Hitachi, Ltd.

Hitachi Keiyo Engineering Co., Ltd.

Masao Tsuji

Shinichi Sarugaku

Seiji Hata

Junichi Kobayashi

Akira Tsuchihashi

Kenji Suzuki

Housei Higashi

Tadamasa Kamikubo

Yoshie Nishida

Motoaki Fujino

Masayoshi Ohzeki

Norio Tsuruta

Masayuki Matsubara

Makoto Oouchida

Syunki Sakurai

Yoshinori Naruke

An automated manufacture line includes a host controller device which sets individual control conditions and a plurality of automatic working devices which are connected to the host controller device and perform their automatic works. Each automatic working device includes a carry portion for carrying in an object to be processed from the upper stream side of the line and carrying out it to the lower stream side of the line, an input portion capable of inputting work data concerning the object handled by its own automatic working device, and a controller for adjusting a work parameter of its own automatic working device on the basis of the work data inputted from the input portion or work data transmitted from another automatic working device on the upper stream side of the line, outputting the work data to another automatic working device provided on the lower stream side of the line, driving the carry portion in response to an object carry-out request signal from another automatic working device provided on the lower stream side of the line to carry out the object to that automatic working device, and outputting an object carry-out request signal to another automatic working device positioned on the upper stream side of its own automatic working device.

Automated manufacture line

There are disclosed a method and an apparatus for properly recognizing the position and orientation of a whole object article from its partial shape. The method comprises the steps of first extracting an image of a partial shape from a two-dimensional picture image representing at least one portion of the object article whose position and orientation are to be recognized, then calculating at least one of a center of gravity, an intersection of straight lines and a linear equation with respect to each of the extracted feature shapes, thereby obtaining at least one feature parameter, and calculating the position and orientation of the whole object article by arbitrarily combining such feature parameters.

Method and apparatus for calculating position and orientation by

A method for controlling an image processing device wherein the contour of a certain segment of an image, or pattern is polygonal-approximated so that it is represented by a row of vertex data and the row of vertex data is processed to recognize the shape of the segment. This method comprises the steps of describing an image processing procedure as a program by a programming language incorporating a group of image processing instructions, and executing this program by the image processing whereby several different image procedures can be performed for image processing according to different uses. This method also controls the image processing procedure using a program written by a programming language incorporating variables representing the structure inherent in the image data.

Method for controlling image processing device

A relative weaving motion of a welding torch relative to a weld line is given to a welding torch, by way of composing a weld main path vector for a relative movement of the weld torch along the weld line and a swing vector for a relative movement of the weld torch. And by detecting the amount of an electrical parameter of an arc of the weld torch, the amount of correction is calculated based upon the deviation between the detected amount and a predetermined reference amount. The direction of the amount of correction is determined based upon the swing vector. The relative movement of the weld torch relative to the weld line is performed by a vector composed of the weld main path vector, the swing vector, and the correction vector. In other words, the present invention features the direction of the amount of correction being definitely determined based upon the basis of the swing vector.

Method and apparatus for welding line tracer control

A system and method for weld line profile control wherein an electrical quantity corresponding to the arc of a welding torch is detected and the deviation between the electrical quantity and a reference quantity is monitored so that correction movements of the welding torch relative to the weld line can be limited if the deviation exceeds a predetermined value. In more detail, an electrical quantity corresponding to the arc of one side waveform of a welding torch operating under the influence of a wave signal is detected and a reference quantity corresponding to the arc of the other side waveform of the welding torch is detected, and the deviation between the electrical quantity and the reference quantity is monitored to provide a signal limiting the correction movements of the welding torch relative to the weld line when the deviation exceeds a predetermined value.

Weld line system and method for control

In welding effected by weaving an electrode, welding current or voltage is applied to a frequency analyzer, for deriving a frequency component having the same period as a weaving period and a doubled frequency component having a period which is half the weaving frequency. The center of weaving motion is corrected in relation to the two frequency components to thereby effect tracer control for the electrode.

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Funabashi, Japan

Masao Tsuji