device 10, and the third image pickup device 33 are built in, and are integrally fixed to the vertical drive control shaft 53.

The automatic welding robot controller 57 incorporates the control circuit of the projecting means of the processing position detecting device 62, the control circuit of the two-dimensional camera, the image processing device of FIG.
2, the vertical drive shaft 53, the orthogonal drive shaft 54, and the welding power source 56 are collectively controlled.

The welding power source 56 and the welding torch 1 are connected by a signal cable 58, and the automatic welding robot controller 57, the controlled object members, that is, the processing position detector 62, the traveling carriage 52, etc. are connected by a signal cable 59. There is.

The processing position detecting device 62 is arranged in front of the welding torch 1 in the traveling direction and detects the position, shape, etc. of the groove 6 of the abutting portion of the welding members 4 and 5. The automatic welding robot control device 57 uses the detected data to control the position of the welding torch 1 and to appropriately control the welding conditions.

In the automatic machining robot system of FIG. 10, the machining position detecting device 62 includes a vertical drive control shaft 53.
However, it may be attached to the orthogonal drive control shaft 54.

Further, although the vertical drive control shaft 53 and the orthogonal drive control shaft 54 are connected to the traveling carriage 52, the vertical drive control shaft 53 and the orthogonal drive control shaft 54 are connected.
It is also possible to exchange the joining order with.

Further, although the processing position detecting device 62 is arranged and used in front of the welding torch 1 in the traveling direction, it may be arranged and used in the rear of the traveling direction.

The embodiment shown in FIG. 10 is an example of an automatic machining robot system in which the machining position detecting device according to the present invention is applied to the groove position and shape detection of a welding work. For example, machining position detection in brazing work is performed. It is obvious that the invention can be applied to the work such as the detection of the processing position in the sealing work and the appearance inspection of the object.

[0059]

According to the present invention, for example, in the case of welding work, in order to image the groove light cutting images separately from both sides with respect to the perpendicular to the planned welding position, the image is processed with respect to the insert ring center position. Even if the optical means and / or the imaging means are not facing each other, the root face portion is not imaged as a shadow or behind the insert ring, and necessary and sufficient groove information can be obtained.

Since the cooling water path is provided in the housing of the sensor head on which the optical system is mounted, it is possible to prevent the temperature of the sensor head from rising due to arc heat generated during welding work.

The first and second light projecting means and at least the first and second image pickup means are collectively mounted in the sensor case, and if the optical system is adjusted once and calibration is executed at the time of assembly, the actual It is easy to use because no adjustment is required during use.

When the third image pickup means is also installed, the image processing time may be shortened if the image is image-processed and the groove information is detected within a range where a predetermined accuracy is ensured.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an optical system of a machining position detecting device according to the present invention and a principle of position detection.

FIG. 2 is a diagram showing a configuration of a sensor head and a control system of an embodiment of a processing position detecting device according to the present invention.

3 is a flowchart showing a groove position detection procedure in the embodiment of FIG.

FIG. 4 is a diagram schematically showing an example of light section image data imaged by a first imaging unit.

FIG. 5 is a diagram schematically showing an example of light section image data imaged by a second imaging unit.

FIG. 6 is a diagram showing the configuration of another embodiment of the processing position detecting device according to the present invention.

7 is a flowchart showing a groove position detection procedure in the embodiment of FIG.

FIG. 8 is a sectional view showing a specific structure of the sensor head of the embodiment of FIG.

9 is a diagram showing a structure of the sensor head of FIG. 8 seen from above.

FIG. 10 is a diagram showing a schematic configuration of an automatic processing system according to the present invention.

FIG. 11 is a diagram showing a principle of conventional groove position detection.

FIG. 12 is a diagram showing an example of a cross-sectional shape of a butt welded portion of two pipe members.

[Explanation of symbols]

 1 Welding torch 2 Welding electrode 3a First light projecting means 3b Second light projecting means 4 Welding member 5 Welding member 6 Groove 7a Slit light 7b Slit light 8 Insert ring 9 First imaging means 10 Second imaging means 11 Interference filter 12 Interference filter 13 Two-dimensional camera 14 Two-dimensional camera 16a Two-dimensional camera control circuit 16b Two-dimensional camera control circuit 17a First light projecting means control circuit 17b Second light projecting means control circuit 18 Welding torch position control mechanism 19 Welding torch position control circuit 20 image processing device 21 image input unit 22 multi-valued image memory 23 binary image processing unit 24 binary image memory 25 arithmetic processing unit 26 external device control unit 27 main control unit 28 first image pickup means reference point memory 29 second image pickup means Reference point memory 31 Interference filter 32 Two-dimensional camera 33 Third imaging means 35 Sen Case 36 Mounting member 37 Mirror 38 Slit 39 Mirror angle adjusting member 40 Mounting member 41 Mounting member 42 O-ring 43 O-ring 44 Cable 45 Mounting member 46 Transparent window 47 Air injection direction 48 Cooling path 49 Piping 50 Air injection direction 51 Rail 52 Travel Cart 53 Vertical drive control axis 54 Orthogonal drive control axis 55 Welding wire 56 Welding power source 57 Automatic welding robot controller 58 Cable 59 Cable 60 Lid 61 Lid 62 Machining position detection device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shoji Imanaga 502 Jinritsucho, Tsuchiura-shi, Ibaraki Hiritsu Seisakusho Co., Ltd.Mechanical Research Institute (72) Mitsuaki Haneda 502 Jinre-cho, Tsuchiura-shi, Ibaraki Japan Machinery Research Laboratory, Tate Works (72) Masahiro Kobayashi 3-1-1, Sachimachi, Hitachi, Ibaraki Prefecture Hitachi Co., Ltd. Hitachi Factory, Hitachi (72) Inventor, Takeo Uehara 3-1-1, Sachimachi, Hitachi, Ibaraki No. Hitachi Ltd., Hitachi Plant (72) Inventor Eiji Hino 3-1-1, Saiwaicho, Hitachi City, Ibaraki Prefecture Hitachi Ltd., Hitachi Plant

Claims (6)

[Claims] 1. A light projecting means for irradiating a surface of a processed object with slit light, a two-dimensional imaging means for receiving reflected light from the processed object and outputting a light section image of the processed object, and the light section image. In a processing position detecting device having means for performing image processing to detect a processing position, the light projecting means are arranged on mutually opposite sides with respect to a perpendicular to an expected processing position, and the respective slit lights are processed in the same plane. Comprised of a plurality of light projecting means for irradiating the surface, the two-dimensional imaging means is arranged at an arbitrary distance with respect to the perpendicular in the direction orthogonal to the processing direction so that the optical axis is on the same plane, and the light From two two-dimensional imaging means for receiving reflected light from the processed object and outputting a light section image in the same plane whose axis forms a predetermined angle with respect to an irradiation plane including the optical axes of the plurality of light projecting means. Becomes The processing position detecting means includes image processing means for performing image processing on the light-section images of the surface of the processed object in different imaging directions from the two two-dimensional imaging means and detecting a feature amount such as a gap position of the processed object. A machining position detecting device characterized by the above. 2. The processing position detecting device according to claim 1, wherein the plurality of light projecting means and the two imaging means are housed in the same case. 3. A light projecting means for irradiating a surface of a processed object with slit light, a two-dimensional image pickup means for receiving reflected light from the processed object and outputting a light section image of the processed object, and the light section image. In a processing position detecting device having means for performing image processing to detect a processing position, the light projecting means are arranged on mutually opposite sides with respect to a perpendicular to an expected processing position, and the respective slit lights are processed in the same plane. Comprised of a plurality of light projecting means for irradiating the surface, the two-dimensional imaging means is arranged at an arbitrary distance with respect to the perpendicular in the direction orthogonal to the processing direction so that the optical axis is on the same plane, and the light Two two-dimensional imaging means for receiving reflected light from the processed object and outputting a light-section image in the same plane whose axis forms a predetermined angle with respect to an irradiation plane including the optical axes of the plurality of light projecting means. , The optical axis The third arrangement is such that a predetermined angle is formed with respect to the irradiation plane including the optical axes of the plurality of light projecting means, and the plane is included in the plane including the central axis that equally divides the distance between the optical axes of the two image pickup means. The processing position detecting means image-processes the light-cut images of the surface of the processing object in different imaging directions from the three two-dimensional imaging means to obtain a feature amount such as a gap position of the processing object. A processing position detecting device including an image processing unit for detecting. 4. The processing position detecting apparatus according to claim 3, wherein the plurality of light projecting means and the three image pickup means are housed in the same case. 5. The processing position detecting apparatus according to claim 2, further comprising a cooling path for circulating cooling water inside the case. 6. A machining position detecting device according to claim 1, an object machining means, a means for driving the machining position detecting device and the object machining means along a machining line, An automatic processing system comprising: a drive means and a control means for controlling the object processing means based on a signal from the processing position detection device.