PROCESSING SYSTEM, PROCESSING DEVICE, PROCESSING METHOD, AND STORAGE MEDIUM
According to one embodiment, a processing system includes a manipulator, a detection device, and a processing device. The detection device is mounted to the manipulator. The detection device includes a detector, a first propagating member, and a second propagating member. The detector is configured to transmit an ultrasonic wave toward an object and detect a reflected wave. The first propagating member is mounted to the detector, the ultrasonic wave propagating through the first propagating member. The second propagating member is mounted to the first propagating member, the ultrasonic wave propagating through the second propagating member, the second propagating member being softer than the first propagating member. The processing device is configured to receive intensity data from the detector and detect a surface position of the object in the intensity data, the intensity data being of an intensity of the reflected wave.
1 . A processing system, comprising:
a manipulator;
a detection device mounted to the manipulator, the detection device including
a detector configured to transmit an ultrasonic wave toward an object and detect a reflected wave,
a first propagating member mounted to the detector, the ultrasonic wave propagating through the first propagating member, and
a second propagating member mounted to the first propagating member, the ultrasonic wave propagating through the second propagating member, the second propagating member being softer than the first propagating member; and
a processing device configured to receive intensity data from the detector and detect a surface position of the object in the intensity data, the intensity data being of an intensity of the reflected wave.
2 . The system according to claim 1 , wherein
the processing device extracts a portion of the intensity data based on the surface position.
3 . The system according to claim 2 , wherein
the processing device calculates a tilt of the detection device with respect to the object by using the extracted portion of the intensity data.
4 . The system according to claim 2 , wherein
the object is a joined body in which a weld portion is formed, and
the processing device inspects the weld portion by using the extracted portion of the intensity data.
5 . The system according to claim 1 , wherein
the manipulator moves the detection device so that the surface position approaches a preset range.
6 . The system according to claim 1 , wherein
the processing device receives other intensity data of the intensity of the reflected wave from another object, and
the processing device extracts a portion of the other intensity data based on the surface position.
7 . The system according to claim 6 , wherein
the other object is a joined body in which a weld portion is formed, and
the processing device inspects the weld portion by using the extracted portion of the other intensity data.
8 . The system according to claim 6 , wherein
a first operation and a second operation are alternately repeated,
the first operation includes:
the transmission of the ultrasonic wave toward the object by the detector;
a reception of the reflected wave by the detector; and
the detection of the surface position by the processing device, and
the second operation includes:
a transmission of the ultrasonic wave toward the other object by the detector;
a reception of the reflected wave by the detector; and
the extraction of the portion of the other intensity data by the processing device.
9 . The system according to claim 1 , wherein
the detection device further includes a fixture configured to detachably fix the second propagating member with respect to the first propagating member.
10 . The system according to claim 9 , wherein
the fixture includes a first contact surface facing the object,
the first propagating member includes a second contact surface contacting the second propagating member, and
the first contact surface is parallel to the second contact surface.
11 . The system according to claim 1 , wherein
the processing device detects a first peak and a second peak in the intensity data and uses a position of the second peak as the surface position,
the first peak is a peak that is first to exceed a first threshold, and
the second peak is a peak that is first to exceed a second threshold after the first peak.
12 . A processing device,
the processing device being configured to receive intensity data from a detection device and detect a surface position of an object in the intensity data,
the detection device being mounted to a manipulator,
the detection device including:
a detector configured to transmit an ultrasonic wave toward the object and detect a reflected wave;
a first propagating member mounted to the detector, the ultrasonic wave propagating through the first propagating member; and
a second propagating member mounted to the first propagating member, the ultrasonic wave propagating through the second propagating member, the second propagating member being softer than the first propagating member,
the intensity data being of an intensity of the reflected wave.
13 . A processing method, comprising:
receiving intensity data from a detection device; and
detecting a surface position of an object in the intensity data,
the detection device being mounted to a manipulator,
the detection device including
a detector configured to transmit an ultrasonic wave toward the object and detect a reflected wave,
a first propagating member mounted to the detector, the ultrasonic wave propagating through the first propagating member, and
a second propagating member mounted to the first propagating member, the ultrasonic wave propagating through the second propagating member, the second propagating member being softer than the first propagating member,
the intensity data being of an intensity of the reflected wave.
14 . A non-transitory computer-readable storage medium,
the storage medium being configured to store a program,
the program, when executed by a computer, causing the computer to perform the processing method according to claim 13 .