Conveyance system, control method of conveyance system, and control program of conveyance system

Abstract

A technique for more reliably transporting objects to machine tools is provided. The transport system includes a transport path and a receiving section disposed along the transport path. The receiving section receives the objects to be transported during workpiece processing and has a first reference shape at a predetermined location within the receiving section. The transport system further includes: multiple machine tools; and a transport device configured to move along the transport path for transporting the objects received in the receiving section to one of the multiple machine tools as a transport destination. A camera is provided on the transport device. The control unit of the transport system performs the following processing: by moving the transport device to a predetermined first position on the transport path, causing the camera to capture the first reference shape and acquiring a first image from the camera; and based on the position of the first reference shape within the first image, correcting the control parameters used when transporting the objects received in the receiving section to the machine tool as the transport destination.

Description

Technical Field

[0001] This disclosure relates to the control of transporting objects in a transport system. Background Technology

[0002] In recent years, there has been continuous development of transport systems capable of automatically transporting workpieces or cutting tools to designated machine tools. Patent Document 1 (Japanese Patent No. 6688912) discloses a pallet transport system capable of automatically transporting workpieces to designated machine tools.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 6688912 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] The conveying system includes a conveying device that moves along a conveying path. This conveying device transports the object to a designated machine tool by moving along the conveying path. The length of the conveying path sometimes varies due to environmental changes. A technology is desired for more reliably transporting the object to the designated machine tool even under these conditions. Patent Document 1 is not a technology intended to address environmental changes.

[0008] Solution for solving the problem

[0009] In one example of this disclosure, the conveying system includes a conveying path and a receiving section disposed along the conveying path. The receiving section receives a conveyed object used during workpiece processing and has a first reference shape at a predetermined location within the receiving section. The conveying system also includes a plurality of machine tools and a conveying device configured to move along the conveying path to convey the conveyed object received in the receiving section to one of the plurality of machine tools as a conveying destination. A camera is provided on the conveying device. The conveying system also includes a control unit for controlling the conveying device. The control unit performs the following processing: by moving the conveying device to a predetermined first position on the conveying path, causing the camera to capture the first reference shape and acquiring a first image from the camera; and based on the position of the first reference shape within the first image, correcting the control parameters used when conveying the conveyed object received in the receiving section to the machine tool as the conveying destination.

[0010] In an example of the present disclosure, the storage unit has a second reference shape at a position different from the specified position of the storage unit. The control unit further performs the following process: by moving the transfer device to a predetermined second position on the transfer path, the camera is made to capture the second reference shape, and a second image is obtained from the camera. In the process of correcting the control parameters, not only the position of the first reference shape in the first image is used, but also the position of the second reference shape in the second image is used.

[0011] In an example of the present disclosure, the storage unit has the first reference shape within a specified distance range starting from one end in the direction parallel to the transfer path of the storage unit, and has the second reference shape within a specified distance range starting from the other end in the direction parallel to the transfer path of the storage unit.

[0012] In an example of the present disclosure, the control parameter is a parameter related to the movement of the transfer device in the direction parallel to the transfer path.

[0013] In an example of the present disclosure, the transfer device includes: a sliding seat (Japanese: 台車), which is configured to move on the transfer path; and a robot, which is mounted on the sliding seat. The control parameter includes at least one of a parameter for controlling the movement of the sliding seat and a parameter for controlling the driving of the robot.

[0014] In an example of the present disclosure, the object to be transferred is a tool for processing a workpiece or a pallet capable of mounting a workpiece.

[0015] In another example of the present disclosure, a control method for a transfer system is provided. The transfer system includes a transfer path and a storage unit provided along the transfer path. The storage unit stores an object to be transferred used in processing a workpiece, and has a first reference shape at a specified position of the storage unit. The transfer system further includes: a plurality of machine tools; and a transfer device, which is configured to move on the transfer path and is used to transfer the object to be transferred stored in the storage unit to the machine tool as the transfer destination among the plurality of machine tools. A camera is provided on the transfer device. The control method includes the following steps: by moving the transfer device to a predetermined first position on the transfer path, the camera is made to capture the first reference shape, and a first image is obtained from the camera; and based on the position of the first reference shape in the first image, the control parameters used when transferring the object to be transferred stored in the storage unit to the machine tool as the transfer destination are corrected.

[0016] In another example of this disclosure, a control program for a conveying system is provided. The conveying system includes a conveying path and a receiving section disposed along the conveying path. The receiving section receives a conveyed object used in processing a workpiece, and has a first reference shape at a predetermined location within the receiving section. The conveying system further includes: a plurality of machine tools; and a conveying device configured to move along the conveying path for conveying the conveyed object received in the receiving section to one of the plurality of machine tools as a conveying destination. A camera is provided on the conveying device. The control program causes the conveying system to perform the following steps: by moving the conveying device to a predetermined first position on the conveying path, causing the camera to capture the first reference shape and acquiring a first image from the camera; and based on the position of the first reference shape within the first image, correcting control parameters used when conveying the conveyed object received in the receiving section to the machine tool as the conveying destination.

[0017] The above and other objects, features, methods, and advantages of the present invention will become apparent from the following detailed description of the invention, which is understood in conjunction with the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a diagram showing the appearance of the conveying system.

[0019] Figure 2 This is a diagram illustrating a structural example of the drive mechanism of a conveying system.

[0020] Figure 3 This is a diagram showing the appearance of an arm-type robot.

[0021] Figure 4 This is a diagram illustrating an example of the functional structure of a conveying system.

[0022] Figure 5 This diagram shows the storage area from the Y-direction.

[0023] Figure 6 This diagram shows the storage area from the Z-direction.

[0024] Figure 7 This diagram shows the storage area from the Z-direction.

[0025] Figure 8 This is a diagram showing the input image obtained by capturing a reference shape.

[0026] Figure 9 This is a diagram showing the input image obtained by capturing a reference shape.

[0027] Figure 10 This diagram provides a summary view of the calibration process performed on the control parameters by the calibration unit.

[0028] Figure 11 It is a diagram showing the storage unit according to the modified example.

[0029] Figure 12 It is a diagram schematically showing the correction process of the control parameters by the correction unit according to the modified example.

[0030] Figure 13 It is a diagram schematically showing the flow of the transfer process of carrying the cutting tool from the cutting tool assembling device to the storage unit.

[0031] Figure 14 It is a diagram showing an example of the data structure of the cutting tool information.

[0032] Figure 15 It is a diagram schematically showing the flow of the transfer process of carrying the cutting tool from the storage unit to the machine tool.

[0033] Figure 16 It is a diagram schematically showing the flow of the transfer process of taking out the cutting tool from the storage unit to the cutting tool assembling device.

[0034] Figure 17 It is a schematic diagram showing an example of the hardware structure of the management device.

[0035] Figure 18 It is a block diagram showing the main hardware structure of the PLC (Programmable Logic Controller).

[0036] Figure 19 It is a schematic diagram showing an example of the hardware structure of the operation terminal.

[0037] Figure 20 It is a flowchart showing the flow of the initial setting process of the control parameters.

[0038] Figure 21 It is a flowchart showing the flow of the correction process of the control parameters.

[0039] Figure 22 It is a diagram showing the transfer system as the pallet transfer system. Detailed Description of the Invention <A. Appearance of the Transfer System 10>

[0040] <A diagram showing the transfer system 10 according to the modified example.

[0041]

[0042] Reference Figure 1 Let's explain the transport system 10. Figure 1 This is a diagram showing the appearance of the conveying system 10.

[0043] The following description uses a tool transport system as an example of the transport system 10, but the transport system 10 is not limited to a tool transport system. As an example, the transport system 10 may also be a pallet transport system or other transport systems that have the function of transporting the transport object used in machining the workpiece to the machine tool.

[0044] like Figure 1 As shown, the conveying system 10 includes a tool assembly device 200, a storage section 250, a conveying device 300, and a machine tool 400.

[0045] The term "transfer device" in this specification encompasses various devices capable of transferring objects such as workpieces or cutting tools. Below, a 4- to 7-axis driven multi-joint robot is used as an example of a transfer device 300; however, the transfer device 300 is not limited to a multi-joint robot. For example, the transfer device 300 could also be a 2- to 3-axis driven orthogonal robot (autoloader), or a transfer device that automatically transfers objects to the machine tool 400 according to a predetermined schedule.

[0046] Furthermore, the term "machine tool" in this specification encompasses a wide range of devices capable of machining workpieces. Machine tool 400 can be a horizontal machining center or a vertical machining center. Alternatively, machine tool 400 can be a lathe, an auxiliary machining center, or other cutting or grinding machinery.

[0047] For ease of explanation, the direction corresponding to the movement direction of the conveying device 300 will be defined as the "X direction". The X direction is a horizontal direction. Furthermore, the direction orthogonal to the X direction will be defined as the "Y direction". The Y direction is also a horizontal direction. Additionally, the direction orthogonal to both the X and Y directions will be defined as the "Z direction". The "Z direction" is the vertical direction (direction of gravity).

[0048] The tool assembly device 200 is one of the transport destinations to which the tool is transported using the conveying device 300. The tool assembly device 200 includes an operating terminal 200A. The operating terminal 200A is used to handle various operations for the conveying system 10.

[0049] The storage section 250 is one of the transport destinations to which the cutting tools are transported using the conveying device 300. The storage section 250 can hold multiple cutting tools.

[0050] The transfer device 300 includes an articulated robot 330, a rail 331 (transfer path), and a slide base 332. The articulated robot 330 is fixed to the slide base 332. The slide base 332 is configured to be movable along the rail 331. The storage unit 250 and the machine tool 400 are arranged along the rail 331 with the rail 331 sandwiched therebetween. The transfer device 300 is configured to transfer a tool between the tool assembly device 200 and the storage unit 250, and is configured to transfer a tool between the storage unit 250 and the machine tool 400.

[0051] The machine tool 400 is one of the transfer destinations to which the tool is transferred by the transfer device 300. In Figure 1 , six machine tools 400A to 400F are shown as the machine tool 400, but the number of machine tools 400 included in the transfer system 10 may be one or more. The machine tool 400 processes a workpiece using a specified tool according to a pre-designed machining program.

[0052] <B. Drive mechanism of transfer system 10>

[0053] Next, various drive mechanisms in the transfer system 10 will be described with reference to Figure 2 . Figure 2 is a diagram showing a structural example of the drive mechanism of the transfer system 10.

[0054] As shown in Figure 2 , the transfer system 10 includes a control unit 50, remote I / O (Input / Output) units 61 to 63, a tool assembly device 200, a transfer device 300, and a machine tool 400.

[0055] In this specification, the so-called "control unit 50" refers to a device that controls the transfer system 10. The device structure of the control unit 50 is arbitrary. The control unit 50 may be composed of a single control unit or multiple control units. In Figure 2 , the control unit 50 is composed of a management device 100, a PLC 150, and the above-described operation terminal 200A.

[0056] The management device 100 is the main computer that manages the transfer system 10. The PLC 150 controls various industrial machines for automating the machining process. The operation terminal 200A is a terminal for accepting various operations related to the loading and unloading of tools.

[0057] The management device 100, PLC 150, and operator terminal 200A are connected to network NW1. The management device 100, PLC 150, and operator terminal 200A can communicate via either wired or wireless means. Network NW1 uses Ethernet (registered trademark). The management device 100 and operator terminal 200A send control commands to PLC 150 via network NW1. These control commands specify the tool to be transported, the destination of the tool, and the start / stop of the tool transport.

[0058] Remote I / O units 61-63 and PLC 150 are connected to network NW2. Network NW2 is preferably a field network that guarantees data arrival time and performs fixed-period communication. Such a field network for fixed-period communication can be EtherCAT, EtherNet / IP, CC-Link, or CompoNet.

[0059] The tool assembly device 200 includes one or more motor drivers 234 and one or more motors 235. Figure 2 In the example, two motor drivers 234A and 234B and two motors 235A and 235B are shown.

[0060] A remote I / O unit 61 is provided within or around the tool assembly device 200. The remote I / O unit 61 is used to relay data exchange between various drive units (e.g., motor driver 234) within the tool assembly device 200 and the PLC 150. As an example, the motor driver 234 receives control commands from the PLC 150 via the remote I / O unit 61 at fixed intervals and controls the drive of the motor 235 according to the control commands.

[0061] Motor 235A, for example, controls tool magazine M1 (see below). Figure 13 The motor 235B, for example, controls the tool magazine M2 described later (see reference). Figure 13 Driven by ).

[0062] Motor driver 234 can be either a servo motor driver or a stepper motor driver. Motor 235 can be either a servo motor or a stepper motor.

[0063] The conveying device 300 includes one or more motor drivers 334 and one or more motors 335. Figure 2 In the example, two motor drivers 334A and 334B and two motors 335A and 335B are shown.

[0064] A remote I / O unit 62 is provided inside or around the transfer device 300. The remote I / O unit 62 is used to relay data exchange between various drive units (such as the motor driver 334) inside the transfer device 300 and the PLC 150. As an example, the motor driver 334 receives control instructions from the PLC 150 via the remote I / O unit 62 at a fixed cycle and controls the driving of the motor 335 according to the control instructions.

[0065] The motor 335A controls, for example, the driving of the above-mentioned slide base 332 (refer to Figure 1 ). The motor 335B controls, for example, the driving of the articulated robot 330 (refer to Figure 1 ). The motor 335B is provided corresponding to the number of joints of the articulated robot 330.

[0066] The motor driver 334 can be, for example, a servo motor driver or a stepper motor driver. The motor 335 can be, for example, a servo motor or a stepper motor.

[0067] The machine tool 400 includes a CNC (Computer Numerical Control) 401, one or more motor drivers 411, and one or more motors 412. In the Figure 2 example, two motor drivers 411A, 411B and two motors 412A, 412B are shown.

[0068] A remote I / O unit 62 is provided inside or around the machine tool 400. The remote I / O unit 62 is used to relay data exchange between various drive units (such as the CNC 401) inside the machine tool 400 and the PLC 150. Similar to the motor driver 334, the motor driver 411 receives control instructions from the PLC 150 via the remote I / O unit 62 at a fixed cycle and controls the driving of the motor 412 according to the control instructions.

[0069] The motor 412A drives, for example, the spindle configured to be able to load and unload tools along the axial direction of the spindle. The motor 412B drives, for example, the spindle along the rotational direction centered on the axial direction of the spindle to make it rotate.

[0070] The motor driver 411 can be, for example, a servo motor driver or a stepper motor driver. The motor 412 can be, for example, a servo motor or a stepper motor.

[0071] <C. Articulated Robot 330>

[0072] Next, refer to Figure 3To illustrate the articulated robot 330. Figure 3 This is a view showing the appearance of the articulated robot 330.

[0073] The articulated robot 330 is fixed to the sliding seat 332. The articulated robot 330 includes motors 335B to 335E, arms 336A, 336B, a tool holder gripping part 337, and a camera 338.

[0074] The arm 336A is configured to be driven in the rotational direction about the axis AXB by the motor 335B. In addition, the arm 336A is configured to be driven in the rotational direction about the axis AXC by the motor 335C.

[0075] One end of the arm 336B is connected to the arm 336A. The other end of the arm 336B is connected to the tool holder gripping part 337. The arm 336B is configured to be driven in the rotational direction about the axis AXD by the motor 335D. The tool holder gripping part 337 is configured to be driven in the rotational direction about the axis AXE by the motor 335E.

[0076] Typically, the axis AXB corresponds to the vertical direction. The axis AXC is interlocked with the rotation of the arm 336A about the axis AXB while maintaining a state orthogonal to the axis AXB. The axis AXD is interlocked with the rotation of the arm 336A about the axis AXC while maintaining a state parallel to the axis AXC. The axis AXE is interlocked with the rotation of the arm 336B about the axis AXD while maintaining a state orthogonal to the axis AXD.

[0077] The tool holder gripping part 337 is a mechanism for gripping the tool holder. The tool holder is a tool storage device that stores one tool. That is, the tool holder gripping part 337 grips the tool by means of the tool holder.

[0078] The camera 338 is provided, for example, in the tool holder gripping part 337. The camera 338 is configured to be interlocked with the drive of the arms 336A and 336B and is used to photograph an object at the front end of the tool holder gripping part 337. The camera 338 can be a CCD (Charge Coupled Device) camera, an infrared camera (thermal imaging), or other types of cameras.

[0079] <D. Functional Structure of the Transfer System 10>

[0080] As described above, the sliding seat 332 moves on the track 331. The length of the track 331 sometimes changes due to environmental variations such as temperature or humidity. When the length of the track 331 is 30m, a 10°C change in temperature results in a 3mm change in its length. Since the conveying device 300 is configured independently of the machine tool 400, the relative position of the machine tool 400 to the track 331 changes when the length of the track 331 changes. As a result, the conveying device 300 may be unable to convey the object to the machine tool 400.

[0081] Therefore, the conveying system 10 uses the camera 338 to capture the reference shape of the storage section 250, and based on the position of this reference shape in the image, corrects the control parameters used when conveying the object stored in the storage section 250 to the machine tool 400. Thus, even if the length of the track 331 changes, the conveying system 10 can reliably convey the object to the machine tool 400.

[0082] Below, refer to Figures 4 to 10 To illustrate the functional structure used to implement such correction processing. Figure 4 This is a diagram illustrating an example of the functional structure of the conveying system 10.

[0083] The conveying system 10 includes a drive control unit 52, an image acquisition unit 54, a determination unit 56, and a correction unit 58 as functional structures. These structures will be described in turn below.

[0084] Furthermore, the configuration of each functional structure is arbitrary. For example, Figure 4 All the functional structures shown can be installed in the aforementioned management device 100 (see reference). Figure 2 It can also be installed on the aforementioned PLC150 (see reference). Figure 2 It can also be installed on the aforementioned operating terminal 200A (see reference). Figure 2 Or, it could also be, Figure 4 A portion of the functional structure shown is installed in the management device 100, a portion of the remaining functional structure is installed in the PLC 150, and the remaining functional structure is installed in the operator terminal 200A. Alternatively, Figure 4 Part of the functional structure shown can also be installed on external devices such as servers, or on dedicated hardware.

[0085] (D1. Drive control unit 52 and image acquisition unit 54)

[0086] First, refer to Figures 5-7 The functions of the drive control unit 52 and the image acquisition unit 54 will be explained.

[0087] The drive control unit 52 receives a correction command for the control parameters as input. This correction command is issued at a predetermined time. For example, the correction command is issued when the conveying system 10 starts. Alternatively, the correction command is issued based on the current time changing to a preset time.

[0088] The drive control unit 52 sends a correction command for the received control parameters to the aforementioned motor driver 334A (see reference). Figure 2 Output drive commands to control motor 335A (refer to...) Figure 2 The drive control unit 52 moves the sliding seat 332 to a predetermined position. Thereby, the drive control unit 52 performs preprocessing for the reference shape on the storage unit 250 to be captured by the camera 338.

[0089] Here, refer to Figures 5-7 To illustrate the basic shape of the storage section 250. Figure 5 This is a diagram showing the storage section 250 from the Y direction. Figure 6 and Figure 7 This is a diagram showing the storage section 250 from the Z direction.

[0090] The storage section 250 has at least one reference shape. A reference shape refers to any shape that a computer can recognize. Figure 5 In the example, two reference shapes R1 and R2 are shown.

[0091] The storage section 250 has a reference shape R1 (first reference shape) within a distance “DA” from its end E1 in the direction parallel to the track 331 (i.e., the X direction). Additionally, the storage section 250 has a reference shape R2 (second reference shape) within a distance “DB” from its end E2 in the direction parallel to the track 331 (i.e., the X direction).

[0092] Typically, reference shapes R1 and R2 are provided on the front side of the storage section 250. The front side of the storage section 250 is the side facing the conveying device 300. The reference shapes R1 and R2 can be the same shape or different shapes.

[0093] As an example, the reference shapes R1 and R2 are specific markings attached to the tool assembly device 200. The shape of these markings is arbitrary. For example, the shape of these markings can be circular shapes such as perfect circles and ellipses, polygonal shapes such as triangles and quadrilaterals, or even more complex shapes.

[0094] As another example, reference shapes R1 and R2 are characteristic structures formed in the tool assembly device 200. Reference shape R1 is, for example, a part (e.g., a corner or edge) of end E1 of the receiving portion 250. Reference shape R2 is, for example, a part (e.g., a corner or edge) of end E2 of the receiving portion 250.

[0095] like Figure 6 As shown, the drive control unit 52 moves the slide block 332 toward a position "xα" facing the reference shape R1 based on a correction command that has received control parameters. The position "xα" as the destination of the movement is preset, for example, when the conveying system 10 is set.

[0096] Subsequently, the drive control unit 52 drives the arm robot 330 to a predetermined posture so that the reference shape R1 is included within the field of view of the camera 338. This predetermined posture is specified, for example, in the control program or configuration file of the arm robot 330. This predetermined posture includes the position and angle of each joint of the arm robot 330.

[0097] Typically, the drive control unit 52 changes the posture of the arm robot 330 such that the x-direction of the image obtained from the camera 338 corresponds to the extension direction of the track 331. In other words, the drive control unit 52 changes the posture of the arm robot 330 such that the optical axis of the camera 338 is orthogonal to the x-axis direction. Preferably, the drive control unit 52 changes the posture of the arm robot 330 such that the optical axis of the camera 338 is orthogonal to both the x-axis and z-axis directions (i.e., the optical axis of the camera 338 is parallel to the y-axis).

[0098] The image acquisition unit 54 outputs a shooting command to the camera 338 based on the slider 332 moving to position "xα" and the arm robot 330 adopting a predetermined posture. Thus, the image acquisition unit 54 acquires an input image IM1 from the camera 338 that reflects the reference shape R1. The acquired input image IM1 is then output to the determination unit 56.

[0099] like Figure 7 As shown, after capturing the reference shape R1, the drive control unit 52 moves the slider 332 to a position "xβ" facing the reference shape R2. The position "xβ" as the destination of the movement is preset, for example, when setting up the conveying system 10.

[0100] Subsequently, the drive control unit 52 drives the arm robot 330 to a predetermined posture so that the reference shape R2 is included within the field of view of the camera 338. For example, this predetermined posture is specified in the control program or setting file of the arm robot 330. Typically, the posture of the arm robot 330 when photographing the reference shape R2 is the same as the posture of the arm robot 330 when photographing the reference shape R1.

[0101] The image acquisition unit 54 outputs a shooting command to the camera 338 based on the slider 332 moving to position "xβ" and the arm robot 330 adopting a predetermined posture. Thus, the image acquisition unit 54 acquires an input image IM2 from the camera 338 that reflects the reference shape R2. The acquired input image IM2 is then output to the determination unit 56.

[0102] (D2. Determining Part 56)

[0103] Next, refer to Figure 8 and Figure 9 To explain the function of the determination part 56. Figure 8 This is a diagram showing the input image IM1 obtained by capturing the reference shape R1.

[0104] The determination unit 56 determines the position P1 of the reference shape R1 within the input image IM1. As an example, the determination unit 56 uses the learned model to search for the reference shape R1 from the input image IM1.

[0105] The fully learned model is pre-generated using a learning dataset. The learning dataset consists of multiple learning images that map to a reference shape R1. For each learning image, the presence or absence of the reference shape R1 is associated with a label. The internal parameters of the fully learned model are pre-optimized using this learning dataset. Therefore, when given an input image, the fully learned model outputs the probability that the reference shape R1 is present in that image.

[0106] The learning method used to generate the learned model can employ a wide variety of machine learning algorithms. For example, deep learning, convolutional neural networks (CNNs), fully convolutional neural networks (FCNs), and support vector machines can be used as such machine learning algorithms.

[0107] The determination unit 56 moves a predetermined rectangular region over the input image IM1 while sequentially inputting local images within that rectangular region into the learned model. When the learned model receives an input local image, it outputs the probability that the local image reflects a reference shape R1. The determination unit 56 determines that the reference shape R1 is reflected in the local image with the highest probability exceeding a predetermined value, and detects the position (e.g., the center point) of that local image within the input image IM1 as the position P1 of the reference shape R1.

[0108] Next, the determining unit 56 transforms the position "x1" represented by the coordinate system of the camera 338 viewpoint into the position "x1'" represented by the world coordinate system based on a predetermined coordinate transformation formula. As an example, the x-coordinate in the input image IM1 corresponds to the position in the extension direction of the track 331 (i.e., the X-axis direction). Therefore, if the positional relationship between the camera 338 and the receiving unit 250 is known, the coordinate transformation formula is uniquely determined.

[0109] Figure 9 This diagram shows the input image IM2 obtained by capturing the reference shape R2. The determination unit 56 determines the position P2 of the reference shape R2 within the input image IM2 through the same process as described above. Next, the determination unit 56 transforms the position "x2" expressed in the coordinate system of the camera 338 viewpoint to the position "x2'" expressed in the world coordinate system based on a predetermined coordinate transformation formula. As an example, the x-coordinate within the input image IM2 corresponds to the position in the extension direction of the track 331 (i.e., the X-axis direction), so if the positional relationship between the camera 338 and the storage unit 250 is known, this coordinate transformation formula is uniquely determined.

[0110] Furthermore, the search methods for the baseline shapes R1 and R2 are not limited to the methods described above that use the learned model; rule-based image processing can also be employed.

[0111] As an example, the determination unit 56 pre-stores a reference image that reflects the reference shape R1, and calculates the similarity between each region in the input image IM1 and the reference image by scanning the reference image. Then, the determination unit 56 identifies the region with the highest similarity exceeding a predetermined value as the part that reflects the reference shape R1.

[0112] Similarly, the determining unit 56 holds a reference image that reflects the reference shape R2 in advance, and calculates the similarity between each region in the input image IM2 and the reference image by scanning the reference image. Then, the determining unit 56 identifies the region with the highest similarity exceeding a predetermined value as the part that reflects the reference shape R2.

[0113] (D3. Correction part 58)

[0114] Next, refer to Figure 10 To explain the function of the calibration unit 58. Figure 10 This diagram provides a summary view of the calibration process performed by the calibration unit 58 on the control parameter 173.

[0115] The correction unit 58 corrects the control parameters 173 of the conveying device 300 based on the position "x1'" of the reference shape R1 determined from the input image IM1 and the position "x2'" of the reference shape R2 determined from the input image IM2. The control parameters 173 are parameters used when conveying the tool stored in the storage unit 250 to the machine tool 400.

[0116] Figure 10 The control parameters 173A before correction and 173B after correction are shown. Control parameter 173A includes the position "xA" of the reference shape R1 before the length of the track 331 changes, the position "xB" of the reference shape R2 before the length of the track 331 changes, and the distances "D1" to "Dn" from the position "xA" to each machine tool 400.

[0117] In one method, positions "xA" and "xB" are preset. In other methods, positions "xA" and "xB" are determined by using the aforementioned method with camera 338 at a predetermined time, such as when the conveyor system 10 is set up.

[0118] Control parameter 173 specifies distances "D1" to "Dn" corresponding to the number of machine tools 400 in the conveying system 10. Distance "D1" represents the distance from position "xA" to machine tool 400A. Distance "D2" represents the distance from position "xA" to machine tool 400B. Distance "D3" represents the distance from position "xA" to machine tool 400C. Distance "Dn" represents the distance from position "xA" to machine tool 400N.

[0119] Control parameter 173B includes the positions “x1’” and “x2’” determined by determination unit 56. Correction unit 58 uses positions “xA”, “xB”, “x1’”, and “x2’” to correct the distances “D1” to “Dn” specified in control parameter 173A. As an example, correction unit 58 corrects the distances “D1” to “Dn” based on the following formula (1).

[0120] Dn'=Dn·(xB-xA) / (x2'-x1')…(1)

[0121] The "Dn'" shown in formula (1) represents the corrected distance from the position "x1'" to the nth machine tool. "Dn" represents the distance before correction from the position "xA" to the nth machine tool.

[0122] Thereby, the transfer system 10 corrects the control parameter 173 related to the movement of the transfer device 300 in the direction parallel to the rail 331. As a result, even when the length of the rail 331 changes due to environmental changes, the transfer system 10 can accurately grasp the position of the machine tool 400.

[0123] In a certain mode, the distances "D1'" to "Dn'" specified in the control parameter 173 are used for the movement control of the slide base 332 when loading a tool into the machine tool 400 or unloading a tool from the machine tool 400. In other modes, the distances "D1'" to "Dn'" specified in the control parameter 173 are used for the drive control of the articulated robot 330 when loading a tool into the machine tool 400 or unloading a tool from the machine tool 400.

[0124] <E. Modified Example of the Storage Unit 250>

[0125] Next, a modified example of the storage unit 250 will be described with reference to Figure 11 which will be described below.

[0126] In the above, an example in which the storage unit 250 has two reference shapes R1 and R2 has been described, but the number of reference shapes possessed by the storage unit 250 may also be one. Figure 11 FIG. shows the storage unit 250A according to the modified example.

[0127] As Figure 11 shown, the storage unit 250A has the reference shape R1 within the range of the distance "DA" from the end E1 in the direction parallel to the rail 331 (i.e., the X direction) of the storage unit 250A.

[0128] As a specific calibration process using one reference shape R1, first, the drive control unit 52 moves the slide base 332 to before the reference shape R1 based on receiving a calibration instruction for the control parameter. After that, the drive control unit 52 drives the articulated robot 330 to make it in a predetermined posture so that the reference shape R1 is included in the field of view of the camera 338. After that, the image acquisition unit 54 outputs a shooting instruction to the camera 338. Thereby, the image acquisition unit 54 acquires the input image IM1 showing the reference shape R1 from the camera 338.

[0129] Next, the determination unit 56 searches for the reference shape R1 from the input image IM1, and determines the position P1 of the reference shape R1 within the input image IM1. The method for searching for the reference shape R1 is the same as described above, so the description thereof will not be repeated. Thereafter, the determination unit 56 transforms the position "x1" represented in the coordinate system of the viewpoint of the camera 338 into the position "x1'" represented in the world coordinate system based on a pre-determined coordinate transformation formula.

[0130] Next, the correction unit 58 corrects the control parameter 173 of the transfer device 300 based on the position "x1'" of the reference shape R1 determined from the input image IM1. Figure 12 FIG. is a diagram schematically showing the correction process of the control parameter 173 by the correction unit 58 according to the modification example.

[0131] Figure 12 The control parameter 173C before correction and the control parameter 173D after correction are shown in. As Figure 12 shown, the correction unit 58 corrects the position "xA" of the reference shape R1 specified in the control parameter 173C to the position "x1'" in the control parameter 173D. The transfer system 10 determines the positions of the machine tools 400A to 400N based on the corrected position "x1'".

[0132] In addition, in the above, an example in which the reference shape R1 is provided within the range of the distance "DA" from the end E1 of the storage unit 250 has been described, but the reference shape R1 can be provided at any position as long as it is provided on the front surface of the storage unit 250. The front surface here refers to the surface on the side facing the transfer device 300.

[0133] <F. Tool Loading Process for Loading Tools into the Storage Unit 250>

[0134] Next, refer to Figure 13 and Figure 14 to describe the tool loading process. Figure 13 FIG. is a diagram schematically showing the flow of the loading process for loading tools from the tool assembly device 200 into the storage unit 250.

[0135] In step S1, the operator installs the tool T1 to be loaded into the tool magazine M1. A reading device (not shown) for barcodes or QR codes (registered trademarks) is provided near the position where the tool T1 is installed, and this reading device reads the barcode or QR code attached to the tool T1. Thereby, the identification information of the tool T1 to be loaded is read. After the operator finishes installing the tool T1, a completion operation is performed on the operation terminal 200A.

[0136] Next, in step S2, the control unit 50 controls the motor 235A (refer to Figure 2The control unit 50 drives the tool magazine M1 within the tool assembly unit 200. As a result, the control unit 50 moves the tool T1, which is to be loaded, to a predetermined tool change position. An ATC (Automatic Train Control) 238 is located near this tool change position. The ATC 238 removes the tool T1 from the tool magazine M1 at this tool change position and rotates it halfway.

[0137] Next, in step S3, the arm robot 330 removes the tool T1 from the ATC 238 and places the tool T1 in the temporary storage space 336 on the slide block 332. If there are other tools to be moved in, the processes of steps S1 to S3 are repeated within the maximum capacity of the temporary storage space 336.

[0138] Next, in step S4, the control unit 50 controls the motor 335A (refer to...). Figure 2 The control unit 50 drives the slide block 332 to move the slide block 332 to the indicated tool loading position. This tool loading position is, for example, based on... Figure 14 The tool information shown is determined by 174.

[0139] Figure 14 This is a diagram illustrating an example of the data structure of tool information 174. Tool information 174 includes each storage location within the storage unit 250, the coordinates of that storage location, the identification information of the tool stored in that storage location, the storage status of the tool in that storage location, and the remaining lifespan of the tool stored in that storage location.

[0140] The storage location specified in tool information 174 can be represented by a number such as ID (Identification Number) or by a storage location name. The coordinate values ​​of the storage location specified in tool information 174 can be specified using either two-dimensional or three-dimensional coordinates. Figure 14 In the example, the coordinate value is represented by the coordinate value "x" in the direction parallel to track 331 and the coordinate value "z" in the vertical direction. The tool identification information specified in tool information 174 can be represented by a tool number such as an ID, or by a tool name. The storage status specified in tool information 174 indicates, for example, whether the storage location is empty or whether the tool stored in that location is functioning properly. The remaining tool life specified in tool information 174 can be represented by either the total usage time relative to the maximum usable time, or the total number of uses relative to the maximum usable number of times.

[0141] The control unit 50 determines the storage destination of the tool T1 by referring to the empty storage locations specified in the tool information 174. When there are multiple empty storage locations, the control unit 50 can either determine one randomly selected from the multiple empty storage locations as the storage destination, or determine one of the storage locations closer to the transfer device 300 selected from the multiple empty storage locations as the storage destination.

[0142] Refer again to Figure 13 , in step S5, the articulated robot 330 removes the tool T1 to be transferred from the temporary storage 336 and stores the tool T1 in the determined storage destination. After that, the control unit 50 writes the storage location of the tool T1 and the identification information of the tool T1 into the tool information 174.

[0143] When there are other tools to be transferred remaining in the temporary storage 336, the control unit 50 repeats the processes of steps S4 and S5 until there are no tools left on the temporary storage 336. [[ID=​​​​​​​​​​​​​​​​​​​​​​​​​​) to drive the sliding seat 332 to the position of the machine tool 400 as the transfer destination.

[0149] Next, in step S13, the articulated robot 330 transfers the tool T2 to the ATC 438 provided in the machine tool 400 as the transfer destination. After that, the ATC 438 installs the tool T2 received from the articulated robot 330 into the ATC438 (refer to Figure 15 ). After that, the ATC 438 installs the tool T2 into the tool magazine in the machine tool 400. Thus, the tool T2 is in a state where it can be used in the machine tool 400.

[0150] <H. Tool removal process for removing tools to the tool assembly device 200>

[0151] Next, refer to Figure 16 to describe the tool removal process. Figure 16 is a diagram schematically showing the process flow of removing tools from the storage unit 250 to the tool assembly device 200.

[0152] It is assumed that the control unit 50 receives a removal instruction to remove the tool T3 to the tool assembly device 200 at a certain timing. Based on this, the control unit 50 determines the storage destination of the tool T3 based on the above-mentioned tool information 174 (refer to Figure 14 ). After that, the control unit 50 drives the sliding seat 332 by controlling the above-mentioned motor 335A (refer to Figure 2 ) to move the sliding seat 332 to before the storage destination of the tool T3. Next, the articulated robot 330 takes out the tool T3 from the storage unit 250 and places the tool T3 in the temporary storage 336 on the sliding seat 332. In addition, the control unit 50 deletes the identification information of the tool T3 from the tool information 17, and rewrites the storage source of the tool T3 to an empty state.

[0153] Next, in step S21, the control unit 50 drives the sliding seat 332 by controlling the above-mentioned motor 335A to move the sliding seat 332 to before the tool assembly device 200. <No.

[0154] Next, in step S22, the articulated robot 330 removes the tool T3 as the removal object from the temporary storage 336 and installs the tool T3 into the above-mentioned ATC238 (refer to Figure 13 ) provided in the tool assembly device 200. After that, the ATC 238 installs the tool T3 into the tool magazine M2 of the tool assembly device 200.

[0155] Next, in step S23, the control unit 50 drives the motor 235B (refer to Figure 2)Drive the tool magazine M2 for unloading to move the tool T3 to be unloaded to the exit. After that, the operator takes out the tool T3 to be unloaded from this exit.

[0156] <I. Hardware Structure of Management Device 100>

[0157] Refer to Figure 17 to describe the hardware structure of the management device 100. Figure 17 It is a schematic diagram showing an example of the hardware structure of the management device 100.

[0158] The management device 100 includes a control circuit 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a communication interface 104, a display interface 105, an input interface 107, and a storage device 120. These components are connected to a bus 110.

[0159] The control circuit 101 is constituted by, for example, at least one integrated circuit. The integrated circuit can be constituted by, for example, at least one CPU (Central Processing Unit), at least one GPU (Graphics Processing Unit), at least one ASIC (Application Specific Integrated Circuit), at least one FPGA (Field Programmable Gate Array), or a combination thereof.

[0160] The control circuit 101 controls the operation of the management device 100 by executing various programs such as a tool management program 122 and an operating system. Based on receiving an execution command of the tool management program 122, the control circuit 101 reads the tool management program 122 from the storage device 120 or the ROM​​​​The display interface 105 is connected to a display 106. The display interface 105 transmits an image signal for displaying an image to the display 106 according to instructions from the control circuit 101 or the like. The display 106 displays, for example, an operation screen for receiving an instruction to carry in a tool, a selection screen for specifying a tool to be transported, and the like. The display 106 is, for example, a liquid crystal display, an organic EL (Electro Luminescence) display, or other display device. Further, the display 106 may be integrally formed with the management device 100 or may be formed independently of the management device 100.

[0163] The input interface 107 is connected to an input device 108. The input device 108 is, for example, a mouse, a keyboard, a touch panel, or other device that can receive user operations. Further, the input device 108 may be integrally formed with the management device 100 or may be formed independently of the management device 100.

[0164] The storage device 120 is, for example, a storage medium such as a hard disk or a flash memory. The storage device 120 stores a tool management program 122, scheduling information 124, and the like. In the scheduling information 124, the transport order of the tools and the like are specified. The storage locations of the tool management program 122 and the scheduling information 124 are not limited to the storage device 120, and the tool management program 122 and the scheduling information 124 may also be stored in the storage area of the control circuit 101 (such as a cache memory), the ROM 102, the RAM 103, an external device (such as a server), or the like.

[0165] The tool management program 122 may not be provided as a separate program, but may be provided as part of an arbitrary program. In this case, the transport control process based on the tool management program 122 is implemented in cooperation with an arbitrary program. Even a program that does not include such a part of the module does not deviate from the gist of the tool management program 122 according to the present embodiment. And, part or all of the functions provided by the tool management program 122 may also be implemented by dedicated hardware. And, the management device 100 may be configured in such a way that a so-called cloud service in which at least one server executes part of the processing of the tool management program 122.

[0166] <Hardware Structure of J.PLC 150>

[0167] Refer to Figure 18 to describe an example of the hardware structure of the PLC 150. Figure 18 is a block diagram showing the main hardware structure of the PLC 150.

[0168] The PLC 150 includes a control circuit 151, a ROM (Read Only Memory) 152, a RAM (Random Access Memory) 153, communication interfaces 154 and 155, and a storage device 170. These components are connected to a bus 160.

[0169] The control circuit 151 is composed of at least one integrated circuit. The integrated circuit may be composed of at least one CPU, at least one MPU (Micro Processing Unit), at least one ASIC, at least one FPGA, or a combination thereof.

[0170] The control circuit 151 controls the operation of the conveying device 300 and the machine tool 400 by executing various programs such as the control program 172. Based on the execution command received by the control circuit 172, the control circuit 151 reads the control program 172 from the storage device 170 to the ROM 152. The RAM 153 functions as a working memory, temporarily storing various data required for executing the control program 172.

[0171] Communication interface 154 is connected to a LAN, antenna, etc. PLC 150 connects to network NW1 via communication interface 154. Thus, PLC 150 exchanges data with external devices connected to the same network NW1. These external devices include, for example, management device 100, server (not shown), etc.

[0172] Communication interface 155 is an interface for connecting to network NW2, which is a field network. PLC 150 exchanges data with external devices connected to network NW2 via communication interface 155. Such external devices include, for example, the remote I / O units 61 to 63 described above.

[0173] Storage device 170 is, for example, a storage medium such as a hard disk or flash memory. Storage device 170 stores control program 172 and the aforementioned control parameters 173 (see reference). Figure 10 ) and the aforementioned tool information 174 (refer to Figure 14 Their storage location is not limited to storage device 170; they can also be stored in the storage area of ​​control circuit 151 (e.g., cache area), ROM 152, RAM 153, external devices (e.g., server), etc.

[0174] The control program 172 may also not be provided as a separate program, but may be incorporated as part of any program. In this case, the control processing according to the present embodiment is implemented in cooperation with any program. Even a program that does not include such a part of the module does not deviate from the gist of the control program 172 according to the present embodiment. Also, part or all of the functions provided by the control program 172 may be implemented by dedicated hardware. Also, the PLC 150 may be configured in such a way that a so-called cloud service, in which at least one server executes part of the processing of the control program 172.

[0175] <Hardware Structure of Operation Terminal 200A>

[0176] Refer to Figure 19 to illustrate Figure 1 the hardware structure of the operation terminal 200A shown. Figure 19 is a schematic diagram showing an example of the hardware structure of the operation terminal 200A. <°

[0177] [[ID=!5]]The operation terminal 200A includes a control circuit 201, a ROM 202, a RAM 一 203, a communication interface 204, a display interface 205, an input interface 207, and a storage device 220. These components are connected to a bus 210.

[0178] [[ID=!8]]The control circuit 201 is formed of, for example, at least one integrated circuit. The integrated circuit can be formed of, for example, at least one CPU, at least one GPU, at least one ASIC, at least one FPGA, or a combination thereof.

[0179] The control circuit 201 controls the operation of the operation terminal 200A by executing various programs such as a control program 222 and an operating system. The control circuit 201 reads the control program 222 from the storage device 220 or the ROM 202 into the RAM 203 based on receiving an execution command for the control program 222. The RAM 203 functions as a working memory and temporarily stores various data required for executing the control program 222.

[0180] The communication interface 204 is connected to a LAN, an antenna, etc. The operation terminal 200A is connected to the network NW1 via the communication interface 204. Thereby, the operation terminal 200A exchanges data with external devices connected to the network NW1. Such external devices include, for example, a PLC 一 150, a server (not shown), etc.

[0181] The display interface 205 is connected to a display 206. The display interface 205 transmits an image signal for displaying an image to the display 206 according to instructions from the control circuit 201 or the like. The display 206 displays, for example, an operation screen for accepting an instruction to carry in a tool, a tool selection screen for specifying a tool to be conveyed, or a machine tool selection screen for specifying a machine tool 400 as a conveyance destination. The display 206 is, for example, a liquid crystal display, an organic EL display, or other display device. In addition, the display 206 may be configured integrally with the operation terminal 200A or may be configured independently of the operation terminal 200A.

[0182] The input interface 207 is connected to an input device 208. The input device 208 is, for example, a mouse, a keyboard, a touch panel, or other device capable of accepting user operations. In addition, the input device 208 may be configured integrally with the operation terminal 200A or may be configured independently of the operation terminal 200A.

[0183] The storage device 220 is, for example, a storage medium such as a hard disk or a flash memory. The storage device 220 stores the control program 222 and the like. The storage location of the control program 222 is not limited to the storage device 220, and the control program 222 may also be stored in a storage area (such as a cache memory) of the control circuit 201, the ROM 202, the RAM 203, an external device (such as a server), or the like.

[0184] The control program 222 may not be provided as a separate program but may be provided as part of an arbitrary program. In this case, the control processing based on the control program 222 is implemented in cooperation with an arbitrary program. Even a program that does not include such a part of the module does not deviate from the gist of the control program 222 according to the present embodiment. And, part or all of the functions provided by the control program 222 may also be implemented by dedicated hardware. And, the operation terminal 200A may be configured in such a way that a so-called cloud service in which at least one server executes part of the processing of the control program 222.

[0185] <L. Initial Setting>

[0186] Next, refer to Figure 20 to describe the flow of the initial setting process of the control parameter 173. Figure 20 is a flowchart showing the flow of the initial setting process of the control parameter 173.

[0187] Figure 20 The processing shown is, for example, executed by the control circuit 151 of the PLC 150 to execute the above control program 172 (refer to Figure 11This can be achieved through [the following methods]. Alternatively, some or all of the processing may be performed by circuit elements or other hardware.

[0188] In step S110, the control circuit 151 determines whether the initial setting command for control parameter 173 has been accepted. For example, the calibration command for control parameter 173 is issued when the initial setting button on the operation screen displayed on the operation terminal 200A is pressed. As another example, the calibration command for control parameter 173 is issued at a predetermined time, such as when the import / transfer system 10 is loaded. If the control circuit 151 determines that the initial setting command for control parameter 173 has been accepted ("Yes" in step S110), it switches control to step S112. If the control circuit 151 does not determine that the initial setting command for control parameter 173 has been accepted ("No" in step S110), it executes step S110 again.

[0189] In step S112, the control circuit 151 serves as the aforementioned drive control unit 52 (see reference). Figure 4 The control circuit 151 then moves the sliding block 332 to the front of the reference shape R1 of the storage section 250. After that, the control circuit 151 drives the arm robot 330 to a predetermined posture so that the reference shape R1 is included in the field of view of the camera 338.

[0190] In step S114, the control circuit 151 serves as the image acquisition unit 54 described above (see reference). Figure 4 The control circuit 151 then performs its function, outputting a shooting command to the camera 338. Consequently, the control circuit 151 acquires an initial image from the camera 338 that reflects the reference shape R1.

[0191] In step S116, the control circuit 151 serves as the aforementioned drive control unit 52 (see reference). Figure 4 The control circuit 151 then moves the sliding block 332 to the front of the reference shape R2 of the storage section 250. After that, the control circuit 151 drives the arm robot 330 to a predetermined posture so that the reference shape R2 is included in the field of view of the camera 338.

[0192] In step S118, the control circuit 151 functions as the image acquisition unit 54 described above (see reference). Figure 4 The control circuit 151 then performs its function, outputting a shooting command to the camera 338. Consequently, the control circuit 151 acquires an initial image from the camera 338 that reflects the reference shape R2.

[0193] In step S120, the control circuit 151 serves as the aforementioned determining unit 56 (see reference). Figure 4)Function, search for the reference shape R1 from the initial image obtained in step S114, and search for the reference shape R2 from the initial image obtained in step S118. Then, the control circuit 151 transforms the position of the reference shape R1 represented in the coordinate system of the camera 338's viewpoint into the position "xA" represented in the world coordinate system based on a pre-determined coordinate transformation formula. Similarly, the control circuit 151 transforms the position of the reference shape R2 represented in the coordinate system of the camera 338's viewpoint into the position "xB" represented in the world coordinate system based on a pre-determined coordinate transformation formula. The positions "xA" and "xB" are written into the control parameter 173A (refer to Figure 10 ).

[0194] In step S122, the control circuit 151 accepts the setting input of the position of the machine tool 400 based on the positions "xA" and "xB". The position of the machine tool 400 in step S122 is, for example, manually input. This position is represented by the distance from the position "xA" to each machine tool 400. This distance is written into the control parameter 173A (refer to Figure 10 ).

[0195] <M. Calibration Process of Control Parameter 173>

[0196] Next, refer to Figure 21 to describe the process of the calibration process of the control parameter 173. Figure 21 is a flowchart showing the process of the calibration process of the control parameter 173.

[0197] Figure 21 [[ID=二十一]](In the calibration process shown, for example, after the initial setting process shown in [[ID=二十二]] Figure 20 [[ID=二十三]]is executed and at a specified timing when the length of the track 331 has changed. [[ID=二十四]] Figure 21 [[ID=二十五]](The process shown, for example, is implemented by the control circuit 151 of the PLC 150 executing the above control program 172 (refer to [[ID=二十六]] Figure 11 [[ID=二十七]]). In other modes, part or all of the process may also be executed by circuit elements or other hardware. [[ID=二十八]] [[ID=二十九]]

[0198] In step S160, the control circuit 151 determines whether the calibration command for control parameter 173 has been accepted. For example, the calibration command for control parameter 173 is issued when the calibration execution button on the operation screen displayed on the operation terminal 200A is pressed. As another example, the calibration command for control parameter 173 is issued at a pre-set time, such as when the conveying system 10 is started. If the control circuit 151 determines that the calibration command for control parameter 173 has been accepted ("Yes" in step S160), it switches control to step S162. If the control circuit 151 does not determine that the calibration command for control parameter 173 has been accepted ("No" in step S160), it executes step S160 again.

[0199] In step S162, the control circuit 151 serves as the aforementioned drive control unit 52 (see reference). Figure 4 The sliding block 332 moves to the reference shape R1 of the storage section 250 to perform its function. The stopping position of the sliding block 332 in step S162 is the same as that in step S112 (refer to...). Figure 20 The stop position of the slider 332 in the ) is the same.

[0200] Subsequently, control circuit 151 drives arm robot 330 to assume a predetermined posture, so that reference shape R1 is contained within the field of view of camera 338. The posture of arm robot 330 in step S162 is the same as that in step S112 described above (refer to...). Figure 20 The arm robot 330 in the picture has the same posture.

[0201] The sliding seat 332 moves in front of the reference shape R1 and the arm robot 330 is in a predetermined posture so that the reference shape R1 of the storage part 250 is included in the field of view of the camera 338.

[0202] In step S164, the control circuit 151 functions as the image acquisition unit 54 described above (see reference). Figure 4 The control circuit 151 then performs its function, outputting a shooting command to the camera 338. Consequently, the control circuit 151 acquires an input image IM1 from the camera 338 that reflects the reference shape R1.

[0203] In step S166, the control circuit 151 serves as the aforementioned drive control unit 52 (see reference). Figure 4 The sliding block 332 moves to the reference shape R2 of the storage section 250 to perform its function. The stopping position of the sliding block 332 in step S162 is the same as that in step S116 (refer to step S116 above). Figure 20 The stop position of the slider 332 in the ) is the same.

[0204] Thereafter, the control circuit 151 drives the articulated robot 330 to make it into a predetermined posture so that the reference shape R2 is included in the visual field of the camera 338. The posture of the articulated robot 330 in step S162 is the same as that of the articulated robot 330 in the above step S116 (refer to Figure 20 ).

[0205] By moving the sliding seat 332 to in front of the reference shape R2 and making the articulated robot 330 into a predetermined posture, the reference shape R2 possessed by the storage unit 250 is included in the visual field of the camera 338.

[0206] In step S168, the control circuit 151 functions as the above-described image acquisition unit 54 (refer to Figure 4 ) and outputs a shooting instruction to the camera 338. Thus, the control circuit 151 acquires the input image IM2 in which the reference shape R2 is reflected from the camera 338.

[0207] In step S170, the control circuit 151 functions as the above-described determination unit 56 (refer to Figure 4 ) and searches for the reference shape R1 from the input image IM1 and searches for the reference shape R2 from the input image IM2. Thus, the positions of the reference shape R1 and the reference shape R2 are determined. In addition, regarding the function of the determination unit 56, it is the same as above, so the description thereof will not be repeated.

[0208] In step S172, the control circuit 151 functions as the above-described correction unit 58 (refer to Figure 4 ) and corrects the control parameter 173 based on at least one of the positions of the reference shape R1 and the reference shape R2. Regarding the correction method of the control parameter 173, it is the same as above, so the description thereof will not be repeated.

[0209] <N. Modified Example of the Transfer System 10>

[0210] Next, refer to Figure 22 to describe the transfer system 10 as a pallet transfer system.

[0211] In the above, the correction process of the control parameter 173 has been described by taking as an example the transfer system 10 as a tool transfer system. However, the above correction process of the control parameter 173 can be applied to any system as long as it is applied to a system that transfers a transfer object to any one of the plurality of machine tools 400. As an example, the above correction process of the control parameter 173 described in this specification can be applied to a pallet transfer system.

[0212] Figure 22This is a diagram showing a transport system 10 as a pallet transport system. The transport system 10 as a pallet transport system includes a storage unit 250, a transport device 300, multiple machine tools 400, and a workstation 500.

[0213] The storage section 250 is one of the transport destinations to which the pallets PL are transported by the conveying device 300, and it is a place for storing the pallets PL. The storage section 250 can store multiple pallets PL. The storage section 250 stores empty pallets PL before the workpiece W is installed, pallets PL with workpiece W before processing installed, pallets PL with workpiece W being processed installed, and pallets PL with workpiece W completed.

[0214] The conveying device 300 is used to transport a designated pallet PL to a designated location. More specifically, the conveying device 300 includes a track 331 and a slide 332. The slide 332 has a fork mechanism (not shown) configured to be driven in a direction orthogonal to the track 331 (i.e., a direction orthogonal to the travel direction of the slide 332). The slide 332 moves along the track 331 to the position of the pallet PL, which is the object of the transport, and uses the fork mechanism to place the pallet PL onto the slide 332. Then, the slide 332 moves along the track 331 to a designated transport destination (e.g., machine tool 400), and uses the fork mechanism to move the pallet PL into the transport destination.

[0215] Machine tool 400 is one of the transport destinations to which pallet PL is transported using transport device 300. Machine tool 400 processes the workpiece mounted on the transported pallet PL according to a pre-designed processing program. After the workpiece is processed, pallet PL in machine tool 400 is transported to storage unit 250 or work station 500 via transport device 300.

[0216] Workstation 500 is one of the transport destinations to which pallets PL are transported using conveyor 300. Workstation 500 is a work area where operators perform various operations on the transported pallets PL. In workstation 500, operators perform operations such as installing workpieces onto the transported pallets PL, removing finished workpieces from the pallets PL, and cleaning the work area. After completing their work on the pallets PL, the operator performs an operation to indicate that the work is complete. Based on this, the pallets PL within workstation 500 are transported to storage unit 250 or machine tool 400 via conveyor 300.

[0217] As described above, the object to be transported by the transport system 10 is not limited to a tool for machining a workpiece, and may also be a pallet on which a workpiece can be mounted. Also in the pallet transport system, the length of the rail 331 sometimes changes according to environmental changes such as temperature or humidity. Therefore, the above-described correction process of the control parameter 173 can also be applied to the pallet transport system.

[0218] <O. Summary>

[0219] As described above, the transport system 10 corrects the control parameters used when transporting the object to be transported stored in the storage unit 250 to the machine tool 400 based on the positions of the reference shapes R1 and R2 of the storage unit 250. Thus, even when the length of the rail 331 has changed, the transport system 1

[0220] can reliably transport the object to be transported to the machine tool 400.

[0220] It should be considered that the embodiments disclosed herein are illustrative in all respects and not restrictive. The scope of the present invention is not represented by the above description, but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0221] Explanation of reference numerals

[0222] 10: Conveying system; 50: Control unit; 52: Drive control unit; 54: Image acquisition unit; 56: Determination unit; 58: Calibration unit; 61-63: Remote I / O unit; 100: Management device; 101, 151, 201: Control circuit; 102, 152, 202: ROM; 103, 153, 203: RAM; 104, 154, 155, 204: Communication interface; 105, 205: Display interface; 106, 206: Display; 107, 207: Input interface; 108, 208: Input device; 110, 160, 210: Bus; 120, 170, 220: Storage device; 122: Tool management program; 124: Scheduling information; 172, 222: Control program; 173, 173A-173D: Control parameters; 174: Tool information; 200: Tool assembly device; 200A: Operating terminal; 234, 234A, 234B, 334, 334A, 334B, 411, 411A, 411B: Motor drivers; 235, 235A, 235B, 335, 335A, 335B, 335C, 335D, 335E, 412, 412A 412B: Motor; 238, 438: ATC; 250, 250A: Storage unit; 300: Conveying device; 330: Arm robot; 331: Track; 332: Sliding seat; 336: Temporary storage area; 336A, 336B: Arm; 337: Tool holder; 338: Camera; 400, 400A~400N: Machine tool; 500: Workstation.

Claims

1. A conveying system, comprising: Transport route; as well as A storage section is provided along the conveying path to store the conveyed object used during workpiece processing. The storage section has a first reference shape within a predetermined distance from one end of the storage section in a direction parallel to the conveying path, and a second reference shape within a predetermined distance from the other end of the storage section in the same direction. The conveying system also features: Multiple machine tools; as well as A conveying device, configured to move along the conveying path, is used to transport the conveyed object stored in the storage section to the machine tool among the plurality of machine tools that serves as the conveying destination. A camera is installed in the conveying device. The conveying system also includes a control unit for controlling the conveying device. The control unit performs the following processing: By moving the conveying device to a predetermined first position on the conveying path, the camera captures the first reference shape and acquires a first image from the camera; By moving the conveying device to a predetermined second position on the conveying path, the camera captures the second reference shape and acquires a second image from the camera; as well as Based on the position of the first reference shape in the first image and the position of the second reference shape in the second image, the control parameters used when transporting the transported object stored in the storage section to the machine tool that is the transport destination are corrected.

2. The conveying system according to claim 1, wherein, The control parameters are parameters related to the movement of the conveying device in a direction parallel to the conveying path.

3. The conveying system according to claim 1 or 2, wherein, The conveying device includes: A sliding seat configured to move along the conveying path; and The robot is mounted on the sliding base. The control parameters include at least one of parameters for controlling the movement of the sliding block and parameters for controlling the drive of the robot.

4. The conveying system according to claim 1 or 2, wherein, The object being transported is a cutting tool used to process the workpiece or a pallet capable of holding the workpiece.

5. A control method for a conveying system, The conveying system includes: Transport route; as well as A storage section is provided along the conveying path to store the conveyed object used during workpiece processing. The storage section has a first reference shape within a predetermined distance from one end of the storage section in a direction parallel to the conveying path, and a second reference shape within a predetermined distance from the other end of the storage section in the same direction. The conveying system also features: Multiple machine tools; as well as A conveying device, configured to move along the conveying path, is used to transport the conveyed object stored in the storage section to the machine tool among the plurality of machine tools that serves as the conveying destination. A camera is installed in the conveying device. The control method includes the following steps: By moving the conveying device to a predetermined first position on the conveying path, the camera captures the first reference shape and acquires a first image from the camera; By moving the conveying device to a predetermined second position on the conveying path, the camera captures the second reference shape and acquires a second image from the camera; and Based on the position of the first reference shape in the first image and the position of the second reference shape in the second image, the control parameters used when transporting the transported object stored in the storage section to the machine tool that is the transport destination are corrected.

6. A non-transitory computer-readable storage medium storing a control program for a conveying system. The conveying system includes: Transport route; as well as A storage section is provided along the conveying path to store the conveyed object used during workpiece processing. The storage section has a first reference shape within a predetermined distance from one end of the storage section in a direction parallel to the conveying path, and a second reference shape within a predetermined distance from the other end of the storage section in the same direction. The conveying system also features: Multiple machine tools; as well as A conveying device, configured to move along the conveying path, is used to transport the conveyed object stored in the storage section to the machine tool among the plurality of machine tools that serves as the conveying destination. A camera is installed in the conveying device. The control program causes the conveying system to perform the following steps: By moving the conveying device to a predetermined first position on the conveying path, the camera captures the first reference shape and acquires a first image from the camera; By moving the conveying device to a predetermined second position on the conveying path, the camera captures the second reference shape and acquires a second image from the camera; as well as Based on the position of the first reference shape in the first image and the position of the second reference shape in the second image, the control parameters used when transporting the transported object stored in the storage section to the machine tool that is the transport destination are corrected.

7. A computer-readable storage medium storing a computer program that, when executed by a processor, performs the control method of the conveying system according to claim 5.

8. A computer program product comprising a computer program that, when executed by a processor, performs the control method of the conveying system according to claim 5.

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