JP6035302B2 - Product placement support apparatus and product placement support method on surface plate in welding robot - Google Patents

Description

  The present invention relates to a product placement support apparatus and product placement support method on a surface plate in a welding robot for positioning a product on the surface plate of a welding robot.

  When a product is welded using a welding robot, a welding process is executed using a welding program. When performing welding using a welding program, it is necessary to place the product at an accurate position on the surface plate indicated by the welding program.

  In order to place the product at a precise position on the surface plate, the operator places a plurality of jigs on the surface plate as a reference for positioning the product. The operator positions the product on the surface plate so as to abut the jig. As a result, the product is placed at an accurate position on the surface plate.

JP 2014-79864 A

  If the number of lots for welding the product is large, a jig for arranging the product at an accurate position may be designed and manufactured so as to correspond to each product. However, when the number of lots is small and multi-product small-quantity production is performed, it is difficult to design and manufacture jigs for each product.

  When performing multi-product small-quantity production, simple jigs that can be used universally with a plurality of products are used. However, if a simple jig is used, it is not easy to position the product at an accurate position on the surface plate. Therefore, a product placement support apparatus and product placement support method that can easily position a product at an accurate position on a surface plate are desired.

  In order to meet such a demand, the present invention provides a product placement support apparatus and product placement support method on a surface plate in a welding robot capable of easily positioning a product at an accurate position on the surface plate. With the goal.

  In order to solve the above-described problems of the prior art, the present invention provides a first image data obtained by photographing a surface plate in a state before placing a product from a fixed position above the surface plate, the product from above. A bird's-eye image superimposing unit that superimposes the seen bird's-eye image data to generate second image data, a display control unit that controls to display the second image data on a monitor, and the product on the surface plate The first replacement image data in which the region where the bird's-eye image data is superimposed is replaced with the fixed image data among the first still image data obtained by photographing the surface plate in a state before being placed on the fixed position; Of the second still image data obtained by photographing the surface plate with the product placed on the surface plate from the fixed position, the second replacement is performed by replacing the area where the bird's-eye image data is superimposed with the fixed image data. Generate image data Based on the difference image generated by the replacement image generation unit, the difference generation unit that generates a difference value between the first replacement image data and the second replacement image data, and the difference value generated by the difference generation unit, the product is There is provided a product placement support apparatus on a surface plate in a welding robot, comprising: a determination unit that determines whether or not the surface is disposed at a predetermined position on the surface plate.

  In the product placement support apparatus on the surface plate in the welding robot, when the determination unit determines that the product is not disposed at a predetermined position on the surface plate, the product is provided to an operator. It is preferable to further provide a notifying unit for notifying that is not arranged at a predetermined position on the surface plate.

  In the product placement support apparatus on the surface plate in the welding robot, when the determination unit determines that the product is not disposed at a predetermined position on the surface plate, the notification unit It is preferable to notify so as to prompt the user to fix the jig with a jig.

  In the product placement support apparatus on the surface plate in the welding robot, the bird's-eye image superimposing unit superimposes the first image data on the bird's-eye image data as a wire-frame format bird's-eye image data and a surface format bird's-eye image. It is preferable to further include a bird's-eye image selection unit that selects data.

  In order to solve the above-described problems of the related art, the present invention generates first image data obtained by photographing a surface plate in a state before placing the product from a fixed position above the surface plate, The second image data is generated by superimposing bird's-eye image data of the product viewed from above on one image data, the second image data is displayed on a monitor, and the product is placed on the surface plate First still image data obtained by photographing the surface plate in a state before starting from the fixed position is generated, and a region in which the bird's-eye image data is superimposed is replaced with fixed image data in the first still image data. Generating first replacement image data, generating second still image data obtained by photographing the surface plate in a state where the product is arranged on the surface plate from the fixed position, and generating the second still image data Of these, the region where the bird's-eye image data is superimposed is Second replacement image data replaced with constant image data is generated, the first replacement image data is compared with the second replacement image data, and the first replacement image data and the second replacement image are compared. Provided is a product placement support method on a surface plate in a welding robot, wherein it is determined whether or not the product is disposed at a predetermined position on the surface plate based on a comparison result with data. To do.

  In the product placement support method on the surface plate in the welding robot, a welding position indicated by a welding processing program for controlling the welding robot to weld the product, and an actual state of the product placed on the surface plate When the amount of deviation from the welding position is within a correctable range by a correction program for correcting the welding position by the welding robot, it is determined that the product is arranged at a predetermined position on the surface plate, When the deviation amount is not within the correctable range, it is preferable to determine that the product is not disposed at a predetermined position on the surface plate.

  In the product placement support method on the surface plate in the welding robot, when it is determined that the product is not disposed at a predetermined position on the surface plate, the product on the surface plate is notified to an operator. It is preferable to notify the user to urge correction of the position.

  In the product placement support method on the surface plate in the welding robot, when it is determined that the product is disposed at a predetermined position on the surface plate, the product is fixed to the operator with a jig. It is preferable to notify so as to prompt the user.

  According to the product placement support apparatus and the product placement support method on the surface plate in the welding robot of the present invention, the product can be easily positioned at an accurate position on the surface plate.

It is a figure which shows the welding robot system containing the product arrangement | positioning assistance apparatus of one Embodiment. It is a block diagram which shows the functional internal structural example of NC apparatus 12 in FIG. It is a figure which shows the image of the state displayed on the monitor and the bird's-eye view image data superimposed on the image data from a camera. It is a figure which shows the bird's-eye image data of a wire frame format, and the bird's-eye image data of a surface format. It is a figure which shows visually the substituted image data which replaced the image data of the area | region which superimposes a bird's-eye image data with the white image data among the still image data before product arrangement | positioning. It is a figure which shows visually the substituted image data which replaced the image data of the area | region which superimposes bird's-eye image data among the still image data after product arrangement | positioning with the white image data. It is a flowchart which shows the product processing assistance procedure performed with the welding robot system including the product placement assistance procedure performed by the product placement assistance method of one Embodiment.

  Hereinafter, a product placement support apparatus and product placement support method on a surface plate in a welding robot according to an embodiment will be described with reference to the accompanying drawings.

  FIG. 1 shows a welding robot system that includes a product arrangement support device according to an embodiment. In FIG. 1, a CAD data file D10 created by a CAD (not shown) is input to the CAM 11. The CAD data of the CAD data file D10 includes product shape data.

  The CAM 11 creates a movement program for moving the welding head 22 to a product shooting position described later. Further, the CAM 11 creates a welding processing program used when the product is welded by the welding robot 20. The welding processing program includes coordinate information indicating the processing position of the product.

  Based on CAD data (product shape data), the CAM 11 creates bird's-eye image data indicating a bird's-eye image of the product viewed from above. It is preferable that the CAM 11 creates both the bird's-eye image data in the wire frame format and the bird's-eye image data in the surface format. Details of the wire-frame format bird's-eye image data and the surface-format bird's-eye image data will be described later.

  The NC device 12 causes the storage unit 13 to store the CAD data file D10, the movement program and welding program created by the CAM 11, and the bird's-eye image data.

  The NC device 12 transfers the moving program and the welding program stored in the storage unit 13 to the robot control device 28 that controls the welding robot 20 at predetermined timings.

  The NC device 12 may directly control the welding robot 20. In this case, the NC device 12 reads the movement program and the welding program stored in the storage unit 13 at predetermined timings.

  The NC device 12 may transfer the movement program to the robot control device 28 before placing the product on the surface plate 27. The NC device 12 may transfer the welding processing program to the robot control device 28 before starting the welding of the product at the latest.

  A monitor 14 and an operation unit 15 are connected to the NC device 12. The operation unit 15 includes a keyboard and a mouse, for example. The operator can perform various input operations on the product placement support device (welding robot system) by operating the operation unit 15.

  The welding robot 20 has an articulated robot body 21. A welding head 22 is attached to the tip of the robot body 21. A laser oscillator 23 is connected to the welding head 22, and the laser oscillator 23 supplies laser light to the welding head 22.

  The welding head 22 has a camera 24 built therein. The camera 24 is oriented in the same direction as the direction in which the welding head 22 emits laser light. The camera 24 may be attached to the outside of the welding head 22. However, it is preferable to attach the camera 24 to the inside of the welding head 22.

  The camera 24 may be installed above the welding robot 20 such as a ceiling of a building where the welding robot 20 is installed. In this case, it is necessary to install the camera 24 at a position where the entire surface plate 27 can be photographed.

  The robot body 21 moves on the rail 26 based on control by the robot control device 28. In the vicinity of the side surface of the rail 26, a surface plate 27 on which products are arranged is installed. There is also a welding robot 20 without the rail 26. In this case, the position of the robot body 21 is fixed.

  If the welding head 22 is directed downward, the camera 24 photographs the surface plate 27 and the product placed on the surface plate 27. An image captured by the camera 24 is supplied to a monitor 25 attached to the robot body 21 and displayed. In addition, an image captured by the camera 24 is supplied to the NC device 12 and displayed on the monitor 14. The monitor 25 may be omitted and only the monitor 14 may be used.

  The camera 24 may shoot the surface plate 27 or the product until the operator places the product on the surface plate 27 and positions the product. When the welding robot 20 welds a product, the camera 24 does not photograph the surface plate 27 or the product.

  FIG. 2 shows a functional internal configuration example of the NC apparatus 12 in FIG. The NC device 12 shown in FIG. 2 constitutes the product arrangement support device of this embodiment.

  In FIG. 2, the bird's-eye image selection unit 121 receives the bird's-eye image data in the wire frame format or the bird's-eye image data in the surface format read from the storage unit 13. The bird's-eye image selection unit 121 selectively outputs the wire-frame format bird's-eye image data and the surface-format bird's-eye image data in accordance with the input operation of the operation unit 15 by the operator.

  The bird's-eye image selection unit 121 reads the wire-frame format bird's-eye image data from the storage unit 13 when the wire-frame format bird's-eye image data is selected, and stores the surface-format bird's-eye image data when the surface-format bird's-eye image data is selected. What is necessary is just to read from the part 13. The bird's eye image data is input to the bird's eye image superimposing unit 122.

  When the movement program is transferred to the robot control device 28, the robot control device 28 moves the welding head 22 to a predetermined position above the surface plate 27 according to the movement program. The welding head 22 is fixed at a predetermined position. A position where the camera 24 can photograph the entire surface plate 27 may be set as a predetermined fixed position.

  The camera 24 photographs the surface plate 27 from above. At this time, since no product is arranged on the surface plate 27, the camera 24 takes an image of the surface plate 27 in which no product is arranged.

  Image data generated by the camera 24 photographing the surface plate 27 is input to the bird's eye image superimposing unit 122. When the bird's-eye image superimposing unit 122 does not superimpose the bird's-eye image data on the image data from the camera 24, the bird's-eye image superimposing unit 122 supplies the image data from the camera 24 to the display control unit 123 as it is.

  Image data generated by the camera 24 by photographing the surface plate 27 in a state where no product is arranged is referred to as first image data. The display control unit 123 causes the monitor 14 to display the first image data.

  The bird's-eye image superimposing unit 122 superimposes the bird's-eye image data on the first image data when the operation unit 15 performs an input operation for superimposing the bird's-eye image data on the first image data. Image data obtained by superimposing bird's-eye image data on first image data will be referred to as second image data. The bird's eye image superimposing unit 122 supplies the second image data to the display control unit 123.

  Since the welding head 22 is in a fixed state, the position of the camera 24 is fixed. That is, the camera 24 takes a fixed point image of the surface plate 27 from a fixed position.

  Therefore, the pixel coordinates of the monitor 14 and the real space coordinates captured by the camera 24 can be associated with each other. The processing position of the product included in the welding processing program is specified in world coordinates and is the same as real space coordinates.

  The bird's-eye image superimposing unit 122 can calculate which position on the monitor 14 and which size the bird's-eye image data should be displayed based on the coordinate information indicating the processing position of the product.

  The display control unit 123 causes the monitor 14 to display the second image data. FIG. 3 shows an example of an image displayed when the second image data is supplied to the monitor 14.

  As shown in FIG. 3, a surface plate 27 is displayed on the monitor 14. A bird's-eye image 300 based on the bird's-eye image data is displayed on the image of the surface plate 27. The bird's-eye view image 300 serves as a positioning reference when a product is arranged on the surface plate 27.

  In FIG. 3, the bird's-eye view image 300 is displayed in a wire frame format. The wire frame format is a format in which the bird's-eye view image 300 is expressed by a line segment 301 as shown in FIG. As shown in FIG. 4B, the bird's-eye view image 300 may be displayed in a surface format in which the surface 302 is expressed.

  As described above, the operator can select whether to display the bird's-eye view image 300 in the wire frame format or the surface format by operating the operation unit 15.

  If the bird's-eye view image 300 is in a wire frame format, the surface plate 27 is hardly hidden by the bird's-eye view image 300, so that the surface plate 27 can be easily confirmed. When the product includes moldings and holes, the surface format may be easier to grasp the product orientation when the product is placed on the surface plate 27 than the wire frame format. In such a case, the bird's-eye view image 300 may be in a surface format.

  The monitor 14 displays the image data from the camera 24 in real time. As shown in FIG. 3, the monitor 14 displays a bird's-eye view image 300 serving as a positioning reference when a product is arranged. The operator may place the product on the surface plate 27 so that the product matches the bird's-eye view image 300 while checking the monitor 14.

  Returning to FIG. 2, the still image capturing unit 124 generates first still image data based on the first image data. The still image capturing unit 124 can capture first image data input as continuous frames and generate first still image data.

  The camera 24 may generate still image data, and the still image capturing unit 124 may capture still image data generated by the camera 24. The first still image data includes a case where it is still image data generated by the camera 24.

  The replacement image generation unit 125 receives first still image data and bird's-eye image data. The replacement image generation unit 125 replaces the image data of the region where the bird's-eye image data is superimposed in the first still image data with, for example, white image data.

  FIG. 5 visually shows the first replacement image data 410 obtained by replacing the image data of the region where the bird's-eye image data is superimposed with the white image data in the first still image data. Although the first replacement image data 410 is not image data displayed on the monitor 14, for convenience of explanation, the first replacement image data 410 will be described visually.

  As shown in FIG. 5, the region on which the bird's-eye image data of the surface plate 27 is superimposed (the region of the bird's-eye image 300 in FIG. 3) is a white image 400. White image data is an example of fixed image data. What is necessary is just to replace the image data of the area | region which superimposes a bird's-eye image data with the image data of a single color. A single color is any color including white or black.

  First replacement image data 410 shown in FIG. 5 is replacement image data before product placement. As shown in FIG. 2, the first replacement image data 410 is input and stored in the image storage unit 126.

  Image data generated by the camera 24 photographing the surface plate 27 with the product disposed after the operator has placed the product on the surface plate 27 will be referred to as third image data.

  The still image capturing unit 124 generates second still image data based on the third image data. Similarly, the second still image data includes a case where it is still image data generated by the camera 24.

  The replacement image generation unit 125 receives the second still image data and the bird's-eye image data. The replacement image generation unit 125 replaces the image data of the region where the bird's-eye image data is superimposed in the second still image data with, for example, white image data.

  FIG. 6 visually shows second replacement image data 420 obtained by replacing the image data of the region where the bird's-eye image data is superimposed with the white image data in the second still image data. Similarly, the second replacement image data 420 is not image data displayed on the monitor 14, but the second replacement image data 420 will be described visually for convenience of explanation.

  As shown in FIG. 6, the region where the bird's-eye image data of the surface plate 27 is superimposed is a white image 400. The fixed image data used in the first replacement image data 410 and the second replacement image data 420 needs to be the same.

  FIG. 6 shows the second replacement image data 420 when the operator places the product on the surface plate 27 in a state of being shifted from the bird's-eye view image 300. Since the position of the product is shifted from the bird's-eye view image 300, the second replacement image data 420 includes a protruding image 405, which is a part of the product protruding from the white image 400, as shown by hatching. .

  The second replacement image data 420 shown in FIG. 6 is replacement image data after product placement. As shown in FIG. 2, the second replacement image data 420 is input and stored in the image storage unit 126.

  The difference generation unit 127 receives the first replacement image data 410 and the second replacement image data 420. The difference generation unit 127 generates a difference value between the first replacement image data 410 and the second replacement image data 420.

  Specifically, the difference generation unit 127 obtains a pixel difference value of image data (pixel data) at the same pixel position in the first replacement image data 410 and the second replacement image data 420. Then, the difference generation unit 127 integrates the pixel difference values of the entire frame, and uses the integrated value as a difference value between the first replacement image data 410 and the second replacement image data 420.

  If the operator places the product on the surface plate 27 so as to completely match the bird's-eye view image 300, the first replacement image data 410 and the second replacement image data 420 are substantially the same. Therefore, each pixel difference value is almost 0, and the difference value obtained by integrating the pixel difference values is an extremely small value. The difference generator 127 outputs a very small difference value.

  If the operator places the product on the surface plate 27 in a state shifted from the bird's-eye view image 300 as shown in FIG. 6, a predetermined pixel difference value is generated in the portion of the protruding image 405. Accordingly, the difference generation unit 127 outputs a relatively large difference value.

  The difference value generated by the difference generation unit 127 is input to the determination unit 128. The determination unit 128 determines whether or not the product is arranged at a predetermined position on the surface plate 27 based on the input difference value.

  Specifically, the determination unit 128 compares the difference value with a predetermined threshold value, and determines that the product position is “possible” if the difference value is equal to or less than the threshold value. The determination unit 128 determines that the product position is “impossible” if the difference value exceeds the threshold value.

  The difference generation unit 127 may detect pixels in which the pixel difference value at the same pixel position in the first replacement image data 410 and the second replacement image data 420 exceeds a predetermined threshold. In this way, it can be seen how many pixels the protruding image 405 has in the horizontal or vertical direction with respect to the white image 400.

  The determination unit 128 may determine the product position as “possible” if the deviation amount is equal to or less than a predetermined threshold, and may determine the product position as “impossible” if the deviation exceeds the threshold.

  Various ways of taking the difference in the difference generation unit 127 and how to make the determination in the determination unit 128 are conceivable, and are not limited to the examples described above. The first replacement image data 410 and the second replacement image data 420 may be compared to determine whether the product position is “permitted” or “impossible” based on the comparison result.

  By the way, the welding robot system normally corrects the welding position by the correction program and welds even if the welding position indicated by the welding processing program and the actual welding position of the product arranged on the surface plate 27 are slightly deviated. Can be processed.

  The determination unit 128 may determine “Yes” if the deviation amount between the welding position indicated by the welding processing program and the actual welding position is within the correction range by the correction program for correcting the welding position by the welding robot 20. . The determination unit 128 may determine “impossible” if the deviation amount is not within the correctable range.

  The determination unit 128 supplies information indicating the determination result to the display control unit 123. If the determination result is “OK”, the display control unit 123 causes the monitor 14 to display character information that prompts the operator to fix the product with a simple jig, for example. The text information is, for example, a sentence such as “Product has been placed in the correct position. Please fix the product with a jig”.

  If the determination result is “impossible”, for example, the display control unit 123 warns the operator that the position of the product is not the correct position, and causes the monitor 14 to display character information that prompts the position to be corrected. As an example, the character information is a sentence such as “The product is not arranged at the correct position. Please correct the position of the product”.

  The operator may be informed of the determination result “possible” and “impossible” with sounds generated by a speaker (not shown). The operator may be notified by both visual information for displaying the determination result on the monitor 14 and auditory information generated from the speaker.

  When the display control unit 123 and the monitor 14 or the speaker and its driving unit determine that the product is not arranged at a predetermined position on the surface plate 27, the product is displayed on the surface plate 27 to the operator. It is an alerting | reporting part which alert | reports that it is not arrange | positioned in the predetermined position.

  When it is determined that the display control unit 123 and the monitor 14 or the speaker and the driving unit thereof are arranged at a predetermined position on the surface plate 27, the display control unit 123 and the monitor 14 jig the product (for example, simple). It is a notification part which notifies to urge fixing with a jig.

  Next, the product placement support procedure executed by the product placement support method of the present embodiment and the overall product welding procedure executed by the welding robot system will be described using the flowchart shown in FIG.

  In FIG. 7, when the welding robot system starts operation, the CAM 11 creates a welding process program in step S01. In step S02, the CAM 11 creates bird's-eye image data of the product based on the CAD data. The CAM 11 creates a moving program for the welding head 22 in step S03.

  The order of steps S01 to S03 is not limited to the order shown in FIG. 7, and any order may be used. The CAM 11 may execute steps S01 to S03 in parallel.

  In step S04, the NC device 12 executes the movement program. As a result, the welding head 22 (camera 24) moves to a fixed position above the surface plate 27. The NC device 12 starts photographing with the camera 24 in step S05. The monitor 14 displays the image data from the camera 24 in real time.

  When the welding head 22 stops moving, the NC device 12 may start the camera 24 to start shooting, or may start shooting when there is an input operation for starting shooting by the operation unit 15.

  The NC device 12 takes in the first still image data in step S06. In step S07, the NC apparatus 12 generates first replacement image data. In step S08, the NC device 12 superimposes the bird's-eye image data on the first image data to generate second image data. The monitor 14 displays the second image data as shown in FIG.

  The operator arranges the product on the surface plate 27 so that the product matches the bird's-eye view image 300 while checking the monitor 14. When the arrangement of the product is completed, the operator performs an input operation indicating that the arrangement of the product is completed by the operation unit 15.

  In step S09, the NC device 12 determines whether or not a product placement completion input has been received. If there is no placement completion input (NO), the NC device 12 returns the process to step S09 and waits for the placement completion input. If there is an arrangement completion input (YES), the NC device 12 shifts the process to step S10.

  The NC device 12 takes in the second still image data in step S10. In step S11, the NC device 12 generates second replacement image data. In step S12, the NC device 12 compares the first replacement image data with the second replacement image data. The comparison between the first replacement image data and the second replacement image data may be generation of a difference value between the first replacement image data and the second replacement image data.

  In step S13, the NC device 12 determines whether or not the product is disposed within the correctable range. If the product is located within the correctable range (YES), the NC device 12 instructs the product to be fixed with a simple jig in step S14.

  After fixing the product with the simple jig, the NC device 12 executes the correction program in step S15 to correct the welding position. In step S16, the NC device 12 executes a welding program, welds the product, and ends.

  On the other hand, if the product is not disposed within the correctable range in step S13 (NO), the NC device 12 causes a warning display to be executed in step S17. The operator corrects the position so that the product matches the bird's-eye view image 300 while checking the monitor 14.

  In step S18, the NC device 12 determines whether or not a product position correction completion input has been received. If there is a position correction completion input (YES), the NC device 12 returns the process to step S13. If there is no position correction completion input (NO), the NC device 12 ends the process.

  As described above, according to the product placement support apparatus and the product placement support method of the present embodiment, the product can be easily positioned at an accurate position on the surface plate.

  According to the product placement support apparatus and product placement support method of the present embodiment, there is no need to design and manufacture jigs corresponding to individual products. According to the product arrangement support device and the product arrangement support method of the present embodiment, it is possible to position the product at an accurate position on the surface plate using a simple jig.

  The present invention is not limited to the embodiment described above, and various modifications can be made without departing from the scope of the present invention.

12 NC device 14 Monitor (notification part)
DESCRIPTION OF SYMBOLS 20 Welding robot 24 Camera 121 Bird's-eye view image selection part 122 Bird's-eye view image superimposition part 123 Display control part (notification part)
124 still image capturing unit 125 replacement image generation unit 126 image storage unit 127 difference generation unit 128 determination unit

Claims (8)

The second image data is obtained by superimposing the bird's-eye image data of the product viewed from above on the first image data obtained by photographing the surface plate in a state before placing the product from a fixed position above the surface plate. A bird's eye image superimposing unit to be generated;
A display control unit that controls to display the second image data on a monitor;
Of the first still image data obtained by photographing the surface plate in a state before the product is placed on the surface plate from the fixed position, a region where the bird's-eye image data is superimposed is replaced with fixed image data. Of the replacement image data and the second still image data obtained by photographing the surface plate with the product placed on the surface plate from the fixed position, the region where the bird's-eye image data is superimposed is the fixed image data. A replacement image generation unit for generating second replacement image data replaced with
A difference generation unit that generates a difference value between the first replacement image data and the second replacement image data;
A determination unit that determines whether or not the product is arranged at a predetermined position on the surface plate, based on the difference value generated by the difference generation unit;
An apparatus for assisting product placement on a surface plate in a welding robot.   When the determination unit determines that the product is not disposed at a predetermined position on the surface plate, the operator is informed that the product is not disposed at the predetermined position on the surface plate. The product placement support device on the surface plate in the welding robot according to claim 1, further comprising a notification unit that notifies   When the determination unit determines that the product is not arranged at a predetermined position on the surface plate, the notification unit notifies the user to urge the product to be fixed with a jig. The product placement support device on a surface plate in the welding robot according to claim 2.   The bird's-eye image superimposing unit further includes a bird's-eye image selection unit that selects wire-frame-type bird's-eye image data and surface-format bird's-eye image data as the bird's-eye image data to be superimposed on the first image data. The product arrangement | positioning assistance apparatus on the surface plate in the welding robot of any one of Claims 1-3 to do. Generating first image data obtained by photographing a surface plate in a state before placing a product from a fixed position above the surface plate;
The second image data is generated by superimposing bird's-eye image data of the product viewed from above on the first image data,
Displaying the second image data on a monitor;
Generating first still image data obtained by photographing the surface plate in a state before the product is placed on the surface plate from the fixed position;
Generating first replacement image data in which the region where the bird's-eye image data is superimposed in the first still image data is replaced with fixed image data;
Generating second still image data obtained by photographing the surface plate in a state where the product is arranged on the surface plate from the fixed position;
Generating second replacement image data in which the fixed image data is replaced with a region in which the bird's-eye image data is superimposed in the second still image data;
Comparing the first replacement image data with the second replacement image data;
It is determined whether or not the product is arranged at a predetermined position on the surface plate based on a comparison result between the first replacement image data and the second replacement image data. Product placement support method on surface plate in welding robot.   The amount of deviation between the welding position indicated by the welding processing program for controlling the welding robot to weld the product and the actual welding position of the product arranged on the surface plate is the welding position by the welding robot. When it is within the correctable range by the correction program to be corrected, it is determined that the product is arranged at a predetermined position on the surface plate, and when the deviation amount is not within the correctable range, the product 6. The method of supporting placement of a product on a surface plate in a welding robot according to claim 5, wherein it is determined that is not disposed at a predetermined position on the surface plate.   The operator is notified to prompt correction of the position of the product on the surface plate when it is determined that the product is not arranged at a predetermined position on the surface plate. A method for assisting product placement on a surface plate in the welding robot according to 5 or 6.   8. When it is determined that the product is arranged at a predetermined position on the surface plate, an operator is notified to urge the operator to fix the product with a jig. The product placement support method on the surface plate in the welding robot according to any one of the above.

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