Market system

Abstract

A market system capable of providing, via a network, data required for production equipment that performs production along with image processing of a workpiece photographed by a photographing system, comprising: a storage unit that stores a plurality of shape data in association with the photographing system and the type of the workpiece, the plurality of shape data being generated based on an image photographed of the workpiece for each photographing system and serving as a reference for the shape of the workpiece in image processing; and a providing unit that can provide, via the network, the data stored in the storage unit to customers of the production equipment.

Description

Technical Field

[0001] This specification discloses a market system. Background Art

[0002] Conventionally, a system has been proposed that can provide service information from a supplier of production equipment to an enterprise at the delivery location of production equipment such as a component mounter (see, for example, Patent Document 1). In this system, the supplier can store image data of the normal posture of components, i.e., identification data, dimension data of components, mounting condition data, etc. in a library, and each enterprise can retrieve the library to obtain the required information.

[0003] Prior Art Documents

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2002-359500 Summary of the Invention

[0005] Problems to be Solved by the Invention

[0006] The above-mentioned identification data is used to determine whether there is a deviation in the holding position or the quality of the posture, etc. based on an image obtained by photographing a workpiece such as a component held in a production equipment. However, depending on the specifications and configurations of the imaging system such as the camera and lighting of the production equipment, etc., sometimes the shape of the contour of the workpiece reflected in the image is slightly different. Therefore, in order to appropriately perform image processing, it is preferable to generate identification data based on an image obtained by actually photographing the workpiece in the imaging system of the production equipment. However, in the case where the identification data is generated separately at the delivery location of the production equipment, the generation of the identification data takes time, and thus the generation burden becomes large.

[0007] The main object of the present disclosure is to reduce the generation burden of data required for image processing and appropriately perform image processing.

[0008] Technical Solution for Solving the Problems

[0009] The present disclosure adopts the following solution in order to achieve the above main object.

[0010] The market system of the present disclosure can provide data required for production equipment through a network. The production equipment performs production along with image processing of a workpiece photographed by an imaging system. The gist is that the market system includes: a storage unit that stores a plurality of shape data in correspondence with the imaging system and the type of the workpiece. The plurality of shape data is generated based on an image obtained by photographing the workpiece for each imaging system and serves as a reference for the shape of the workpiece in the image processing; and a providing unit that can provide the data stored in the storage unit to a customer of the production equipment through the network.

[0011] In the market system of the present disclosure, a plurality of shape data are stored in correspondence with the imaging system and the type of workpiece. The above-mentioned plurality of shape data are generated based on the images captured of the workpiece for each imaging system and serve as the reference for the shape of the workpiece in image processing. In addition, the stored data is provided to the customers of the production equipment via a network. Thereby, it is not necessary for the customers to generate the shape data, and thus, the time for preparing the shape data can be shortened. Further, since the shape data is generated based on the images captured of the workpiece for each imaging system, image processing corresponding to the imaging system of the customer's production equipment can be appropriately performed. Therefore, the burden of generating the data required for image processing can be reduced and image processing can be appropriately performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 FIG. is a schematic structural diagram showing the structure of the equipment introduction support system 10.

[0013] Figure 2 FIG. is a schematic explanatory diagram showing the market platform MP.

[0014] Figure 3 FIG. is a schematic structural diagram showing the structure of the operation system 60.

[0015] Figure 4 FIG. is an explanatory diagram showing an example of the module DB30, the tool DB32, and the shape DB34.

[0016] Figure 5 FIG. is an explanatory diagram showing an example of the interference range (Kx, Ky).

[0017] Figure 6 FIG. is an explanatory diagram showing an example of the reference shape RS.

[0018] Figure 7 FIG. is a flowchart showing an example of the tool data registration process.

[0019] Figure 8 FIG. is a flowchart showing an example of the shape data registration process.

[0020] Figure 9 FIG. is a flowchart showing an example of the data provision process.

[0021] Figure 10 FIG. is an explanatory diagram showing an example of the selection input screen 59a. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] Next, embodiments for implementing the present disclosure will be described with reference to the drawings.

[0023] Figure 1It is a schematic structural diagram showing the structure of the device import support system 10 of the present embodiment, Figure 2 It is a schematic explanatory diagram showing the marketplace MP, Figure 3 It is a schematic structural diagram showing the structure of the operating system 60. As Figure 1 , Figure 2 shown, the device import support system 10 includes a management server 20 that manages a marketplace MP for customers (users) to purchase various devices and machines (hereinafter, modules) provided by suppliers. In this device import support system 10, the management server 20 is connected to a supplier terminal 40 and a customer terminal 50 via a network 12. In addition, Figure 1 only one supplier terminal 40 and one customer terminal 50 are shown respectively, but actually multiple are connected.

[0024] The management server 20 includes: a control unit 21, a simulation unit 22, a storage unit 23, and a communication unit 26. The control unit 21 has a CPU, ROM, RAM, etc., and controls the entire server such as managing the marketplace MP. The simulation unit 22 constructs a model MD (digital twin, refer to Figure 3 ) such as an operating system 60 (refer to Figure 2 ) that combines modules that can be purchased on the marketplace MP in a virtual space, and executes a simulation using the model MD in the virtual space. The storage unit 23 is composed of an HDD, etc., and stores various application programs and various databases (DB), etc. The communication unit 26 is connected to the network 12, etc., and communicates with the supplier terminal 40, the customer terminal 50, etc. Various instructions, etc., based on the manager are input to the management server 20 from an input unit 28 such as a keyboard or a mouse. In addition, the management server 20 displays various information on a display unit 29 such as a monitor. In addition, it is not limited to the management server 20 including the simulation unit 22 and the storage unit 23 (various DBs). The simulation unit may be configured as another device capable of communicating with the management server 20, and a data server that stores various DBs may also be configured as another device capable of communicating with the management server 20.

[0025] The supplier terminal 40 includes: a control unit 41 having a CPU, ROM, RAM, etc., a storage unit 43 such as an HDD that stores various application programs and various data, etc., and a communication unit 46 that is connected to the network 12, etc., and communicates with the management server 20, etc. Various instructions, etc., based on the supplier are input to the supplier terminal 40 from an input unit 48 such as a keyboard or a mouse. In addition, the supplier terminal 40 displays various information such as a registration screen for registering module data, etc., of the module to be provided on a display unit 49 such as a monitor.

[0026] Similarly to the supplier terminal 40, the customer terminal 50 includes a control unit 51, a storage unit 53, and a communication unit 56. Additionally, it is also possible that the communication unit 56 communicates with a control device 68 of an operation system 60 described later via a network 12 or the like. The customer terminal 50 receives various instructions from a customer via an input unit 58 such as a keyboard or a mouse. Further, the customer terminal 50 displays various information such as a home page screen (purchase screen) of the marketplace MP, a simulated model MD, and a simulation execution result on a display unit 59 such as a monitor.

[0027] Here, an example of an operation system (production equipment) 60 obtained by combining modules that can be purchased on the marketplace MP will be described. For example, the operation system 60 can be configured as a system that performs a predetermined operation by a robot 61. Figure 3In the example, in addition to the robot 61, there are also a substrate transfer device 66 and a feeder 67. As an example of a predetermined operation, for example, there can be cited an installation operation in which the robot 61 picks up a workpiece such as a mechanical component or an electronic component and mounts it on the substrate S. The robot 61 includes a vertically articulated robot arm 62 and a control device 68 that controls the entire system including the operation of the robot arm 62. In addition, at the front link of the robot arm 62, in addition to detachably mounting an end effector 63 as a working tool, a camera 64 for taking an image and lighting 65 such as an annular lamp arranged coaxially with the camera 64 are also mounted. In addition, as the end effector 63, there can be cited an electromagnetic chuck, a mechanical chuck, a suction nozzle, etc. The substrate transfer device 66 transfers the substrate S by a pair of conveyor belts. The feeder 67 is a tape feeder that feeds out a tape in which a plurality of workpieces are stored at predetermined intervals. In addition, the feeder 67 is not limited to a tape feeder, and can also be a tray feeder that supplies a tray on which a plurality of workpieces are arranged. The control device 68 is composed of a CPU, a ROM, an HDD, a RAM, etc., and stores and manages system programs of the entire operation system 60 in addition to the operation program of the robot 61. In addition, during a predetermined operation, the control device 68 inputs an image of the workpiece taken by the camera 64, performs image processing on the image, identifies the position and size of the workpiece, or after confirming whether it is the correct workpiece, selects the workpiece to be picked up. For example, when the control device 68 is configured to pick up a workpiece by a chuck such as an electromagnetic chuck or a mechanical chuck, it determines whether there is interference with other workpieces around the workpiece to be targeted based on the image, and selects the workpiece without interference as the object to be picked up. In addition, although not shown, the operation program of the substrate transfer device 66 is stored in the PLC (Programmable Logic Controller) of the substrate transfer device 66, and the operation program of the feeder 67 is stored in the PLC of the feeder 67. The robot 61 (robot arm 62), the end effector 63, the camera 64, the lighting 65, the substrate transfer device 66, and the feeder 67 that constitute such an operation system 60 are respectively called modules.

[0028] In the storage unit 23 of the management server 20, a module DB (database) 30, a tool DB 32, a shape DB 34, a supplier DB 37, and a customer DB 39 are stored. Although not shown, the supplier DB 37 registers the names of suppliers that have undergone certification registration, supplier IDs unique to each supplier, contact information such as addresses and email addresses, information on the types of modules provided by the suppliers, etc. In addition, although not shown, the customer DB 39 registers the names of customers that have undergone certification registration, customer IDs unique to each customer, contact information such as addresses and email addresses, the purchase history of the customers, etc.

[0029] Here, Figure 4This is an explanatory diagram showing an example of the module DB30, the tool DB32, and the shape DB34. The module DB30 registers module data and the like that a supplier registers through a registration screen from a supplier terminal 40. In the module DB30, a plurality of module data classified by each module type, such as robot data 30A, feeder data 30B, conveyor data 30C, and end effector data 30D, are registered. In addition, although not shown in the figure, data of a camera and lighting are also registered. Each module data includes shape data such as three-dimensional CAD data of each module, an operation program if the module is operable, information of a camera system including a camera specification such as the type of lens if the module includes a camera or lighting, lighting specification, etc., information of connectors required for various connections, specifications, etc. In Figure 4 , for example, the information of the camera system A standardly installed on the robot A is included in the module data of the robot A. Similarly, the information of the camera system B is included in the module data of the robot B, and the information of the camera system C is included in the module data of the robot C. In addition, although not shown in the figure, module data such as shape data and physical property data of a representative workpiece of the work object are also registered in the module DB30. The module data of the workpiece can also register the supplier or the manager who has received a commission from the customer and is used in the simulation using the model MD.

[0030] In the tool DB32, tool data indicating an interference range for determining whether there is interference with other surrounding workpieces or the like when a workpiece is clamped by an end effector 63 such as an electromagnetic chuck or a mechanical chuck is registered. Figure 5 This is an explanatory diagram showing an example of the interference range (Kx, Ky). In Figure 5 , a case where the end effector 63 has a pair of chuck jaws 63a capable of opening and closing is illustrated. In addition, Figure 5 , (a) shows the state where the chuck jaws 63a hold the workpiece A from the side, Figure 5In (b) above, the state where the chuck jaws 63a hold the workpiece A is shown from above. As shown in the figure, a pair of chuck jaws 63a change to an open state (refer to the solid line) and a closed state (refer to the dotted line) through an opening and closing operation, and hold the workpiece in the closed state. In addition, the interference range is the range where the chuck jaws 63a in the open state do not interfere with the surroundings, and is determined by, for example, the value Kx in the opening and closing direction of the chuck jaws 63a and the value Ky in a predetermined direction orthogonal to the opening and closing direction in the horizontal plane. The value Kx is a value obtained by adding a margin of about several millimeters in consideration of individual differences in the dimensions of the chuck jaws 63a, the position accuracy of the end effector 63 when the robot holds the workpiece, etc. to the outer dimensions of the two chuck jaws 63a in the open state based on the opening and closing stroke amount of the chuck jaws 63a and the width (thickness) in the opening and closing direction of the chuck jaws 63a. The value Ky is a value obtained by adding a margin of about several millimeters to the width of the chuck jaws 63a in the predetermined direction in the same manner. Each tool data is determined for each type of end effector 63 and is registered in the tool DB32 in correspondence with the type of the end effector 63. For example, the interference range (Kxa, Kya) is registered in correspondence with the end effector A, the interference range (Kxb, Kyb) is registered in correspondence with the end effector B, and the interference range (Kxc, Kyc) is registered in correspondence with the end effector C. In addition, the interference range (Kx, Ky) of the tool data is not limited to only registered values, and a range shown by a frame in the image can also be registered.

[0031] Shape data that serves as a reference for the shape of the workpiece when image processing of the workpiece is performed by the control device 68 of the operation system 60 and the like is registered in the shape DB34. In the present embodiment, based on the images obtained by respectively photographing the workpiece by each photographing system, a reference shape RS that serves as a reference for the shape of the workpiece in the image processing is set and registered in the shape DB34 as shape data. Therefore, a plurality of shape data of each workpiece photographed by the photographing system A are registered as data 35A for the photographing system A, and a plurality of shape data of each workpiece photographed by the photographing system B are registered as data 35B for the photographing system B. In addition, Figure 6It is an explanatory diagram showing an example of the reference shape RS. As shown in the figure, the reference shape RS of the workpiece A of the imaging system A is data based on a contour line slightly outside the original workpiece shape shown by the dashed line. On the other hand, the reference shape RS of the workpiece A of the imaging system B is data based on a contour line slightly inside the original workpiece shape shown by the dashed line. Here, when the imaging system varies according to, for example, the specifications of the camera 64 including the lens, the specifications of the illumination 65, the arrangement positions of the camera 64 and the illumination 65, etc., even when the same workpiece is imaged, the appearance state of the workpiece in the image changes, and sometimes the size and shape of the workpiece in the image vary. In the present embodiment, as will be described later, in order to appropriately suppress the influence of such differences on image processing, the shape data representing the reference shape RS of the workpiece is registered in the shape DB34 for each imaging system. In addition, the pixel resolution (mm / pixel) of the imaging system is also registered in each shape data.

[0032] On the home page screen of the marketplace MP displayed on the customer terminal 50 or the like, purchase requests, viewing, requests for providing various data, purchase requests, viewing of various application tools, and customer logins to my page can be performed. As Figure 2 shown, on the home page screen, there are displayed, for example, type-based icons for each module representing modules such as robots, end effectors, feeders, and conveyors, an icon for data request, an icon for application tool selection, a purchase button, a login button to my page, etc. When the customer operates (clicks) the purchase button by using an operation input of the input unit 58 and then selects the icon of the desired module, a module selection screen (not shown) that can display a list for selecting module data of the corresponding type is displayed. For example, when the customer selects the icon of the robot, the module data 31 of each robot is displayed in a list, and the customer can select and purchase the required module from among them. In addition, the module data displayed in the list is registered in the module DB30. In addition, when the customer operates the purchase button and then selects the icon of the application tool, an application tool selection screen (not shown) that can display a list for selecting various application tools is displayed. The customer can select and purchase the required application tool from among them. In addition, as various application tools, there can be mentioned an analysis tool that collects information such as the operation status of each module or the frequency of occurrence of abnormalities and performs analysis, a proposal tool that proposes improvement plans such as changes to the module based on the analysis results, a layout tool that performs an efficient layout of the modules, etc. In addition, the customer can select the icon of the module or the icon of the application tool without clicking the purchase button and view the content of the module or the application tool displayed in the list. In addition, when the customer logs in to my page, the purchase history of the module, the content and change history of the module scheduled to be imported, the management server 20, contact matters from the supplier, etc. can be confirmed.

[0033] Next, the processing of the device import support system 10 configured in this way, particularly the processing related to tool data and shape data, will be described. First, the processing of registering tool data and shape data in the tool DB 32 and the shape DB 34 will be described.

[0034] Figure 7 FIG. is a flowchart showing an example of tool data registration processing. This processing is executed by the control unit 21 when, for example, tool data is registered by a supplier. In the tool data registration processing, the control unit 21 first accepts the size and opening / closing stroke amount of the chuck jaw 63a (S100) through a registration screen (not shown) displayed on the display unit 49 of the supplier terminal 40. In addition, the control unit 21 is not limited to accepting information from the supplier terminal 40, and may also obtain the required information from the specification information of the end effector data 30D registered in the module DB 30.

[0035] Next, the control unit 21 calculates values Kx and Ky obtained by adding a margin to the outer dimensions of the two chuck jaws 63a in the open state based on the opening / closing stroke amount of the chuck jaw 63a and the width (thickness) in the opening / closing direction of the chuck jaw 63a, and sets an interference range (Kx, Ky) (S110). In addition, the control unit 21 may also accept information on the outer dimensions of the two chuck jaws 63a in the open state and calculate the value Kx and the like. Then, the control unit 21 registers the interference range (Kx, Ky) set in S110 as tool data corresponding to the type of the end effector 63 in the tool DB 32 (S120), and ends the tool data registration processing.

[0036] Figure 8 FIG. is a flowchart showing an example of shape data registration processing. This processing is executed by the control unit 21 not only when shape data is registered by a supplier but also when shape data is registered by a customer. In addition, the shape data registration processing is performed through a registration screen (not shown) displayed on the display unit 49 of the supplier terminal 40 or the display unit 59 of the customer terminal 50. In this shape data registration processing, the control unit 21 first determines whether the imaging system for which the shape data is to be registered is an unregistered imaging system (S200). If it is an unregistered imaging system, the control unit 21 accepts information on the imaging system and registers a new imaging system in the shape DB 34 (S210), and proceeds to S230. For example, the control unit 21 accepts information such as the specifications of the camera 64, the specifications of the illumination 65, and the installation positions of the camera 64 and the illumination 65, and registers them together with the information indicating the type of the imaging system. In addition, if it is an already registered imaging system, the control unit 21 accepts the selection of the imaging system to be registered (S220), and proceeds to S230.

[0037] Next, the control unit 21 receives the type of the workpiece to be registered and the image of the workpiece (S230). In S230, the control unit 21 receives the image of the workpiece actually captured by the imaging system of the work system 60. Next, the control unit 21 performs image processing on the received image to generate shape data representing the contour of the workpiece in the image (S240). For example, the control unit 21 extracts the edges of the workpiece in a plurality of images, and generates a contour line obtained by smoothly connecting the extracted edges as shape data. Further, the control unit 21 registers the shape data corresponding to the imaging system registered in S210 or the imaging system and the type of the workpiece selected in S220 in the shape DB34 (S250), and ends the shape data registration process. For example, if the imaging system A is the target, the control unit 21 registers the shape data of the new workpiece as the data 35A for the imaging system A of the shape DB34.

[0038] Next, processing for providing each data from the tool DB32 or the shape DB34 to the customer will be described. Figure 9 FIG. is a flowchart showing an example of the data providing process. This process is executed by the control unit 21 when a request for providing various data is selected from the home page screen of the marketplace MP displayed on the display unit 59 of the customer terminal 50. In the data providing process, the control unit 21 first determines whether tool data has been selected by the customer on a request data selection screen (not shown) (S300). When it is determined that no tool data has been selected, the process proceeds to S330. On the other hand, when it is determined in S300 that tool data has been selected, the control unit 21 accepts a selection input of the type of the end effector 63 through a selection input screen for the tool data (not shown), and selects tool data corresponding to the type of the end effector 63 received from the tool DB32 and downloads it to the customer terminal 50 (S320). For example, when the control unit 21 receives a selection input of the end effector A as the type of the end effector 63, the control unit 21 downloads the tool data of the end effector A, that is, the interference range (Kxa, Kya), to the customer terminal 50. Alternatively, the control unit 21 may download the interference range (Kx, Ky) as image data automatically converted according to the pixel resolution of the imaging system of the customer's work system 60 to the customer terminal 50. In this way, in the image processing when the control device 68 of the customer's work system 60 clamps the workpiece, for example, it is possible to confirm whether there is interference with the periphery of the workpiece by reflecting the downloaded image data in the image. That is, since the control device 68 does not need to generate image data obtained by converting the interference range (Kx, Ky), the trouble of generation can be omitted. Of course, the control device 68 may also convert the downloaded interference range (Kx, Ky) according to the pixel resolution of the imaging system of the work system 60.

[0039] Next, the control unit 21 determines whether shape data has been selected by the customer on the request data selection screen (S330). When it is determined that no shape data has been selected, the data provision process ends. On the other hand, when the control unit 21 determines that shape data has been selected in S330, it displays a selection input screen 59a on the display unit 59 and accepts the selection input of the type of the imaging system and the workpiece from the customer (S340). Figure 10 FIG. Figure 10 is an explanatory diagram showing an example of the selection input screen 59a. On this selection input screen 59a, the control unit 21 first displays button images of a plurality of imaging systems, and accepts the selection input of the type of the imaging system from the customer by an operation (click) using the input unit 58 (see Figure 10 A). When the selection input of the imaging system has been accepted from the customer, the control unit 21 displays button images of a plurality of workpieces registered for the imaging system, and accepts the selection input of the type of the workpiece by an operation (click) using the input unit 58 (see Figure 10 B). In addition, Figure 10 B shows the screen in the case where the selection input of the imaging system A has been accepted in Figure 10 A. In addition, when the return button is operated in Figure 10 A, the screen returns to the request data selection screen. When the return button is operated in Figure 10 B, the screen returns to Figure 10 A. In addition, on the selection input screen of the tool data, button images of a plurality of end effectors 63 (end effector A, B, C) are displayed in a selectable input manner in the same way as Figure 10 FIG. Figure 10 .

[0040] When the control unit 21 has accepted the selection input of the type of the imaging system and the workpiece in this way, it selects shape data corresponding to the accepted type of the imaging system and the workpiece from the shape DB 34 and downloads it to the customer terminal 50 (S350), and ends the data provision process. The tool data and the shape data downloaded to the customer terminal 50 are transferred to the control device 68 of the operation system 60 and used in the image processing of the control device 68. In addition, in the present embodiment, an example in which the selection of the tool data, the selection of the imaging system, and the selection of the workpiece are performed in sequence is shown, but it is not limited to this order, and they may be performed in a different order. In addition, depending on the registration status of the shape data, there may be no shape data registered that the customer desires. Therefore, the control unit 21 may also display the following meaning: for example, what is displayed on the selection input screen 59a in Figure 10 B are the registered imaging systems and workpieces, and for the imaging systems and workpieces that are not displayed, the selection input cannot be accepted. In this case, the customer needs to generate the shape data by himself / herself, but since the shape data can be registered and used at any time through the above-described shape data registration process, the situation where the generation of the shape data is required can be suppressed from occurring frequently.

[0041] Here, as described above, if the imaging system is different, even when the same workpiece is imaged, the size, shape, etc. of the workpiece in the image may be different. For example, in the Figure 6 workpiece illustrated, if not only the size imaged in the image varies depending on the imaging system, but also the light reflection condition or the image contrast, etc. is different, the boundary of the edge imaged in the image may be outside or inside the original workpiece shape shown by the dotted line. Therefore, if a common reference shape is applied to the image processing of the same type of workpiece imaged by different imaging systems, not only may there be trouble in size conversion, but also there may be adverse conditions such as recognition errors or confirmation errors. In the present embodiment, even for the same type of workpiece, shape data representing the reference shape RS of the workpiece is registered in the shape DB34 for each imaging system, and the customer can download the shape data to the customer terminal 50. Therefore, the control device 68 can appropriately perform image processing using the shape data (reference shape RS) corresponding to the imaging system of the work system 60. In addition, when it is not necessary to generate shape data corresponding to the imported imaging system, the customer can shorten the time for preparing the shape data. In addition, in the present embodiment, tool data representing the interference range (Kx, Ky) of the chuck jaws 63a, etc. is registered in the tool DB32 for each type of end effector 63, and the customer can download the tool data to the customer terminal 50.

[0042] Here, the correspondence between the structural elements of the present embodiment and the structural elements of the present disclosure is clarified. The equipment introduction support system 10 including the marketplace MP of the present embodiment corresponds to the marketplace system, the storage unit 23 of the management server 20 corresponds to the storage unit, and the control unit 21 of the management server 20 that executes data provision processing corresponds to the provision unit. The control unit 21 of the management server 20 that executes shape data registration processing corresponds to the registration unit.

[0043] The equipment introduction support system 10 described above stores a plurality of shape data in correspondence with the imaging system and the type of workpiece in the storage unit 23 (shape DB34). The above-mentioned plurality of shape data is generated based on the image of the workpiece captured for each imaging system and becomes the reference shape RS of the workpiece through image processing. In addition, the shape data can be provided (downloaded) to the customer terminal 50. Therefore, the time for the customer to prepare the shape data can be shortened and the generation burden can be reduced. In addition, image processing can be appropriately performed using the shape data corresponding to the imaging system.

[0044] In addition, the equipment import support system 10 stores in the storage unit 23 (tool DB 32) the tool data indicating the interference range (Kx, Ky) of the chuck jaws 63a in correspondence with the type of the end effector 63. Therefore, the trouble of customer setting of tool data can be saved, and thus, the generation burden of data required for image processing can be further reduced. In addition, incorrect setting of tool data by the customer can be prevented. Further, the customer can obtain the shape data and the tool data from the marketplace MP. Therefore, the customer can easily obtain the data of the module purchased in the marketplace MP without retrieving other websites.

[0045] In addition, by the customer selecting the type of the imaging system and the workpiece on the selection input screen 59a, the customer can request the required shape data, and thus, the data can be easily obtained without separately inputting the information on the type of the imaging system and the workpiece.

[0046] In addition, in the shape data registration process, the equipment import support system 10 receives the image of the workpiece not only from the supplier but also from the customer, generates the shape data based on the image, and registers the shape data in the storage unit 23 (shape DB 34). Therefore, even when the shape data of the workpiece of a certain imaging system is not registered in the shape DB 34, new shape data can be registered at any time based on the image of the workpiece captured by the imaging system. Thus, the shape data stored in the shape DB 34 can be enriched, and the shape data can be effectively utilized among customers.

[0047] In addition, it goes without saying that the present disclosure is not limited to the above-described embodiments and can be implemented in various ways as long as it belongs to the technical scope of the present disclosure.

[0048] For example, in the above-described embodiment, in the shape data registration process, the image of the workpiece can be received from the customer and the shape data can be registered, but it is not limited thereto. It is also possible to receive only the image from the supplier and register the shape data.

[0049] In the above-described embodiment, the customer requests the required shape data by selecting the type of the imaging system and the workpiece on the selection input screen 59a, but it is not limited thereto. It is also possible that the customer requests the required shape data by separately inputting the information on the type of the imaging system and the workpiece. Alternatively, it is not limited to receiving the selection of the data to be output from the customer and providing the received data to the customer via the network. It is also possible to automatically provide the customer with the shape data of the workpiece of the imaging system registered in the customer's operating system 60. In such a case, it is also possible that every time new shape data of a workpiece is registered through the shape data registration process, the new shape data is provided to the customer of the robot 61 having the same imaging system. In addition, it is also possible that for the tool data, the tool data of the end effector 63 is automatically provided to the customer when the customer purchases (imports) the end effector 63 or the like.

[0050] In the above-described embodiment, the storage unit 23 includes the tool DB 32 and the shape DB 34 and stores tool data and shape data. However, this is not limiting. The storage unit 23 may not include the tool DB 32 and may not store tool data or the like, and it is sufficient that the storage unit 23 has the shape DB 34 and stores shape data. In such a case, the customer can set the interference range or the like. Further, for example, when a suction nozzle is used as the end effector 63, since the suction nozzle is within the adsorption surface of the component, tool data is not required. Further, when inspecting the mounting state of the components on the substrate S by an inspection device for the substrate S or the like, it is not necessary to determine interference by image processing, and thus tool data is not required.

[0051] In the above-described embodiment, shape data is registered for each imaging system that is standardly installed on the robot 61. However, this is not limiting. For example, shape data of an imaging system formed by combining a camera 64 and a lighting 65 that can be installed on the robot 61 may be registered. Further, for example, when the customer can freely select an imaging system and import it, by selecting an imaging system for which shape data of more workpieces to be produced is registered, the generation burden of data required for image processing can be suppressed. Therefore, the customer can use the number of registered shape data for each imaging system in the shape DB 34 as a reference for importing the imaging system.

[0052] In the above-described embodiment, the operation system 60 including a plurality of modules is illustrated. However, this is not limiting. It is sufficient that the operation system performs production along with image processing of the workpiece captured by the imaging system, and it may be a system composed of a single module such as the robot 61 on which a camera 64 or a lighting 65 is standardly installed. Alternatively, it may be a system composed of a module that conveys an article by a conveyor or the like and an imaging system. Further, as the imaging system, a camera 64 and a lighting 65 installed at the front link of the robot arm 62 of the robot 61 are illustrated. However, this is not limiting. For example, the imaging system may be installed on the ceiling above the robot 61, or may be installed on a gantry frame arranged so as to straddle the conveyor of the substrate conveying device 66.

[0053] In the above-described embodiment, the equipment introduction support system 10 including not only the management of the marketplace MP but also the simulation unit 22 is illustrated. However, this is not limiting. It may be a system that does not include the simulation unit 22 and manages the marketplace MP that can trade goods related to production equipment via a network. Further, as the goods, modules and application tools are illustrated. However, the system is not limited to one in which both can be purchased, and it may be a system in which only one can be purchased.

[0054] Here, the market system of the present disclosure can also be configured as follows. For example, in the market system of the present disclosure, it may be that the above production equipment has a structure that holds the above workpiece using a tool that can be opened and closed, and the above storage unit stores tool data indicating a range for determining whether there is interference with the surroundings when the above tool holds the above workpiece in correspondence with the type of the above tool. In this way, the trouble of the system user setting the tool data can be saved, and thus, the generation burden of the data required for image processing can be further reduced.

[0055] In the market system of the present disclosure, it may be that the above providing unit receives a selection input of the above imaging system and the type of the above workpiece from the customer, and provides the above shape data corresponding to the selection input to the customer. In this way, by selecting the imaging system of the production equipment and the type of the workpiece to be produced, the customer can easily obtain the required shape data.

[0056] In the market system of the present disclosure, it may be that the above registration unit is provided, and the above registration unit receives, from the customer via the above network, an image of the above workpiece captured by the imaging system of the above production equipment, and generates the above shape data based on the received image and registers it in the above storage unit. In this way, new shape data can be registered, and thus, the shape data can be effectively utilized among customers.

[0057] Industrial applicability

[0058] The present disclosure can be utilized in the technical field of a market system that can trade goods related to production equipment via a network, etc.

[0059] Explanation of reference numerals

[0060] 10... Equipment introduction support system; 12... Network; 20... Management server; 21, 41, 51... Control unit; 22... Simulation unit; 23, 43, 53... Storage unit; 26, 46, 56... Communication unit; 28, 48, 58... Input unit; 29, 49, 59... Display unit; 30... Module DB; 30A... Robot data; 30B... Feeder data; 30C... Conveyor data; 30D... End effector data; 32... Tool DB; 34... Shape DB; 35A... Data for imaging system A; 35B... Data for imaging system B; 37... Supplier DB; 39... Customer DB; 40... Supplier terminal; 50... Customer terminal; 59a... Selection input screen; 60... Operating system; 61... Robot; 62... Robot arm; 63... End effector; 63a... Chuck jaw; 64... Camera; 65... Lighting; 66... Substrate transfer device; 67... Feeder; 68... Control device; MD... Model; MP... Marketplace; RS... Reference shape; S... Substrate.

Claims

1. A market system capable of providing data required for production equipment via a network, wherein the production equipment performs production in association with image processing of a workpiece captured by a photographing system. The market system includes: a storage unit that stores, in association with the photographing system and the type of the workpiece, a plurality of shape data which are generated based on an image captured of the workpiece for each of the photographing systems and serve as a reference for the shape of the workpiece in the image processing; and a providing unit that can provide, via the network, the data stored in the storage unit to customers of the production equipment. The providing unit receives a selection input of the photographing system and the type of the workpiece from a customer, and provides the shape data corresponding to the selection input to the customer.

2. The market system according to claim 1, wherein in the production equipment, there is a structure that uses a tool capable of opening and closing to hold the workpiece, and the storage unit stores, in association with the type of the tool, tool data indicating a range for determining whether there is interference between the tool and its surroundings when the tool holds the workpiece.

3. The market system according to claim 1 or 2, wherein the market system includes a registration unit that receives, via the network, an image of the workpiece captured by the photographing system of the production equipment from a customer, and generates and registers the shape data in the storage unit based on the received image.

Images