Laser processing robot system for performing laser processing using robot

A laser processing robot system, in which an augmented reality processing technology is used to enable a processing laser beam and its irradiation position to be safely and easily seen, is provided. A laser processing robot system includes an image processing device having an augmented reality image processing unit for performing augmented reality image processing for an actual image including an image of a robot captured by an imaging device. The augmented reality image processing unit is adapted to superimpose a virtual image representing at least one of a laser beam obtained by assuming that the laser beam is emitted from a laser irradiation device to a workpiece, and an irradiation position of the laser beam, onto the actual image, and to display the superimposed image on the display device.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a laser processing robot system for performing laser processing using a robot.

2. Description of the Related Art

In recent years, laser processing robot systems, in which a laser irradiation device for irradiating a workpiece with a processing laser beam is attached to a distal end of a robot arm, to perform laser processing by moving the robot arm, have appeared in the market. Further, in laser processing using a laser processing robot system, a technology for performing laser processing at a predetermined position while moving a laser beam by changing the irradiation direction of the laser beam from the laser irradiation device while moving the robot arm has been known. In such a laser processing method, the distance between a workpiece and a laser irradiation device is larger than that in a conventional laser processing method. Thus, the method is sometimes referred to as “remote laser processing”. Specific examples of the processing include welding, cutting, boring, etc.

In this type of remote laser processing, a workpiece is spaced from a laser irradiation device, and accordingly, when a laser processing operation is taught to a robot, it is difficult to find out a position to be irradiated with a processing laser beam. This remarkably reduces the efficiency in a teaching operation for a robot. In general, in laser processing, it is necessary that the irradiation position of a processing laser beam precisely coincide with a processing portion of the workpiece. Thus, the difficulty of finding out the irradiation position of a processing laser beam causes reduction of the processing accuracy.

In order to solve these problems, Japanese Unexamined Patent Publication (Kokai) No. 2007-253200 discloses a method for introducing a pilot laser of visible light to the emitted welding laser beam, to cause a focal position of the welding laser beam to be easily found out. Further, Japanese Unexamined Patent Publication (Kokai) No. 2013-123743 discloses a method for detecting the position of a portion to be irradiated with a welding laser beam by an image processing device.

However, in the method disclosed in Japanese Unexamined Patent Publication (Kokai) No. 2007-253200, i.e., a method for easily finding out a position to be irradiated with a welding laser beam using a pilot laser, it is necessary to additionally mount a mechanism for irradiating a workpiece with a pilot laser to a laser irradiation device. This causes the laser irradiation device to be complicated and increases cost. Further, the pilot laser is not necessary during actual producing and processing, and accordingly, the laser irradiation device has a redundant configuration.

Further, in the method disclosed in Japanese Unexamined Patent Publication (Kokai) No. 2013-123743, a welding laser beam is actually emitted, and an image processing device detects a position to be irradiated with the beam. Thus, even when the brightness of a welding laser beam is reduced, or the laser irradiation device emits a low-power laser, as long as a welding laser beam is actually emitted, there is a risk that the human body, specifically, the retina may be damaged. Thus, as in the teaching of a laser processing operation to a robot, in an operation for deciding a position to be irradiated with a processing laser beam, avoiding the use of a processing laser beam to the extent possible is demanded for safety purposes.

SUMMARY OF THE INVENTION

The present invention provides a laser processing robot system in which, even when a processing laser beam is not actually emitted, an operator can safely and easily see the processing laser beam and its irradiation position.

According to a first aspect of this disclosure, there is provided a laser processing robot system for performing laser processing of a workpiece, using a robot having an arm to which a laser irradiation device for emitting a laser beam for processing is attached. The laser processing robot system includes a robot control device which causes the robot to perform an operation of the laser processing without output of the laser beam, an imaging device for capturing an actual image including the robot which is caused to perform an operation of the laser processing without output of the laser beam, a display device for displaying, in real time, the actual image, and an image processing device which is connected to the robot control device and which has an augmented reality image processing unit for performing augmented reality image processing for the actual image. The augmented reality image processing unit is adapted to superimpose a virtual image representing at least one of a laser beam obtained by assuming that the laser beam is emitted from the laser irradiation device to the workpiece, and an irradiation position of the laser beam, onto the actual image, and to display the superimposed image on the display device.

According to a second aspect of this disclosure, in the laser processing robot system in the first aspect, the laser irradiation device includes a lens position adjusting mechanism which adjusts the position of a lens in response to a command from the robot control device, to change a focal length, and the augmented reality image processing unit is adapted to generate the virtual image based on a command value or a detection value regarding the focal length and the position of the lens.

According to a third aspect of this disclosure, in the laser processing robot system in the first or second aspect, the laser irradiation device includes an irradiation position changing mechanism for changing the irradiation position of the laser beam on a surface of the workpiece in response to a command from the robot control device, and the augmented reality image processing unit is adapted to generate the virtual image based on a command value or a detection value regarding the irradiation position.

According to a fourth aspect of this disclosure, in the laser processing robot system in any of the first to third aspects, the augmented reality image processing unit is adapted to display the locus of at least one of the laser beam represented as the virtual image and the irradiation position of the laser beam on the display device.

According to a fifth aspect of this disclosure, in the laser processing robot system in any of the first to fourth aspects, the robot control device is adapted to convey information regarding irradiation conditions for irradiation with the laser beam to the image processing device, and the augmented reality image processing unit is adapted to display, along with the virtual image, the information regarding the irradiation conditions on the display device.

According to a sixth aspect of this disclosure, in the laser processing robot system in any of the first to fifth aspects, the augmented reality image processing unit is adapted to change at least one of the display color and display size of the laser beam when the virtual image is generated.

According to a seventh aspect of this disclosure, in the laser processing robot system in the sixth aspect, the augmented reality image processing unit is adapted to change at least one of the display color and display size of the laser beam in accordance with irradiation conditions for irradiation with the laser beam.

According to an eighth aspect of this disclosure, in the laser processing robot system in any of the first to seventh aspects, the display device is a head-mounted display configured to be integral with the imaging device.

DETAILED DESCRIPTION

Embodiments of the present invention will be described below with reference to the accompanying drawings. In the following figures, similar members are designated with the same reference numerals. These figures are properly modified in scale to assist the understanding thereof. Further, the embodiments shown in the drawings are merely examples for carrying out the present invention, and the present invention is not limited to the illustrated embodiments.

FIG. 1is a block diagram conceptually illustrating the configuration of a laser processing robot system according to an embodiment.

As shown inFIG. 1, in a laser processing robot system100, a robot1having a laser irradiation device2provided at a distal end1aof a robot arm is used to perform laser processing of a workpiece W placed on a bench7. Examples of the laser processing include laser welding, laser cutting, laser boring, etc.

The laser processing robot system100includes a robot control device3for controlling the robot1, a control device for controlling the laser irradiation device2(hereinafter referred to as “laser irradiation device controlling device4), a laser oscillator5connected to the laser irradiation device2, a control device for controlling the laser oscillator5(hereinafter referred to as “laser oscillator controlling device6”), and an image processing device9connected to the robot control device3.

Specifically, the robot control device3of this embodiment enables the robot1to perform a laser processing operation without output of a laser beam.

Further, the laser processing robot system100includes, as shown inFIG. 1, an imaging device8and a display device10, which are connected to the image processing device9.

The imaging device8is a camera for capturing an image of a work space for performing laser processing. The work space includes at least the robot1, the workpiece W to be processed, and the bench7on which the workpiece W is to be placed. The imaging device8is adapted to capture an actual image including the robot1which performs laser processing without output of a laser beam.

The image processing device9has an augmented reality image processing unit9afor performing augmented reality image processing of the actual image.

The augmented reality image processing unit9ais adapted to superimpose a virtual image representing at least one of a laser beam obtained by assuming that the laser beam is emitted from the laser irradiation device2to a surface of the workpiece W, and a position to be irradiated with the laser beam, onto the actual image, and to display the superimposed image on the display device10.

The display device10displays, in real time, the actual image captured by the imaging device8. The display device10also displays the image superimposed by the augmented reality image processing unit. The display device10may be provided separately from the imaging device8, or may be integral with the imaging device8.

FIG. 2is a block diagram of a modification of the laser processing robot system100shown inFIG. 1. In the laser processing robot system100, as shown inFIG. 2, an eyeglasses-type display device, such as a head-mounted display, may be used, as the display device10, instead of a display panel. The head-mounted display has, for example, a display screen, which is about the same size as a spectacle lens and which is disposed to be opposite to human eyes. Further, the display device10comprised of the head-mounted display may include an imaging device (not shown). In case of the head-mounted display, an operator can use both hands when teaching a processing operation to the robot1, and accordingly, can perform a teaching operation regardless of the position at which the display device10is installed.

Devices which constitute the laser processing robot system100will be more specifically described.

The robot1is an articulated robot for moving the laser irradiation device2attached to the distal end1aof robot arm to a given position in the work space.FIG. 1indicates a vertical articulated robot, but the present invention is not limited to this type of robot.

Servomotors (not shown) are provided for the corresponding joint axes of the robot1. A position detecting sensor, e.g., a pulse coder for detecting an axis position (i.e., rotation angle) of each servomotor is provided in the robot1.

The laser irradiation device2has a laser emitting port (not shown) for emitting a laser beam, which has been supplied from the laser oscillator5, to the workpiece W. An irradiation position changing mechanism, e.g., a galvano mechanism that can change an irradiation position of the laser beam on the surface of the workpiece W to a predetermined position is provided within the laser irradiation device2. Further, it is preferable that a lens for condensing a laser beam, and a lens position adjusting mechanism (not shown), which adjusts the position of the lens, to change the focal length of the laser beam, is provided within the laser irradiation device2.

Alternatively, the laser irradiation device2may not have a mechanism, which can change the irradiation position or focal length, and accordingly, the irradiation position may fixed. In case of, for example, a laser processing head using a long focus lens, the focal length is fixed, but there is a sufficient distance between the workpiece W and the laser irradiation device2, and accordingly, an effect of the present invention can be obtained.

FIG. 3is a view of a schematic configuration of the galvano mechanism. The galvano mechanism shown, as an example, inFIG. 3includes a pair of reflection mirrors12X and12Y arranged on a light path of a laser beam emitted from a laser light source11, and motors13X and13Y for respectively rotating the reflection mirrors12X and12Y at a given angle. The rotation axes of the motors13X and13Y extend parallel to the reflection surfaces of the reflection mirrors12X and12Y themselves, and are connected, as the rotation axes of the reflection mirrors12X and12Y, to the reflection mirrors12X and12Y. The rotation axes of the motors13X and13Y are perpendicular to each other. In such a configuration, when one of the paired reflection mirrors12X and12Y, e.g., the reflection mirror12X is stopped, and the other, i.e., the reflection mirror12Y is rotated, the workpiece W is scanned in, for example, the Y-axis direction on the surface thereof by a laser beam. When the reflection mirror12Y is stopped, and the reflection mirror12X is rotated, the workpiece W is scanned in, for example, the X-axis direction on the surface thereof by a laser beam.

Thus, the irradiation position of a laser beam can be scanned and determined in X-Y axis direction on the surface of the workpiece W by causing the motors13X and13Y to respectively rotate the reflection mirrors12X and12Y at a desired angle.

Further, pulse coders (not shown) are provided at the rotation axes of the motors13X and13Y, to detect the rotation angle of the motors. Thus, the irradiation position of a laser beam on the surface of the workpiece W can be found based on the rotation angle detected by the pulse coders provided at the motors13X and13Y.

In the lens position adjusting mechanism, a motor for moving the lens is used, and it is preferable that a pulse coder (not shown) is provided at the rotation axis of the motor, to detect the rotation angle of the motor. This enables the focal position of the laser beam emitted to the workpiece W to be found based on the rotation angle detected by the pulse coder provided for the motor of the lens position adjusting mechanism.

The robot control device3includes a memory (not shown) for storing an operation program in which, for example, working operations or processing conditions of the laser processing are described, and controls the robot1while generating, in accordance with the operation program, commands for controlling the robot1.

More specifically, the robot control device3provides a position command to the servomotor of each joint axis of the robot1in accordance with the operation program, and controls the servomotor so that the axis position of the servomotor, which is detected by the pulse coder provided for the servomotor, coincides with the position command. This causes the robot1to operate in accordance with the operation program stored in the memory.

It is preferable that the robot control device3includes a teaching operation board (not shown) for teaching a laser processing operation to the robot1, to operate the robot1. The operator uses the teaching operation board, to operate the robot1to perform a laser irradiating operation. In this instance, it is preferable that the working operations or processing conditions are written in the operation program stored in the memory of the robot control device3via the teaching operation board.

The robot control device3outputs command values regarding laser irradiation to the laser oscillator controlling device6. The command values include irradiation conditions of a pulse laser, such as laser power, repetition frequency, and duty ratio. Alternatively, such irradiation conditions may be previously stored in the memory (not shown) of the laser oscillator controlling device6, and the selection of any of the stored irradiation conditions and the timing of starting and ending of irradiation may be included in the commands from the robot control device3.

In the former case, i.e., in the configuration in which the robot control device3outputs command values regarding laser irradiation to the laser oscillator controlling device6, information regarding the irradiation conditions can be conveyed from the robot control device3to the image processing device9.

In the latter case, i.e., in the configuration in which the irradiation conditions are previously stored in the memory of the laser oscillator controlling device6, the irradiation conditions stored in the memory can be conveyed to the image processing device9, which will be described later, via the robot control device3. In this instance, although not illustrated, the irradiation conditions of the memory of the laser oscillator controlling device6may be directly conveyed to the image processing device9.

The robot control device3also outputs command values regarding the irradiation position or focal position of a laser beam emitted from the laser irradiation device2to the laser irradiation device controlling device4. The command values regarding the irradiation position or focal position can be conveyed from the robot control device3to the image processing device9.

The laser irradiation device controlling device4is a device for controlling, based on the commands from the robot control device3, motors for driving the galvano mechanism and the lens position adjusting mechanism provided in the laser irradiation device2. The laser irradiation device controlling device4may be incorporated in the robot control device3.

The laser oscillator5is a laser supply source for oscillating a laser to supply a laser beam to the laser irradiation device2. Examples of the laser oscillator include a fiber laser, a CO2laser, a YAG laser, etc. In the present invention, any kind of laser oscillator, which can output a laser that can be used for processing, can be adopted.

The laser oscillator controlling device6controls, based on the commands from the robot control device3, the laser oscillator5for oscillating a processing laser beam. Alternatively, as described above, the laser oscillator controlling device6may include a memory for storing irradiation conditions, and may select, in response to the commands from the robot control device3, any of irradiation conditions from the memory, to control the laser oscillator5.

The laser oscillator controlling device6may be incorporated in the robot control device3.

Most of all, in this embodiment, a laser processing operation without output of a laser beam can be performed in response to the commands from the robot control device3.

Note that the robot1, the robot control device3, and the image processing device9are each preferably comprised of a computer system (not shown) including a memory such as a ROM or RAM, a CPU, and a communication control unit, which are connected via a bus line.

It is preferable that the ROM included in the computer system constituting the image processing device9stores application software (program) which causes the computer system to function as the augmented reality image processing unit9a.It is preferable that the function and operation of the augmented reality image processing unit9aare performed, based on the program stored in the ROM, by the CPU of the image processing device9, in cooperation with, for example, the robot control device3, the laser irradiation device controlling device4, or the display device10.

FIG. 4is a view of an image of a state in which the laser processing robot system shown inFIG. 1is used to perform laser processing.FIG. 5is a view of an image of a state in which the laser processing robot system shown inFIG. 2is used to perform laser processing.

Suppose that, as shown inFIGS. 4 and 5, the laser irradiation device2attached to the distal end1aof the robot arm is moved to a position above the workpiece W on the bench7, and a laser processing operation without output of a processing laser beam from the laser irradiation device2is performed by the robot1.

In this instance, in an example shown inFIG. 4, a working situation in the real space, an image of which is to be captured by the imaging device8, and a virtual image14of a laser beam generated by an augmented reality technology are displayed on a screen15of the display device10.

In an example shown inFIG. 5, the display device10is an eyeglasses-type head-mounted display having camera functions. In this instance, the camera functions of the eyeglasses-type head-mounted display that an operator16wears capture an image of a working situation in the real space. Then, the working situation in the real space and the virtual image14of a laser beam generated by an augmented reality technology are displayed on the screen15of the head-mounted display located so as to be opposite to the eyes of the operator16.

More specifically, as shown inFIGS. 4 and 5, the virtual image14of a laser beam is generated by the augmented reality image processing unit9aso that the laser irradiation device2virtually irradiates the workpiece W with the laser beam, and then is displayed on the display device10.

Most of all, when the head-mounted display shown inFIG. 5is adopted, the operator16can see a virtual state of the laser processing operation from anywhere.

The operation of the laser processing robot system100will now be described. In the laser processing robot system100shown, as an example, inFIG. 1, the operation for teaching a laser processing operation of the workpiece W to the robot1will be described. Of course, the operation that will be described below can also be applied to the laser processing robot system100shown, as an example, inFIG. 2.

In the laser processing robot system100shown inFIG. 1, the memory (not shown) of the robot control device3previously stores an operation program in which, for example, working operations or processing conditions of laser processing of the workpiece W are described. Further, the position of the bench7for securing the workpiece W or the position and attitude of the imaging device8are defined by a world coordinate system (also referred to as “base coordinate system”) based on the installation position of the robot1. The correlation between the position to be imaged by the imaging device8and the position of an object, such as the robot1in the real space is previously found by calibration.

In order to teach a laser processing operation to the robot1, the operator operates the robot1via a teaching operation board, to move the laser irradiation device2of the distal end1aof the robot arm to a position above the workpiece W on the bench7, and to perform the laser processing operation using the robot1. In this respect, the laser oscillator controlling device6controls the laser oscillator5so as not to supply a processing laser beam to the laser irradiation device2. In other words, during teaching of a laser processing operation to a robot, a processing laser beam is set not to be output from the laser irradiation device2to the workpiece W.

During the teaching operation, the robot control device3transmits command values, which give instructions regarding the position of the distal end1aof the robot arm to the robot1, or command values, which give instructions regarding the rotation angle of the reflection mirror of the laser irradiation device2and the position of the lens to the laser irradiation device controlling device4, to the image processing device9.

An image of the state of a robot teaching operation is captured in real time by the imaging device8. The captured image is transmitted to the image processing device9.

In the image processing device9, the augmented reality image processing unit9agenerates virtual images representing a laser beam obtained by assuming that the laser beam is emitted from the laser irradiation device2to a surface of the workpiece W, and a irradiation position of the laser beam, and superimposes the virtual images onto the actual image captured by the imaging device8.

FIG. 6is an explanatory view of a concept of a method for generating a virtual image of a laser beam on an image of a working situation in a real space. The method for generating a virtual image of a laser beam on the captured actual image will be specifically described below with reference toFIG. 6.

First, in the real space, the installation position of the robot1is set as “point O”, and the position of the laser irradiation port2aof the laser irradiation device2attached to the distal end1aof the robot arm is set as “point S”, and then, a vector R connecting the point O and the point S is found (FIG. 6).

The point O is set as the origin of a processing operation performed by the arm of the robot1. In this embodiment, the installation position of the robot1is set as the point O, but the stationary position on the main body of the robot1may be set as the point O.

Meanwhile, the point S can be found from the position of the distal end1aof the robot arm with respect to the point O, and graphic information including position information of the laser irradiation port2aof the laser irradiation device2attached to the distal end1a.

Specifically, the position of the distal end1aof the robot arm is found from command values regarding the position of the distal end1aof the robot arm, which are output from the robot control device3, or detection values (rotation angles) detected by the pulse coders provided in the servomotors of the joint axes of the robot1. Further, the position of the point S is found from the mounting position of the laser irradiation device2with respect to the distal end1a,and the position of the laser irradiation port2aof the laser irradiation device2with respect to the mounting position.

The mounting position of the laser irradiation device2with respect to the distal end1a,and the position of the laser irradiation port2acan be obtained from the drawing information in the design of the laser irradiation device2.

Subsequently, the position in a workpiece irradiated by the laser irradiation device2, i.e., the laser irradiation position on the surface of the workpiece W is set as “point P”, and a vector L connecting the point S and the point P is found using the point S, which has been obtained as the position of the laser irradiation port2aof the laser irradiation device2(FIG. 6).

When the galvano mechanism (seeFIG. 3) is provided in the laser irradiation device2, the position of the point P can be found based on command values regarding the irradiation position, which are output from the robot control device3to the laser irradiation device controlling device4, and the position of the point S, which has already been obtained. Alternatively, the position of the point P can be found based on detection values (rotation angles), which are actually detected by the pulse coders provided at the motors13X and13Y of the galvano mechanism, and the position of the point S, which has already been obtained.

When the laser irradiation device2further includes the lens position adjusting mechanism (not shown), the focal position of a laser beam can be found based on command values regarding the focal position, which are output from the robot control device3to the laser irradiation device controlling device4, and the position of the point S, which has already been obtained. Alternatively, the focal position of a laser beam can be found based on detection values (rotation angles), which are actually detected by the pulse coder provided at the motor of the lens position adjusting mechanism, and the position of the point S, which has already been obtained.

Note that, when the laser irradiation device2does not have a mechanism which can freely change the irradiation position or focal length, and accordingly, the irradiation position is fixed, and the vector L connecting the point S and the point P can be easily found from the mechanical design information of the laser irradiation device2.

Subsequently, in the real space, the installation position of the imaging device8is set as “point Q”, and the position of the point O as the installation position of the robot1is used to find a vector C connecting the point Q and the point O (FIG. 6).

When the position of the imaging device8is fixed with respect to the installation position of the robot1, the vector C can be found by previously calibrate both the positions.

Meanwhile, when the position of the imaging device8can be changed with respect to the installation position of the robot1, the correlation between the initial installation position of the imaging device8and the installation position of the robot1is calibrated. Further, when the position of the imaging device8is changed, a gyro sensor, a three-dimensional acceleration sensor, a GPS (Global Positioning System), etc., which are not shown and contained in the imaging device8, are used to find a moving distance from the initial installation position of the imaging device8. This enables the vector C to be found even when the position of the imaging device8can be changed with respect to the installation position of the robot1.

If the shape of the laser irradiation device2and the robot1is previously stored, as model data for three-dimensional model matching, in the imaging device8, the relative position between the imaging device8and the robot1can be found by matching the three-dimensional model data with the captured image. Thus, the vector C may be found from the relative position information obtained by such a three-dimensional model matching operation.

Substantially, the vector C, the vector R, and the vector L, which have been obtained as described above, are combined, to find a vector D (the dashed line inFIG. 6). The vector D is a vector connecting the installation position (the point Q) and the laser irradiation position (the point P) of the imaging device8.

Based on the information of the vector D, the laser irradiation position (the point P) or the laser irradiation direction from the laser irradiation device2can be displayed on the actual image captured at the installation position of the imaging device8. This enables the augmented reality image processing unit9aof the image processing device9to virtually generate a laser beam to be emitted from the laser irradiation device2or a laser irradiation position of the laser beam on the image captured by the imaging device8.

Thus, the augmented reality image processing unit9agenerates virtual images representing a laser beam obtained by assuming that the laser beam is emitted from the laser irradiation device2to a surface of the workpiece W, and an irradiation position of the laser beam, and superimposes the virtual images onto the actual image captured by the imaging device8. Then, the augmented reality image processing unit9adisplays the superimposed image on the display device10. As shown in, for example,FIGS. 4 and 5, the virtual image14obtained by virtually emitting a laser beam from the laser irradiation device2attached to the robot1onto the surface of the workpiece W is displayed on the screen15of the display device10.

Furthermore, during an operation, command values or detection values regarding the position of the distal end1aof the robot1, or command values or detection values regarding the irradiation position and irradiation conditions of a laser beam emitted from the laser irradiation device2or the focal length of a lens are conveyed from, for example, the robot control device3to the image processing device9. Based on these values, the augmented reality image processing unit9aof the image processing device9generates the virtual image14.

Further, data regarding the relative position, e.g., the relative angle or the relative attitude, between the robot1, to which the laser irradiation device2is attached, and the imaging device8are previously input to the image processing device9. Thus, if the relative position between the robot1and the imaging device8is changed, the virtual image14of the laser beam is changed accordingly, so as to coincide with the actual image of the working situation of the robot1, which has been captured by the imaging device8. The same is true in the laser processing robot system100including the display device10comprised of a movable head-mounted display as shown inFIG. 2.

When the virtual image14of the laser beam is displayed on the display device10as described above, it is preferable that a displaying operation that will be described below is performed to enable the virtual image14of the laser beam to be easily seen.

When, for example, the augmented reality image processing unit9agenerates the virtual image14of the laser beam, at least one of the display color and the display size of the laser beam may be changed.

Specifically, the color of a laser beam to be displayed or the size of a light axis, the irradiation radius at the irradiation position of the laser beam, etc. may be freely changed.

In this instance, the augmented reality image processing unit9amay change at least one of the display color and the display size of a laser beam in accordance with irradiation conditions for emitting the laser beam from the laser irradiation device2. For example, depending on the magnitude of the power of a laser, the shading of the display color of the laser beam may be classified.

Further, the augmented reality image processing unit9amay display the locus of at least one of the laser beam represented as the virtual image14and the irradiation position of the laser beam on the display device10. If, for example, the locus of the laser irradiation position during teaching (i.e., the movement locus of a laser spot) is left, as an image, in the screen of the display device10even after the completion of teaching of a laser processing operation, the laser irradiation position can be more easily confirmed.

In cooperation with an image representing such a locus of the laser irradiation position, the information on laser irradiation conditions, e.g., numerical information on irradiation conditions of a pulse laser, such as laser power, repetition frequency, and duty ratio may be displayed on the display device10. In other words, the augmented reality image processing unit9amay be adapted to display the information on laser irradiation conditions on the display device10along with the virtual image14of a laser beam or laser irradiation position.

As seen above, according to this embodiment, an image of the laser beam emitted from the laser irradiation device2attached to the robot1can be virtually generated, and a virtual image of the generated laser beam can be superimposed onto the actual image of the robot1captured by the imaging device8, and then displayed. In other words, according to this embodiment, an augmented reality technology is used to enable a processing laser beam as a virtual image and its irradiation position to be displayed on an image in the actual work space. Thus, even when a processing laser beam is not actually emitted, the operator can safely and easily see the processing laser beam and its irradiation position on the screen.

Most of all, the processing laser beam is virtually displayed, and accordingly, it is not necessary to mount a mechanism for emitting a pilot laser in the laser irradiation device. Further, there is no risk that a human body may be exposed to the processing laser beam.

These points are effective particularly when the laser processing robot system100is used to perform remote laser processing.

Alternatively, the laser processing robot system100may be adapted to project the virtual image14of, for example, the laser irradiation position on the real space using a projector, instead of displaying the same on the display device10.

The present invention has been described above using exemplary embodiments. However, a person skilled in the art would understand that the aforementioned modifications and various other modifications, omissions, and additions can be made without departing from the scope of the present invention. Any appropriate combination of these embodiments is included in the scope of this disclosure.

EFFECT OF THE INVENTION

According to the first aspect of this disclosure, even when a processing laser beam is not actually emitted from the laser irradiation device attached to the arm of the robot, the state of irradiation with the processing laser beam can be virtually displayed on the actual image including the robot. Thus, the operator can safely and easily see the processing laser beam and its irradiation position on the screen.

According to the second aspect of this disclosure, if the laser irradiation device has a mechanism which can change the focal length of a laser beam, even when the processing laser beam is not actually emitted, a virtual image of the state of irradiation with the processing laser beam can be displayed.

According to the third aspect of this disclosure, if the laser irradiation device has a mechanism which can change the irradiation position of a laser beam, even when the processing laser beam is not actually emitted, a virtual image of the state of irradiation with the processing laser beam can be displayed.

According to the fourth aspect of this disclosure, the locus of a laser beam represented as a virtual image or a laser irradiation position can be displayed on the display device, and accordingly, even after the robot performs a laser processing operation without output of a laser beam, the laser irradiation position can be easily confirmed.

According to the fifth and seventh aspects of this disclosure, irradiation conditions of a laser beam can be visually monitored on the screen.

According to the sixth aspect of this disclosure, the visibility of a laser beam displayed on the display device and its irradiation position can be improved.

According to the eighth aspect of this disclosure, if a head-mounted display is adopted as a display device, the operator can see the state of a virtual laser processing operation from anywhere.