Chip accumulation area estimation device, chip accumulation area estimation method, and chip removal device

Abstract

A chip accumulation area estimation device (2) is configured so as to comprise: a cutting information acquisition unit (11) that acquires cutting information; and a chip accumulation area estimation unit (12) that estimates a chip accumulation area. The cutting information includes any of information indicating a material of the object to be cut (50) cut by the processing machine, information indicating a cutting method of the object to be cut (50) by the processing machine, or information indicating a tool used when the object to be cut (50) is cut by the processing machine. And a chip accumulation region estimation unit (12) that estimates, on the basis of the cutting information acquired by the cutting information acquisition unit (11), a chip accumulation region (56), which is a region in which chips generated from the object to be cut (50) accumulate when the processing machine cuts the object to be cut (50).

Description

Technical Field

[0001] This invention relates to a chip accumulation area estimation device, a chip accumulation area estimation method, and a chip removal device. Background Technology

[0002] There is a chip accumulation area estimation device that estimates the area where chips accumulate from the workpiece when the machining machine cuts the workpiece, i.e., the chip accumulation area.

[0003] As a device for estimating such chip accumulation areas, Patent Document 1 discloses, for example, a working machine system with a scattering direction calculation unit.

[0004] The chip dispersion direction calculation unit acquires images from a camera, showing the machining process of a machine tool cutting an object. The chip dispersion direction calculation unit determines the chip accumulation area by calculating the chip dispersion direction based on the captured images.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-94624 Summary of the Invention

[0006] In the machine tool system disclosed in Patent Document 1, sometimes even if the scattering direction calculation unit monitors the captured image showing the machine tool cutting the workpiece, it cannot identify the chips generated from the workpiece. For example, sometimes the field of view is poor due to the smoke generated when the machine tool is cutting the workpiece, and even if the scattering direction calculation unit monitors the captured image, it cannot identify the chips due to the poor field of view. Thus, there is a problem that even if the captured image is monitored, if the chips cannot be identified, the scattering direction calculation unit cannot determine the chip accumulation area.

[0007] The present invention was proposed to solve the problems described above, and its purpose is to provide a chip accumulation area estimation device that can estimate the chip accumulation area regardless of whether poor visibility occurs.

[0008] The chip accumulation area estimation device of the present invention comprises: a cutting information acquisition unit that acquires cutting information, which includes any information among information indicating the material of the workpiece being cut by the machining machine, information indicating the cutting method of the workpiece by the machining machine, or information indicating the tool used when the machining machine cuts the workpiece; and a chip accumulation area estimation unit that, based on the cutting information acquired by the cutting information acquisition unit, estimates the area of ​​chip accumulation generated from the workpiece when the machining machine cuts the workpiece, i.e., the chip accumulation area.

[0009] The effects of the invention

[0010] According to the present invention, the area of ​​chip accumulation, i.e., the chip accumulation region, can be estimated regardless of whether poor visibility occurs. Attached Figure Description

[0011] Figure 1 This is a structural diagram showing the chip removal device including the chip accumulation area estimation device 2 according to Embodiment 1.

[0012] Figure 2 This is a hardware structure diagram showing the hardware of the chip accumulation area estimation device 2 according to Embodiment 1.

[0013] Figure 3 This is a hardware structure diagram of a computer when the chip accumulation area estimation device 2 is implemented by software or firmware.

[0014] Figure 4 This is a perspective view showing an example of a machining machine.

[0015] Figure 5 This is a flowchart illustrating the processing flow of the chip accumulation area estimation device 2, i.e., the chip accumulation area estimation method.

[0016] Figure 6 This is a structural diagram showing the chip removal device including the chip accumulation area estimation device 2 according to Embodiment 2.

[0017] Figure 7 This is a hardware structure diagram showing the hardware of the chip accumulation area estimation device 2 involved in Embodiment 2.

[0018] Figure 8 This is a flowchart illustrating the processing flow of the chip accumulation area estimation device 2, i.e., the chip accumulation area estimation method.

[0019] Figure 9 This is a structural diagram of the chip removal device including the chip accumulation area estimation device 2 according to Embodiment 3.

[0020] Figure 10 This is a hardware structure diagram showing the hardware of the chip accumulation area estimation device 2 involved in Embodiment 3.

[0021] Figure 11 This is a flowchart illustrating the processing flow of the chip accumulation area estimation device 2, i.e., the chip accumulation area estimation method. Detailed Implementation

[0022] Hereinafter, in order to illustrate the present invention in more detail, the embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

[0023] Implementation Method 1

[0024] Figure 1 This is a structural diagram showing the chip removal device including the chip accumulation area estimation device 2 according to Embodiment 1.

[0025] Figure 2 This is a hardware structure diagram showing the hardware of the chip accumulation area estimation device 2 according to Embodiment 1.

[0026] Figure 1 The chip removal device shown has a learning model 1, a chip accumulation area estimation device 2, and a cleaning fluid spraying unit 40.

[0027] Figure 1 The chip removal device shown has a learning model 1. However, this is just an example, and the learning model 1 can also be set outside the chip removal device.

[0028] Learning model 1 is implemented, for example, by a neural network.

[0029] Learning Model 1 is provided with cutting information and teacher data during learning. The cutting information includes any of the following: information representing the object being cut by the machining center 50 (refer to...). Figure 4 Information about the material, information about the cutting method of the machining machine on the object 50, or information about the cutting tool used when the machining machine cuts the object 50.

[0030] That is, the cutting information may include only one of the following: information indicating the material of the object being cut 50, information indicating the cutting method of the machining machine, or information indicating the cutting tool; or it may include any two of these. Alternatively, the cutting information may include all three: information indicating the material of the object being cut 50, information indicating the cutting method of the machining machine, and information indicating the cutting tool.

[0031] Teacher data represents information about the area where chips accumulate when a machining machine cuts an object, i.e., the chip accumulation area.

[0032] When learning, Model 1 learns the chip accumulation region corresponding to the cutting information when it is provided with cutting information and teacher data.

[0033] When learning Model 1 is inferring, if cutting information is provided, it outputs information representing the chip accumulation region corresponding to the cutting information.

[0034] exist Figure 1 In the chip removal device shown, the learning model 1 is located outside the chip accumulation area estimation device 2. However, this is just an example; the learning model 1 can also be located inside the chip accumulation area estimation device 2.

[0035] The chip accumulation area estimation device 2 has a cutting information acquisition unit 11 and a chip accumulation area estimation unit 12.

[0036] Cutting information acquisition unit 11, for example, by Figure 2 The cutting information acquisition circuit 21 shown is implemented.

[0037] The cutting information acquisition unit 11 acquires cutting information, which includes information indicating the material of the object being cut by the machining machine.

[0038] The cutting information acquisition unit 11 outputs the cutting information to the chip accumulation area estimation unit 12.

[0039] Here, the cutting information acquisition unit 11 acquires cutting information, which includes information representing the material of the object being cut by the machining machine. However, this is only an example. When learning, the learning model 1 is provided with cutting information and teacher data, the cutting information including information representing the material of the object being cut and information representing the cutting method of the machining machine. When learning about the chip accumulation area corresponding to the cutting information, the cutting information acquisition unit 11 acquires cutting information including information representing the material of the object being cut and information representing the cutting method of the machining machine.

[0040] In addition, during the learning process, the learning model 1 is provided with cutting information and teacher data, which includes information on the material of the object being cut and information on the cutting tool. When learning the chip accumulation area corresponding to the cutting information, the cutting information acquisition unit 11 acquires cutting information containing the following information: information on the material of the object being cut and information on the cutting tool.

[0041] In addition, during the learning process, the learning model 1 is provided with cutting information and teacher data, which includes information on the material of the object being cut, information on the cutting method of the machining machine, and information on the cutting tool. When learning the chip accumulation area corresponding to the cutting information, the cutting information acquisition unit 11 acquires cutting information containing the following information: information on the material of the object being cut, information on the cutting method of the machining machine, and information on the cutting tool.

[0042] For example, the chip accumulation area estimation part 12 is composed of Figure 2 The chip accumulation region estimation circuit 22 shown is implemented.

[0043] The chip accumulation area estimation unit 12 obtains cutting information from the cutting information acquisition unit 11.

[0044] Based on cutting information, the chip accumulation area estimation unit 12 estimates the area where chips accumulate from the workpiece when the machine tool cuts the workpiece, i.e., the chip accumulation area.

[0045] Specifically, the chip accumulation region estimation unit 12 provides the cutting information obtained by the cutting information acquisition unit 11 to the learning model 1, and obtains information from the learning model 1 representing the chip accumulation region corresponding to the cutting information obtained by the cutting information acquisition unit 11.

[0046] The chip accumulation area estimation unit 12 outputs information indicating the chip accumulation area to the cleaning fluid spraying unit 40.

[0047] exist Figure 1 In the chip accumulation region estimation device 2 shown, the chip accumulation region estimation unit 12 provides cutting information to the learning model 1 and obtains information representing the chip accumulation region corresponding to the cutting information from the learning model 1. However, this is only an example; the chip accumulation region estimation unit 12 can also obtain information representing the chip accumulation region based on the cutting information, for example, according to a rule base.

[0048] The cleaning fluid spraying unit 40 obtains information indicating the chip accumulation area from the chip accumulation area estimation unit 12.

[0049] The cleaning fluid spraying unit 40 sprays cleaning fluid, which is used to rinse away the chips accumulated in the chip accumulation area estimated by the chip accumulation area estimation unit.

[0050] exist Figure 1 In the design, the structural elements of the chip accumulation area estimation device 2, namely the cutting information acquisition unit 11 and the chip accumulation area estimation unit 12, are envisioned to each pass through... Figure 2 The dedicated hardware implementation shown is as follows. That is, the chip accumulation area estimation device 2 is envisioned to be implemented by the cutting information acquisition circuit 21 and the chip accumulation area estimation circuit 22.

[0051] The cutting information acquisition circuit 21 and the chip accumulation area estimation circuit 22 are each, for example, a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0052] The structural elements of the chip accumulation area estimation device 2 are not limited to being implemented by dedicated hardware; the chip accumulation area estimation device 2 can also be implemented by software, firmware, or a combination of software and firmware.

[0053] Software or firmware is stored as a program in the computer's memory. A computer refers to the hardware that executes programs, such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor).

[0054] Figure 3 This is a hardware structure diagram of a computer when the chip accumulation area estimation device 2 is implemented by software or firmware.

[0055] When the chip accumulation area estimation device 2 is implemented by software or firmware, the programs for executing the processing flow of the cutting information acquisition unit 11 and the chip accumulation area estimation unit 12 by the computer are stored in the memory 31. Furthermore, the computer's processor 32 executes the programs stored in the memory 31.

[0056] In addition, Figure 2 The diagram shows an example of the dedicated hardware implementation for each structural element of the chip accumulation region estimation device 2. Figure 3 The diagram shows an example where the chip accumulation region estimation device 2 is implemented by software or firmware. However, this is only one example; it is also possible that some structural elements of the chip accumulation region estimation device 2 are implemented by dedicated hardware, while the remaining structural elements are implemented by software or firmware.

[0057] Figure 4 This is a perspective view showing an example of a machining machine.

[0058] Figure 4 The machine shown has a worktable 51 that carries the workpiece 50 to be cut and a spindle 52 that mounts the cutting tool used to cut the workpiece 50.

[0059] like Figure 4 As shown, the machining center is covered by a housing 54. When the machining center cuts the workpiece 50, the chips generated from the workpiece 50 accumulate in the chip accumulation area 56.

[0060] exist Figure 4 In the example, the chip accumulation area 56 is the area enclosed by the dashed line. The chip accumulation area 56 varies depending on the material of the workpiece 50, the cutting method of the machine tool, or the tool used when cutting the workpiece 50.

[0061] For example, the harder the material of the workpiece 50, the more the chips will scatter and accumulate away from the workpiece 50. The direction of chip scattering varies depending on the cutting method used for the workpiece 50. The direction or distance of chip scattering also varies depending on the cutting tool.

[0062] The cutting method for the object 50 being cut may include, for example, a method of cutting by grinding like a file, or a method of cutting by cutting like a saw. The cutting tool may include, for example, a file, a saw, or a drill bit.

[0063] like Figure 4 As shown, the processing machine has multiple nozzles 53, each nozzle 53 spraying cleaning fluid output from the cleaning fluid spraying unit 40.

[0064] Ramps 55 are provided on both sides of the workbench 51. Figure 4 In the example shown, ramp 55 is inclined such that the rear side is lower than the front side. Therefore, the cleaning fluid sprayed from nozzle 53 flows from the front to the rear side across ramp 55 in the diagram, and then exits to the outside of the machining machine. At this time, the chips are also discharged to the outside of the machining machine along with the cleaning fluid.

[0065] Next, for Figure 1 The operation of the chip accumulation area estimation device 2 shown will be explained.

[0066] Figure 5 This is a flowchart illustrating the processing flow of the chip accumulation area estimation device 2, i.e., the chip accumulation area estimation method.

[0067] The cutting information acquisition unit 11 acquires cutting information, for example, from a control device (not shown) of the machining machine. Figure 5 Step ST1).

[0068] The cutting information includes information indicating the material of the object being cut 50. Alternatively, the cutting information may replace information indicating the material of the object being cut 50 with information indicating the cutting method of the machining machine or information indicating the tool used when cutting the object being cut 50. It may also include all three: information indicating the material of the object being cut 50, information indicating the cutting method of the machining machine, and information indicating the tool used when cutting the object being cut 50.

[0069] The cutting information acquisition unit 11 outputs the cutting information to the chip accumulation area estimation unit 12.

[0070] The chip accumulation area estimation unit 12 obtains cutting information from the cutting information acquisition unit 11.

[0071] Based on cutting information, the chip accumulation area estimation unit 12 estimates the area of ​​chip accumulation generated from the workpiece 50 when the machining machine cuts the workpiece 50, namely the chip accumulation area 56. Figure 5 Step ST2).

[0072] Specifically, the chip accumulation region estimation unit 12 provides cutting information to the learning model 1 and obtains information from the learning model 1 representing the chip accumulation region 56 corresponding to the cutting information.

[0073] If the information in the cutting information that represents the material of the object being cut 50 changes, the chip accumulation area 56 corresponding to the cutting information changes. If the information in the cutting information that represents the cutting method of the machining machine changes, the chip accumulation area 56 corresponding to the cutting information changes.

[0074] In addition, if the information representing the tool contained in the cutting information changes, the chip accumulation area 56 corresponding to the cutting information will change.

[0075] The chip accumulation area estimation unit 12 outputs information indicating the estimated chip accumulation area 56 to the cleaning fluid spraying unit 40.

[0076] The chip accumulation region estimation unit 12 can estimate the chip accumulation region 56 based on cutting information that contains only information about the material of the object being cut 50, cutting information that contains only information about the cutting method of the machining machine, or cutting information that contains only information about the cutting tool. However, when the cutting information contains two or more pieces of information, including information about the material, information about the cutting method of the machining machine, and information about the cutting tool, the estimation accuracy of the chip accumulation region 56 in the chip accumulation region estimation unit 12 is improved compared to when only one piece of information is included.

[0077] The cleaning fluid spraying unit 40 obtains information representing the chip accumulation area 56 from the chip accumulation area estimation unit 12.

[0078] The cleaning fluid spraying unit 40 selects one or more nozzles 53 from a plurality of nozzles 53 to spray cleaning fluid based on information representing the chip accumulation area 56.

[0079] For example, if a table showing the correspondence between chip accumulation area 56 and nozzle 53 is prepared as shown below, the cleaning fluid injection unit 40 refers to the table and selects the nozzle 53 corresponding to the chip accumulation area 56 shown by the information.

[0080] [sheet] Chip accumulation region 56 is region A: for example, in Figure 4 The area on the left and front side of the middle →Among the plurality of nozzles 53 disposed on the left side, the first nozzle 53 from the front side Chip accumulation region 56 is region B: for example, in Figure 4 The area on the left and back side of the middle →Among the multiple nozzles 53 arranged on the left side, the second nozzle 53 and the third nozzle 53 from the front side Chip accumulation region 56 is region C: for example, in Figure 4 The area on the right and front side →Among the plurality of nozzles 53 arranged on the right side, the first nozzle 53 from the front and the second nozzle 53 from the front: for example, in Figure 4 The area on the right and rear sides Chip accumulation area 56 is region D →Among the multiple nozzles 53 arranged on the right side, the third nozzle 53 from the front side If one or more nozzles 53 are selected to spray cleaning fluid, the cleaning fluid spraying unit 40 sprays cleaning fluid from the selected nozzles 53 by outputting cleaning fluid to the selected nozzles 53.

[0081] As a result, the chips accumulated in the chip accumulation area 56 are washed away by the cleaning fluid and discharged to the outside of the processing machine.

[0082] In Embodiment 1 described above, the chip accumulation region estimation device 2 is configured with a cutting information acquisition unit 11 and a chip accumulation region estimation unit 12. The cutting information acquisition unit 11 acquires cutting information including any information such as information indicating the material of the workpiece 50 being cut by the machining machine, information indicating the cutting method of the workpiece 50 by the machining machine, or information indicating the tool used when the machining machine cuts the workpiece 50. Based on the cutting information acquired by the cutting information acquisition unit 11, the chip accumulation region estimation unit 12 estimates the area where chips accumulate from the workpiece 50 when the machining machine cuts the workpiece 50, namely the chip accumulation region 56. Therefore, the chip accumulation region estimation device 2 can estimate the chip accumulation region 56 regardless of whether a poor field of view occurs.

[0083] exist Figure 1In the chip accumulation area estimation device 2 shown, the cutting information acquisition unit 11 acquires cutting information, which includes any of the following: information indicating the material of the workpiece 50 being cut by the machining machine; information indicating the cutting method of the machining machine on the workpiece 50; or information indicating the tool used by the machining machine when cutting the workpiece 50. However, the cutting information only needs to be information that can be used to estimate the chip accumulation area 56, and the cutting information may also include information different from the information indicating the material of the workpiece 50, the cutting method of the machining machine, and the tool.

[0084] Implementation Method 2

[0085] In Embodiment 2, a chip accumulation area estimation device 2 having a visual recognition condition determination unit 14 will be described. The visual recognition condition determination unit 14 determines the visual recognition condition of chips generated from the cutting object 50 based on an image captured showing the machining machine cutting the cutting object 50.

[0086] Figure 6 This is a structural diagram illustrating the chip removal apparatus including the chip accumulation region estimation device 2 according to Embodiment 2. Figure 6 In, with Figure 1 The same labels indicate the same or corresponding parts, so detailed descriptions are omitted.

[0087] Figure 7 This is a hardware structure diagram illustrating the hardware of the chip accumulation area estimation device 2 according to Embodiment 2. Figure 7 In, with Figure 2 The same labels indicate the same or corresponding parts, so detailed descriptions are omitted.

[0088] Figure 6 The chip removal device shown includes a learning model 1, a camera 3, a chip accumulation area estimation device 2, and a cleaning fluid spray unit 40.

[0089] Figure 6 The chip removal device shown has a learning model 1 and a camera 3. However, this is just an example; the learning model 1 and the camera 3 can also be respectively located outside the chip removal device.

[0090] Camera 3 captures images of the machining machine cutting the workpiece 50 and outputs the captured images to the chip accumulation area estimation device 2.

[0091] Figure 6 The chip accumulation area estimation device 2 shown includes a cutting information acquisition unit 11, an image acquisition unit 13, a visual recognition status determination unit 14, and a chip accumulation area estimation unit 15.

[0092] Image acquisition unit 13, for example, by Figure 7 The image acquisition circuit 23 shown is implemented.

[0093] The image acquisition unit 13 acquires images from the camera 3.

[0094] The image acquisition unit 13 outputs the captured images to the visual recognition status determination unit 14 and the chip accumulation area estimation unit 15 respectively.

[0095] Visual recognition status determination unit 14, for example, by Figure 7 The visual recognition status determination circuit 24 shown is implemented.

[0096] The visual recognition status determination unit 14 acquires the captured image from the captured image acquisition unit 13.

[0097] The visual recognition status determination unit 14 determines the visual recognition status of the chips generated from the cutting object 50 based on the captured image.

[0098] The visual recognition status determination unit 14 outputs the visual recognition status determination result to the chip accumulation area estimation unit 15.

[0099] For example, the chip accumulation area estimation part 15 is composed of Figure 7 The chip accumulation region estimation circuit 25 shown is implemented.

[0100] The chip accumulation area estimation unit 15 obtains cutting information from the cutting information acquisition unit 11.

[0101] The chip accumulation area estimation unit 15 acquires a captured image from the captured image acquisition unit 13 and obtains a visual recognition status determination result from the visual recognition status determination unit 14.

[0102] If the visual recognition condition determination result made by the visual recognition condition determination unit 14 indicates that the chips can be visually recognized, the chip accumulation area estimation unit 15 estimates the chip accumulation area 56 based on the captured image.

[0103] If the visual identification condition determination result made by the visual identification condition determination unit 14 indicates that the chips cannot be visually identified, then the chip accumulation area estimation unit 15 and Figure 1 Similarly, the chip accumulation area estimation unit 12 shown estimates the chip accumulation area 56 based on cutting information.

[0104] The chip accumulation area estimation unit 15 outputs information indicating the chip accumulation area 56 to the cleaning fluid spraying unit 40.

[0105] exist Figure 6The design envisions a chip accumulation area estimation device 2, comprising a cutting information acquisition unit 11, an image acquisition unit 13, a visual recognition status determination unit 14, and a chip accumulation area estimation unit 15, each of which operates via... Figure 7 The dedicated hardware implementation shown is as follows. That is, the chip accumulation area estimation device 2 is envisioned to be implemented by a cutting information acquisition circuit 21, an image acquisition circuit 23, a visual recognition status determination circuit 24, and a chip accumulation area estimation circuit 25.

[0106] The cutting information acquisition circuit 21, the image acquisition circuit 23, the visual recognition status determination circuit 24, and the chip accumulation area estimation circuit 25 are each, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0107] The structural elements of the chip accumulation area estimation device 2 are not limited to being implemented by dedicated hardware; the chip accumulation area estimation device 2 can also be implemented by software, firmware, or a combination of software and firmware.

[0108] When the chip accumulation area estimation device 2 is implemented by software or firmware, the program for executing the processing flow of the cutting information acquisition unit 11, the image acquisition unit 13, the visual recognition status determination unit 14, and the chip accumulation area estimation unit 15 by the computer is stored in Figure 3 In the memory 31 shown. And, Figure 3 The processor 32 shown executes the program stored in the memory 31.

[0109] In addition, Figure 7 The diagram shows an example of the dedicated hardware implementation for each structural element of the chip accumulation region estimation device 2. Figure 3 The diagram shows an example where the chip accumulation region estimation device 2 is implemented by software or firmware. However, this is only one example; it is also possible that some structural elements of the chip accumulation region estimation device 2 are implemented by dedicated hardware, while the remaining structural elements are implemented by software or firmware.

[0110] Next, for Figure 6 The operation of the chip accumulation area estimation device 2 shown will be explained.

[0111] Figure 8 This is a flowchart illustrating the processing flow of the chip accumulation area estimation device 2, i.e., the chip accumulation area estimation method.

[0112] The cutting information acquisition unit 11 acquires cutting information, for example, from a control device (not shown) of the machining machine. Figure 8Step ST11). The cutting information includes any of the following: information indicating the material of the object 50 being cut by the machining machine, information indicating the cutting method of the machining machine, or information indicating the tool used when the machining machine cuts the object 50.

[0113] The cutting information acquisition unit 11 outputs the cutting information to the chip accumulation area estimation unit 15.

[0114] Camera 3 captures images of the machining machine cutting the workpiece 50 and outputs the captured images to the chip accumulation area estimation device 2.

[0115] Image acquisition unit 13 acquires images from camera 3. Figure 8 Step ST12).

[0116] The image acquisition unit 13 outputs the captured images to the visual recognition status determination unit 14 and the chip accumulation area estimation unit 15 respectively.

[0117] The visual recognition status determination unit 14 acquires the captured image from the captured image acquisition unit 13.

[0118] The visual recognition status determination unit 14 determines the visual recognition status of the chips generated from the cutting object 50 based on the captured image. Figure 8 Step ST13).

[0119] The visual recognition status determination unit 14 outputs the visual recognition status determination result to the chip accumulation area estimation unit 15.

[0120] The following is a detailed explanation of the visual recognition status determination process of the visual recognition status determination unit 14.

[0121] The visual recognition condition determination unit 14 stores images captured when the visual recognition condition of the chips is good (hereinafter referred to as "visual recognition good images"). Here, it is assumed that the visual recognition good images are already stored in the internal memory of the visual recognition condition determination unit 14. However, this is only an example, and the visual recognition good images may also be provided to the visual recognition condition determination unit 14 from the outside.

[0122] The visual recognition status determination unit 14 acquires the captured image (hereinafter referred to as "the captured image") from the captured image acquisition unit 13.

[0123] The visual recognition status determination unit 14 calculates the difference between the visually recognized good image and the currently captured image.

[0124] If the difference is greater than or equal to the threshold, the visual recognition condition determination unit 14 determines that the visual recognition condition of the chip is poor; if the difference is less than the threshold, it determines that the visual recognition condition of the chip is good. The threshold can be stored in the internal memory of the visual recognition condition determination unit 14 or provided externally. A determination that the visual recognition condition of the chip is poor is equivalent to a determination that the chip cannot be visually recognized, and a determination that the visual recognition condition of the chip is good is equivalent to a determination that the chip can be visually recognized.

[0125] Here, the visual recognition status determination unit 14 calculates the difference between the visually recognized good image and the current captured image, and determines the visual recognition status of the chip based on the difference. However, this is only an example; the visual recognition status determination unit 14 may also extract edges from both the visually recognized good image and the current captured image, and determine the visual recognition status of the chip based on the difference between the edges extracted from the visually recognized good image and the edges extracted from the current captured image.

[0126] For example, in situations where smoke or fog is generated, fewer edges are extracted from the currently captured image than from visually well-identified images.

[0127] The chip accumulation area estimation unit 15 obtains cutting information from the cutting information acquisition unit 11.

[0128] The chip accumulation area estimation unit 15 acquires a captured image from the captured image acquisition unit 13 and obtains a visual recognition status determination result from the visual recognition status determination unit 14.

[0129] If the visual identification condition determination result made by the visual identification condition determination unit 14 indicates that the chip can be visually identified ( Figure 8 In step ST14 (if YES), the chip accumulation area estimation unit 15 estimates the chip accumulation area 56 based on the captured image. Figure 8 Step ST15).

[0130] Specifically, the chip accumulation area estimation unit 15 detects the optical flow between multiple captured images taken at different times.

[0131] The chip accumulation area estimation unit 15 estimates the chip accumulation area 56 by estimating the direction of chip splash and the distance of chip splash based on optical flow.

[0132] Here, the chip accumulation region estimation unit 15 estimates the chip accumulation region 56 based on optical flow. However, this is only one example; the chip accumulation region estimation unit 15 may also estimate the chip accumulation region 56 based on the difference between the image captured before chip accumulation and the current image captured.

[0133] If the visual identification condition determination result made by the visual identification condition determination unit 14 indicates that the chip cannot be visually identified ( Figure 8 Step ST14: In the case of NO), then the chip accumulation area is estimated to be part 15 and Figure 1 Similarly, the chip accumulation area estimation unit 12 shown estimates the chip accumulation area 56 based on cutting information. Figure 8 Step ST16).

[0134] The chip accumulation area estimation unit 15 outputs information indicating the chip accumulation area 56 to the cleaning fluid spraying unit 40.

[0135] When chips cannot be visually identified, the estimation accuracy of the chip accumulation area 56 based on the captured image is likely to be worse than the estimation accuracy of the chip accumulation area 56 based on cutting information. On the other hand, when chips can be visually identified, the estimation accuracy of the chip accumulation area 56 based on the captured image is likely to be higher than the estimation accuracy of the chip accumulation area 56 based on cutting information.

[0136] In Embodiment 2 described above, the chip accumulation area estimation device 2 is configured with an image acquisition unit 13 and a visual recognition status determination unit 14. The image acquisition unit 13 acquires images showing the machining process of the cutting object 50 being cut. The visual recognition status determination unit 14 determines the visual recognition status of the chips generated from the cutting object 50 based on the images acquired by the image acquisition unit 13. If the visual recognition status determination result made by the visual recognition status determination unit 14 indicates that chips can be visually recognized, the chip accumulation area estimation unit 15 of the chip accumulation area estimation device 2 estimates the chip accumulation area 56 based on the images. If the visual recognition status determination result made by the visual recognition status determination unit 14 indicates that chips cannot be visually recognized, the chip accumulation area estimation unit 15 of the chip accumulation area estimation device 2 estimates the chip accumulation area 56 based on the cutting information acquired by the cutting information acquisition unit 11. Therefore, Figure 6 The chip accumulation area estimation device 2 shown can estimate the chip accumulation area 56 regardless of whether a poor field of view occurs. In addition, it is compatible with... Figure 1 Compared to the chip accumulation area estimation device 2 shown, it is possible to improve the estimation accuracy of the chip accumulation area 56.

[0137] Implementation Method 3

[0138] In Embodiment 3, a chip accumulation region estimation device 2 having a chip accumulation region estimation unit 16 will be described, which uses a first learning model 4 or a second learning model 5 to estimate the chip accumulation region 56.

[0139] Figure 9 This is a structural diagram illustrating the chip removal apparatus including the chip accumulation area estimation device 2 according to Embodiment 3. Figure 9 In, with Figure 1 as well as Figure 6 The same labels indicate the same or corresponding parts, so detailed descriptions are omitted.

[0140] Figure 10 This is a hardware structure diagram illustrating the hardware of the chip accumulation area estimation device 2 according to Embodiment 3. Figure 10 In, with Figure 2 as well as Figure 7 The same labels indicate the same or corresponding parts, so detailed descriptions are omitted.

[0141] Figure 9 The chip removal device shown includes a camera 3, a first learning model 4, a second learning model 5, a chip accumulation area estimation device 2, and a cleaning fluid spraying unit 40.

[0142] Figure 9 The chip removal device shown includes a camera 3, a first learning model 4, and a second learning model 5. However, this is only an example, and the camera 3, the first learning model 4, and the second learning model 5 may also be each located outside the chip removal device.

[0143] The first learning model 4 is implemented, for example, through a neural network.

[0144] The first learning model 4 is provided with photographic images and teacher data during learning. The photographic images show the process of the machining machine cutting the object 50.

[0145] Teacher data refers to information about the area where chips accumulate from the workpiece 50 when the machining machine cuts the workpiece 50, namely the chip accumulation area 56.

[0146] During learning, the first learning model 4, when provided with captured images and teacher data, learns the chip accumulation region 56 corresponding to the captured images. Here, the chip accumulation region 56 corresponding to the captured images is the chip accumulation region 56 represented by the teacher data.

[0147] When learning model 4 is inferring, if a captured image is provided, it outputs information representing the chip accumulation region 56 corresponding to the captured image.

[0148] The second learning model 5 is implemented, for example, through a neural network.

[0149] The second learning model 5 is provided with cutting information and teacher data during learning. The cutting information includes any information among the following: information representing the material of the object 50 being cut by the machining machine, information representing the cutting method of the machining machine, or information representing the tool used by the machining machine when cutting the object 50.

[0150] Teacher data refers to information about the area where chips accumulate from the workpiece 50 when the machining machine cuts the workpiece 50, namely the chip accumulation area 56.

[0151] During learning, the second learning model 5, when provided with cutting information and teacher data, learns the chip accumulation region 56 corresponding to the cutting information. Here, the chip accumulation region 56 corresponding to the cutting information is the chip accumulation region 56 represented by the teacher data.

[0152] When the second learning model 5 is inferring, if cutting information is provided, it outputs information representing the chip accumulation region 56 corresponding to the cutting information.

[0153] exist Figure 9 In the chip removal device shown, the first learning model 4 and the second learning model 5 are each disposed outside the chip accumulation area estimation device 2. However, this is only an example; the first learning model 4 and the second learning model 5 may also be disposed inside the chip accumulation area estimation device 2.

[0154] Figure 9 The chip accumulation area estimation device 2 shown includes a cutting information acquisition unit 11, an image acquisition unit 13, a visual recognition status determination unit 14, and a chip accumulation area estimation unit 16.

[0155] For example, the chip accumulation area estimation part 16 is composed of Figure 10 The chip accumulation region estimation circuit 26 shown is implemented.

[0156] The chip accumulation area estimation unit 16 obtains cutting information from the cutting information acquisition unit 11. The cutting information includes any information among the following: information indicating the material of the cutting object 50 being cut by the machining machine, information indicating the cutting method of the machining machine, or information indicating the tool used when the machining machine cuts the cutting object 50.

[0157] The chip accumulation area estimation unit 16 acquires a captured image from the captured image acquisition unit 13 and obtains a visual recognition status determination result from the visual recognition status determination unit 14.

[0158] If the visual recognition status determination result made by the visual recognition status determination unit 14 indicates that the chips can be visually recognized, the chip accumulation area estimation unit 16 provides the captured image to the first learning model 4 and obtains information from the first learning model 4 representing the chip accumulation area 56 corresponding to the captured image.

[0159] If the visual recognition condition determination result made by the visual recognition condition determination unit 14 indicates that the chip cannot be visually recognized, the chip accumulation area estimation unit 16 provides the cutting information to the second learning model 5 and obtains information representing the chip accumulation area 56 corresponding to the cutting information from the second learning model 5.

[0160] The chip accumulation area estimation unit 16 outputs information indicating the chip accumulation area 56 to the cleaning fluid spraying unit 40.

[0161] exist Figure 9 The design envisions a chip accumulation area estimation device 2, comprising a cutting information acquisition unit 11, an image acquisition unit 13, a visual recognition status determination unit 14, and a chip accumulation area estimation unit 16, each of which operates via... Figure 10 The dedicated hardware implementation shown is as follows. That is, the chip accumulation area estimation device 2 is envisioned to be implemented by a cutting information acquisition circuit 21, an image acquisition circuit 23, a visual recognition status determination circuit 24, and a chip accumulation area estimation circuit 26.

[0162] The cutting information acquisition circuit 21, the image acquisition circuit 23, the visual recognition status determination circuit 24, and the chip accumulation area estimation circuit 26 are each, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0163] The structural elements of the chip accumulation area estimation device 2 are not limited to being implemented by dedicated hardware; the chip accumulation area estimation device 2 can also be implemented by software, firmware, or a combination of software and firmware.

[0164] When the chip accumulation area estimation device 2 is implemented by software or firmware, the program for executing the processing flow of the cutting information acquisition unit 11, the image acquisition unit 13, the visual recognition status determination unit 14, and the chip accumulation area estimation unit 16 by the computer is stored in Figure 3 The memory 31 shown. And, Figure 3 The processor 32 shown executes the program stored in the memory 31.

[0165] In addition, Figure 10 The diagram shows an example of the dedicated hardware implementation for each structural element of the chip accumulation region estimation device 2. Figure 3The diagram shows an example where the chip accumulation region estimation device 2 is implemented by software or firmware. However, this is only one example; it is also possible that some structural elements of the chip accumulation region estimation device 2 are implemented by dedicated hardware, while the remaining structural elements are implemented by software or firmware.

[0166] Next, for Figure 9 The operation of the chip accumulation area estimation device 2 shown will be explained.

[0167] Figure 11 This is a flowchart illustrating the processing flow of the chip accumulation area estimation device 2, i.e., the chip accumulation area estimation method.

[0168] The cutting information acquisition unit 11 acquires cutting information, for example, from a control device (not shown) of the machining machine. Figure 11 Step ST21).

[0169] The cutting information acquisition unit 11 outputs the cutting information to the chip accumulation area estimation unit 16.

[0170] Camera 3 captures images of the machining machine cutting the workpiece 50 and outputs the captured images to the chip accumulation area estimation device 2.

[0171] Image acquisition unit 13 acquires images from camera 3. Figure 11 Step ST22).

[0172] The image acquisition unit 13 outputs the captured images to the visual recognition status determination unit 14 and the chip accumulation area estimation unit 16 respectively.

[0173] The visual recognition status determination unit 14 acquires the captured image from the captured image acquisition unit 13.

[0174] The visual recognition status determination unit 14 determines the visual recognition status of the chips generated from the cutting object 50 based on the captured image. Figure 11 Step ST23).

[0175] The visual recognition status determination unit 14 outputs the visual recognition status determination result to the chip accumulation area estimation unit 16.

[0176] The chip accumulation area estimation unit 16 obtains cutting information from the cutting information acquisition unit 11.

[0177] The chip accumulation area estimation unit 16 acquires a captured image from the captured image acquisition unit 13 and obtains a visual recognition status determination result from the visual recognition status determination unit 14.

[0178] If the visual identification condition determination result made by the visual identification condition determination unit 14 indicates that the chip can be visually identified ( Figure 11In step ST24 (YES case), the chip accumulation area estimation unit 16 provides the captured image to the first learning model 4 and obtains information from the first learning model 4 representing the chip accumulation area 56 corresponding to the captured image. Figure 11 Step ST25).

[0179] If the visual identification condition determination result made by the visual identification condition determination unit 14 indicates that the chip cannot be visually identified ( Figure 11 In step ST24 (in the case of NO), the chip accumulation region estimation unit 16 provides cutting information to the second learning model 5, and obtains information representing the chip accumulation region 56 corresponding to the cutting information from the second learning model 5. Figure 11 Step ST26).

[0180] The chip accumulation area estimation unit 16 outputs information indicating the chip accumulation area 56 to the cleaning fluid spraying unit 40.

[0181] In the above-described embodiment 3, a first learning model 4 and a second learning model 5 are provided. The first learning model 4 is provided with captured images and teacher data representing the chip accumulation region 56, and learns the chip accumulation region 56 corresponding to the captured images, which represent the situation where the machining machine is cutting the workpiece 50. The second learning model 5 is provided with cutting information and teacher data representing the chip accumulation region 56, and learns the chip accumulation region 56 corresponding to the cutting information. It is configured such that it includes an image acquisition unit 13 and a visual recognition status determination unit 14. Figure 9 The chip accumulation area estimation device 2 shown has an image acquisition unit 13 that acquires images showing the machining machine cutting the workpiece 50. The visual recognition condition determination unit 14 determines the visual recognition condition of the chips generated from the workpiece 50 based on the images acquired by the image acquisition unit 13. If the visual recognition condition determination result made by the visual recognition condition determination unit 14 indicates that chips can be visually recognized, then... Figure 9 The chip accumulation area estimation unit 16 of the chip accumulation area estimation device 2 shows that provides the captured image obtained by the image acquisition unit 13 to the first learning model 4, and obtains information representing the chip accumulation area 56 corresponding to the captured image from the first learning model 4. If the visual recognition status determination result made by the visual recognition status determination unit 14 indicates that the chip cannot be visually recognized, the chip accumulation area estimation unit 16 of the chip accumulation area estimation device 2 provides the cutting information obtained by the cutting information acquisition unit 11 to the second learning model 5, and obtains information representing the chip accumulation area 56 corresponding to the cutting information from the second learning model 5. Therefore, Figure 9The chip accumulation area estimation device 2 shown can estimate the chip accumulation area 56 regardless of whether a poor field of view occurs. In addition, it is compatible with... Figure 1 Compared to the chip accumulation area estimation device 2 shown, it is possible to improve the estimation accuracy of the chip accumulation area 56.

[0182] Furthermore, the present invention allows for free combination of various embodiments, modification of any structural elements in each embodiment, or omission of any structural elements in each embodiment.

[0183] Industrial applicability

[0184] This invention is applicable to a chip accumulation area estimation device, a chip accumulation area estimation method, and a chip removal device.

[0185] Explanation of the label

[0186] 1 Learning model, 2 Chip accumulation area estimation device, 3 Camera, 4 First learning model, 5 Second learning model, 11 Cutting information acquisition unit, 12 Chip accumulation area estimation unit, 13 Image acquisition unit, 14 Visual recognition status determination unit, 15, 16 Chip accumulation area estimation unit, 21 Cutting information acquisition circuit, 22 Chip accumulation area estimation circuit, 23 Image acquisition circuit, 24 Visual recognition status determination circuit, 25, 26 Chip accumulation area estimation circuit, 31 Memory, 32 Processor, 40 Cleaning fluid spraying unit, 50 Cutting object, 51 Worktable, 52 Spindle, 53 Nozzle, 54 Housing, 55 Ramp, 56 Chip accumulation area.

Claims

1. A chip accumulation region estimation device, comprising: A cutting information acquisition unit acquires cutting information, which includes any of the following: information indicating the material of the workpiece being cut by the machining machine; information indicating the cutting method of the machining machine on the workpiece; or information indicating the tool used by the machining machine when cutting the workpiece; and The chip accumulation area estimation unit estimates the area where chips accumulate from the workpiece when the machining machine cuts the workpiece, based on the cutting information obtained by the cutting information acquisition unit.

2. The chip accumulation area estimation device according to claim 1, characterized in that, The system has a learning model that, given the cutting information and teacher data representing the chip accumulation region, completes the learning of the chip accumulation region corresponding to the cutting information. The chip accumulation region estimation unit provides the cutting information obtained by the cutting information acquisition unit to the learning model, and obtains information from the learning model representing the chip accumulation region corresponding to the cutting information obtained by the cutting information acquisition unit.

3. The chip accumulation area estimation device according to claim 1, characterized in that, have: The image acquisition unit acquires images showing the machining machine cutting the workpiece; and The visual recognition status determination unit determines the visual recognition status of chips generated from the object being cut based on the images acquired by the image acquisition unit. If the visual recognition status determination result made by the visual recognition status determination unit indicates that the chip can be visually recognized, the chip accumulation area estimation unit estimates the chip accumulation area based on the captured image. If the visual recognition status determination result made by the visual recognition status determination unit indicates that the chip cannot be visually recognized, the chip accumulation area estimation unit estimates the chip accumulation area based on the cutting information obtained by the cutting information acquisition unit.

4. The chip accumulation area estimation device according to claim 1, characterized in that, have: The first learning model is provided with captured images and teacher data representing the chip accumulation area, and completes the learning of the chip accumulation area corresponding to the captured images, which represent the situation where the machining machine cuts the object to be cut; as well as The second learning model, provided with the cutting information and teacher data representing the chip accumulation region, completes the learning of the chip accumulation region corresponding to the cutting information. The chip accumulation area estimation device has the following features: The image acquisition unit acquires images showing the machining machine cutting the workpiece; and The visual recognition status determination unit determines the visual recognition status of chips generated from the object being cut based on the images acquired by the image acquisition unit. If the visual recognition status determination result made by the visual recognition status determination unit indicates that the chip can be visually recognized, the chip accumulation area estimation unit provides the captured image obtained by the captured image acquisition unit to the first learning model and obtains information representing the chip accumulation area corresponding to the captured image from the first learning model. If the visual recognition status determination result made by the visual recognition status determination unit indicates that the chip cannot be visually recognized, the chip accumulation area estimation unit provides the cutting information obtained by the cutting information acquisition unit to the second learning model and obtains information representing the chip accumulation area corresponding to the cutting information from the second learning model.

5. A method for estimating the chip accumulation region, wherein, The cutting information acquisition unit acquires cutting information, which includes any of the following: information indicating the material of the workpiece being cut by the machining machine; information indicating the cutting method of the machining machine on the workpiece; or information indicating the cutting tool used by the machining machine when cutting the workpiece. The chip accumulation area estimation unit estimates the area where chips accumulate from the workpiece when the machining machine cuts the workpiece, based on the cutting information obtained by the cutting information acquisition unit.

6. A chip removal device, comprising: The cutting information acquisition unit acquires cutting information, which includes any of the following: information indicating the material of the object being cut by the machining machine, information indicating the cutting method of the machining machine on the object being cut, or information indicating the tool used by the machining machine when cutting the object being cut. The chip accumulation area estimation unit estimates the area of ​​chip accumulation generated from the workpiece when the machining machine cuts the workpiece, i.e., the chip accumulation area, based on the cutting information obtained by the cutting information acquisition unit. as well as The cleaning fluid spraying unit sprays cleaning fluid for rinsing away chips accumulated in the chip accumulation area estimated by the chip accumulation area estimation unit.

Images