Determination device, machining device, determination method, and determination program

Abstract

To provide a technique for appropriately determining whether or not the machining target surface of a workpiece has a convex shape.SOLUTION: A determination device comprises a control unit that executes the steps of: acquiring height information of a machining target surface in a height direction of a workpiece; defining, to be a search region, a partial range of the machining target surface including a center of the machining target surface in a reference direction extending in any one direction perpendicular to the height direction; defining, to be a first region, a partial region on one end side of the machining target surface; defining, to be a second region, a region that is configured within the search region so that a range of the search region is a maximum range, and adjacent to the other end side of the first region; defining, to be a third region, a region adjacent to the other end side of the second region; and a region adjacent to the other end side of the second region as a third region; calculating a representative value of the height of each region on the basis of the height information acquired in each region; calculating a representative value of the search region from a representative value of the second region; and determining whether or not the machining target surface has a convex shape according to whether or not the representative value of the search region is higher than the representative value of the first region and higher than the representative value of the third region.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a determination device, a processing device, a processing method, and a determination program. [Background technology]

[0002] It has been proposed that an automatic scraping device (Patent Document 1) is equipped with a processing robot that holds and operates a scraper with a cutting blade, and scrapes the surface of the workpiece by automatically controlling the operation of the scraper, and after processing by this automatic scraping device, scraping is performed manually to finish the workpiece to the desired state. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-150710 Summary of the Invention [Problem to be solved by the invention]

[0004] When scraping is performed manually after processing using an automatic scraping machine, the workpiece surface is painted with paint (such as a bright red paint) and then rubbed against a surface plate to check the condition of the surface. If the workpiece has a shape in which the center is higher than the edge portions in one direction along the surface (for example, the length direction of the surface) (hereinafter also referred to as a "concave shape"), the surface plate and the workpiece may oscillate relative to each other, with the higher portion near the center of the surface as a fulcrum, when the surface is rubbed against the surface plate. If this oscillation occurs during the rubbed operation, not only the higher portions of the surface but also the lower portions of the surface may rub against the surface plate, resulting in the paint being transferred, making it difficult to check the finish.

[0005] After scraping, the surface to be machined did not show any noticeable difference with the naked eye whether it was a convex or concave shape, making it difficult to determine whether it was a convex or concave shape.

[0006] The present invention has been made in view of the above-mentioned problems, and has an object to provide a technique for appropriately determining whether or not the machining surface of a workpiece has a convex shape. [Means for solving the problem]

[0007] (Aspect 1) In order to solve the above problems, aspect 1 of the present invention is 1. A determination device for determining the shape of a surface to be machined of a workpiece whose surface to be machined has been machined, comprising: acquiring height information of the processing target surface in a height direction of the workpiece; In a reference direction of the surface to be machined extending in any one direction perpendicular to the height direction, a partial range including the center of the surface to be machined is set as a search area, a partial area on one end side of the surface to be machined is set as a first area, an area within the search area that is set with the range of the search area as the maximum range and that is adjacent to the other end side of the first area is set as a second area, and an area adjacent to the other end side of the second area is set as a third area, and a representative value of the height of each area is obtained based on the height information obtained in each area; determining a representative value of the search region from the representative value of the second region; determining whether the surface to be machined has a convex shape based on whether the representative value of the search area is higher than the representative value of the first area and higher than the representative value of the third area; A determination device comprising a control unit that executes the above.

[0008] (Aspect 2) In the above aspect 1, the control unit may set the second area to a range narrower than the search area, use a representative value of the second area as the representative value of the search area, and perform a determination multiple times by changing the position of the second area within the search area as to whether the representative value of the search area is higher than the representative value of the first area and higher than the representative value of the third area, and if at least one of the determination results is a positive determination, determine that the surface to be machined has a convex shape.

[0009] (Aspect 3) In the above-mentioned aspect 2, the first region is a region from a boundary with the second region to one end of the processing surface, The third region may be a region extending from the boundary with the second region to the other end of the surface to be processed.

[0010] (Aspect 4) In the above-mentioned first aspect, the control unit may obtain a representative value of the first region, a representative value of the second region, and a representative value of the third region from values ​​of the height information that are equal to or greater than a threshold value.

[0011] (Aspect 5) In the above-mentioned first aspect, the representative value may be any one of the mean value, median value, and mode value, or a value obtained by adding a predetermined constant to any one of the mean value, median value, and mode value.

[0012] (Aspect 6) In the determination device described in any one of aspects 1 to 5 above, the control unit may subtract the higher of the representative value of the first region and the representative value of the third region from the representative value of the second region to determine the mid-height of the surface to be processed.

[0013] (Aspect 7) In the determination device according to any one of the above aspects 1 to 5, the processing target surface may be rectangular, and the reference direction may be a length direction of the processing target surface.

[0014] (Aspect 8) In order to solve the above problems, aspect 8 of the present invention is a processing robot that holds and operates a scraper having a cutting blade; a control device that controls the processing robot and strokes the scraper along the processing target surface of the workpiece to cut the processing target surface; A determination device according to aspect 6; Equipped with When the determination device determines that the surface to be machined has a convex shape, the control device controls the machining robot to cut the search area of ​​the workpiece based on the convex shape.

[0015] (Aspect 9) In the processing device described in aspect 8 above, the control device may determine that the representative value of the second region is higher than the representative value of the first region and higher than the representative value of the third region as a high-concave region, and control the processing robot to cut the high-concave region within the search region.

[0016] (Aspect 10) In order to solve the above problems, aspect 10 of the present invention is A determination device for determining the shape of a surface to be machined of a workpiece whose surface to be machined has been machined. The control unit of the device acquiring height information of the processing target surface in a height direction of the workpiece; In a reference direction of the surface to be machined that extends in any one direction perpendicular to the height direction, a partial range including the center of the surface to be machined is set as a search area, a partial area on one end side of the surface to be machined is set as a first area, an area within the search area that is set with the range of the search area as the maximum range and that is adjacent to the other end side of the first area is set as a second area, and an area adjacent to the other end side of the second area is set as a third area, and a representative value of the height of each area is obtained; determining a representative value of the search region from the representative value of the second region; determining whether the surface to be machined has a convex shape based on whether the representative value of the search area is higher than both the representative value of the first area and the representative value of the third area; Execute.

[0017] (Aspect 11) In order to solve the above problems, aspect 11 of the present invention is a control unit of a determination device for determining the shape of a surface to be machined of a workpiece whose surface to be machined has been machined, acquiring height information of the processing target surface in a height direction of the workpiece; In a reference direction of the surface to be machined that extends in any one direction perpendicular to the height direction, a partial range including the center of the surface to be machined is set as a search area, a partial area on one end side of the surface to be machined is set as a first area, an area within the search area that is set with the range of the search area as the maximum range and that is adjacent to the other end side of the first area is set as a second area, and an area adjacent to the other end side of the second area is set as a third area, and a representative value of the height of each area is obtained; determining a representative value of the search region from the representative value of the second region; determining whether the surface to be machined has a convex shape based on whether the representative value of the search area is higher than both the representative value of the first area and the representative value of the third area; Execute the following. [Effects of the Invention]

[0018] According to the present invention, it is possible to provide a technique for appropriately determining whether or not the machining surface of a workpiece has a convex shape. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an automatic scraping device according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of the configuration of the control device. [Figure 3] FIG. 3 is a block diagram illustrating an example of a functional configuration of the control device. [Figure 4] FIG. 4 is a perspective view of the workpiece. [Figure 5] FIG. 5 is a diagram illustrating an example of the shape of the surface to be machined when the workpiece is viewed from the side. [Figure 6] FIG. 6 is a flowchart of the scraping method executed by the processor of the control device. [Figure 7] FIG. 7 is a diagram showing an example of height information and threshold values ​​used to calculate the representative value. [Figure 8]FIG. 8 is a diagram showing an example in which the representative value of the search region is obtained by adding a predetermined positive constant to the representative value of the second region. [Figure 9] FIG. 9 is a diagram showing an example in which the representative value of the search region is obtained by adding a negative predetermined constant to the representative value of the second region. [Figure 10] FIG. 10 is a diagram showing an example in which the output of the sigmoid function is large (close to 1). [Figure 11] FIG. 11 is a diagram showing an example in which the output of the sigmoid function is small (close to 0). [Figure 12] FIG. 12 is a diagram showing an example in which the output of the sigmoid function is medium (close to 0.5). [Figure 13] FIG. 13 is a schematic plan view showing an example in which the second region is determined at different positions within the search region in the second embodiment. [Figure 14] FIG. 14 is a flowchart of a scraping method executed by a processor of a control device according to the second embodiment. [Figure 15] FIG. 15 is a diagram illustrating the effect when the second region is set narrow. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that each configuration and their combinations in the embodiments are merely examples, and additions, omissions, substitutions, and other modifications of the configurations are possible as appropriate within the scope of the gist of the present invention. The present invention is not limited to the embodiments, but is limited only by the claims.

[0021] First Embodiment (Schematic configuration of processing device) The schematic configuration of an automatic scraping device 1 according to a first embodiment will be described using Figures 1 and 2. When showing spatial coordinates in Figure 1, a three-dimensional Cartesian coordinate system is used, with the height direction (vertical direction) being the Z axis, one direction in a horizontal plane being the X axis, and a direction in the horizontal plane perpendicular to the X axis being the Y axis. The horizontal plane is also referred to as the XY plane. The directions of each axis are merely examples and are not limited to these. The same applies to subsequent figures unless otherwise specified. As shown in Figure 1, the automatic scraping device 1 includes a control device 100, a robot arm 200, a three-dimensional shape measuring instrument 300, etc.

[0022] The automatic scraping device 1 is a device that automatically performs scraping on a surface to be processed (surface to be processed) 11 of a workpiece (object to be processed) 10, which is an object to be processed. The scraping is a type of metal processing, and a scraper, which is a scraping tool (cutting tool), is used to scrape off convex parts of the surface to be processed 11, thereby increasing the flatness of the surface to be processed 11 (reducing the unevenness of the surface to be processed 11). Make it smaller).

[0023] The robot arm 200 is an articulated robot arm, and is controlled by the control device 100. The robot arm 200 has a robot hand 210 at its tip end, which can detachably hold (grasp) the scraper unit 20 and hand chuck 30. The scraper unit 20 has a support part 23 and a scraper 22 composed of a cutting blade 24 attached to the tip end of the support part 23. The robot arm 200 is an example of a scraping robot according to the present invention.

[0024] The scraping process for the surface 11 of the workpiece 10 to be machined is performed by fixing the workpiece 10 to the surface of the processing stand C1 shown in Fig. 1, controlling the robot arm 200 with the scraper unit 20 held by the robot hand 210, and stroking the scraper unit 20 along the surface 11 to be machined. The surface of the processing stand C1 is formed in a flat shape parallel to the XY plane.

[0025] The measurement stage C2 is a stage for placing the workpiece 10 on its upper surface when measuring the three-dimensional shape of the processing target surface 11 of the workpiece 10 using the three-dimensional shape measuring instrument 300. The surface of the measurement stage C2 is also formed in a flat plane parallel to the XY plane.

[0026] The three-dimensional shape measuring instrument 300 measures three-dimensional shape data (concave and convex shape data, high-precision data, etc.) of the surface 11 to be processed. For example, a white light interferometer or a three-dimensional laser scanner can be used. The measured data can be obtained as coordinates in the XYZ axis space.

[0027] The control device 100 is a control device, such as a computer, that controls the robot arm 200. As shown in FIG. 2 , the control device 100 includes a communication interface (communication I / F) 101, a storage device 102, an input / output device 103, and a processor (control unit) 104, which are electrically connected to the robot arm 200 via a communication bus 105.

[0028] The processor 104 is an arithmetic processing device, and performs each process according to this embodiment by executing a computer program. The processor 104 loads a program stored in the auxiliary storage device of the storage device 102 into the main storage device and executes it, and processes information input via the communication I / F 101 and the input / output device 103 and information read from the storage device 102, thereby realizing various processes such as a processing instruction data generation process for generating processing instruction data. Information such as the processing instruction data used to control the robot arm 200 is transmitted to the robot arm 200 via the communication I / F 101 and the input / output device 103. Note that the configuration and method by which the control device 100 controls the robot arm 200 to perform scraping can be existing ones, and therefore detailed description thereof will be omitted.

[0029] Next, the functional configuration of the control device 100 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the functional configuration of the control device 100. The control device 100 has a processing instruction data generation unit 110, a processing control unit 111, and a determination unit 112 as functional units. The processor 104 of the control device 100 loads a program stored in the auxiliary storage device of the storage device 102 into the main storage device and executes it, thereby realizing each of the above-mentioned functional units. Not limited to this, at least some of the multiple functional units may be implemented using LSI (large scale integration), logic The signal processing unit 100 may be formed of hardware such as a circuit or other digital circuit.

[0030] The processing instruction data generation unit 110 executes processing instruction data generation processing to generate processing instruction data. The processing control unit 111 acquires the processing instruction data generated by the processing instruction data generation unit 110 and controls the robot arm 200 in accordance with the processing instruction data. The determination unit 112 determines whether the processing target surface 11 has a convex shape or not based on three-dimensional shape data (convex-concave shape data) of the processing target surface 11 measured by the three-dimensional shape measuring instrument 300. The specific determination method will be described later.

[0031] Next, a process for determining whether the machining surface of the workpiece has a convex shape will be described with reference to Figures 4 and 5. Figure 4 is a perspective view of the workpiece 10, and Figure 5 is a diagram illustrating an example of the shape of the machining surface when the workpiece 10 (10A, 10B, 10C) is viewed from the side (Y-axis direction). The machining surface 11 is not limited to a rectangle, and may be a circle, an ellipse, a square, or the like.

[0032] In this embodiment, a part of the work surface 11 including the center of the work surface 11 in a reference direction (X direction) extending in any one direction perpendicular to the height direction (Z direction) is set as a search area AR0. It is desirable that the search area AR0 be set as a part that would cause problems in lapping with the surface plate if it were higher than the end sides (115, 116) of the work surface 11 in the reference direction. This search area AR0 may be set according to the length, shape, etc. of the workpiece 10. The reference direction may be another direction such as the width direction (Y direction). In the reference direction (X direction), a part of the work surface 11 on one end 115 side is set as a first area AR1, and an area adjacent to the other end 116 side of the first area AR1 is set as a second area AR2. The second area AR2 is set with the range of the search area AR0 as its maximum range, and in this embodiment, the second area AR2 and the search area AR0 are set to the same range. In this embodiment In this embodiment, the first area AR1 is from the boundary B12 between the first area AR1 and the second area AR2 to one end 115 of the surface 11 to be processed.

[0033] In the reference direction (X direction), a region adjacent to the second region AR2 and closer to the other end 116 of the surface 11 to be machined than the second region AR2 is defined as a third region AR3. In this embodiment, the third region AR3 extends from a boundary B23 between the second region AR2 and the third region AR3 to the other end 116 of the surface 11 to be machined.

[0034] As shown in Fig. 5, the workpiece 10A has a shape (concave-high shape) in which the center is high and the portions on both ends 115 and 116 of the workpiece surface 11 are low in the reference direction. The workpiece 10B has a shape (flat shape) in which there is no difference in height between the center and the portions on both ends 115 and 116 in the reference direction. The workpiece 10C has a shape (concave-low shape) in which the center is low and the portions on both ends 115 and 116 are high in the reference direction.

[0035] <Scraping processing flow> Next, we will explain the scraping process flow executed by the control device 100. Fig. 6 is a flowchart of the scraping method executed by the processor 104 of the control device 100. The flow of the scraping method is started when the control device 100 receives a scraping start request from the user via the input device of the input / output device 103.

[0036] First, in step S110, the processing instruction data generation unit 110 executes a processing instruction data generation process to generate processing instruction data. The processing instruction data generated by the processing instruction data generation unit 110 is stored in the storage device 102.

[0037] Next, in step S120, the machining control unit 111 acquires machining instruction data from the storage device 102. Then, the robot arm 200 is controlled in accordance with the acquired machining instruction data to perform machining processing on the machining target surface 11 of the workpiece 10. When the machining processing is completed, the machining control unit 111 proceeds to step S130.

[0038] In step S125, the machining control unit 111 acquires height information of the machining target surface 11 in the height direction of the workpiece 10. For example, the machining control unit 111 receives height information (spatial coordinates) of the machining target surface 11 measured by the three-dimensional shape measuring device 300 from the three-dimensional shape measuring device 300.

[0039] In step S130, the machining control unit 111 determines, based on the height information, whether the flatness of the machining target surface 11 after machining satisfies a predetermined target flatness. The flatness of the machining target surface 11 is a value obtained by statistically calculating the height difference between the convex and concave portions of the machining target surface 11 over the entire surface based on the acquired height information (Z coordinate). For example, the machining target surface 11 is divided into multiple regions, and for each region, the height difference in the Z axis direction between the highest (most convex) and lowest (most concave) positions (Z coordinates) is calculated, and the flatness is calculated based on the median or mode of the height difference over the entire surface. In this embodiment, if the height difference of the uneven shape of the machining target surface 11 after the flattening process is equal to or less than a predetermined threshold, it may be determined that the flatness of the machining target surface 11 satisfies the predetermined target flatness.

[0040] If it is determined in step S130 that the flatness of the processing target surface 11 satisfies the target flatness, the control device 100 proceeds to step S140. On the other hand, if it is determined in step S130 that the flatness of the processing target surface 11 does not satisfy the target flatness, the process returns to step S110, and the processing instruction data generation process and the processing process are executed again. In other words, the processing process is repeated until the flatness of the processing target surface 11 satisfies the target flatness.

[0041] In step S140, the machining control unit 111 acquires height information of the machining target surface 11 in the height direction of the workpiece 10. The height information is the heights of multiple locations (measurement positions) acquired at a predetermined pitch in each of the first area AR1, the second area AR2, and the third area AR3. This height information is based on a position that is sufficiently lower than the machining target surface 11, such as the surface of the workpiece 10 opposite to the machining target surface 11 or the surface of the measurement stand C2, and the control device 100 converts the data measured by the three-dimensional shape measuring instrument 300 into coordinate data based on the reference.

[0042] In step S150, the determination unit 112 calculates the average height values ​​for each of the areas AR0 to AR3 based on the height information acquired in step S140, and sets the average height values ​​as representative values ​​Z1 to Z3. The representative values ​​may be medians or modes.

[0043] When calculating the representative value for each region AR1 to AR3, the representative value may be calculated from height information excluding values ​​equal to or less than a first threshold and values ​​equal to or greater than a second threshold. FIG. 7 shows an example of height information and thresholds used to calculate the representative value. In FIG. 7, the horizontal axis represents position in the reference direction (length direction), and the vertical axis represents height. A solid line 91 represents height information for the processing surface 11, a dashed line 92 represents the representative value (average value) for each region, a two-dot chain line 93 represents the first threshold, and a single-dot chain line 94 represents the second threshold. The first threshold may be set as a value that divides the height information so that values ​​equal to or less than the threshold and values ​​equal to or greater than the threshold are at a predetermined ratio. By excluding values ​​equal to or less than the first threshold, the influence of noise (value N1 in FIG. 7) can be suppressed, and the representative value can be calculated appropriately. The second threshold may also be set as a value that divides the height information so that values ​​equal to or less than the threshold and values ​​equal to or greater than the threshold are at a predetermined ratio. The second threshold value may be a predetermined height that exceeds the specified height (design dimension) of the workpiece 10, or may be an upper limit value that includes the tolerance for the design dimension of the workpiece 10. By eliminating values ​​equal to or greater than the second threshold value in this way, the influence of extremely high values ​​(value N2 in FIG. 7) such as noise during measurement can be suppressed, and the representative value can be appropriately determined.

[0044] In addition, in this embodiment, since the second area AR2 is set to the same range as the search area AR0, the determination unit 112 sets the representative value Z2 of the second area AR2 as the representative value of the search area AR0.

[0045] In step S160, the determination unit 112 determines whether the surface 11 to be machined has a convex shape based on the representative values ​​of each of the regions AR0, AR1, and AR3. The determination unit 112 determines whether the surface 11 to be machined has a convex shape based on whether the representative value Z2 of the search region AR0 is higher than the representative value Z1 of the first region AR1 and higher than the representative value Z3 of the third region AR3. Therefore, if the representative value Z2 of the search region AR0 is higher than the representative values ​​Z1 and Z3 of both the first region AR1 and the third region AR3, it is determined to have a convex shape.

[0046] In step S160, the convex shape may be determined based on whether the value obtained by adding a predetermined constant to the representative value Z2 of the search area AR0 is higher than the representative value Z1 of the first area AR1 and the representative value Z3 of the third area AR3.

[0047] FIG. 8 is a diagram showing an example in which the representative value Z0 of the search area AR0 is determined by adding a predetermined positive constant C0 to the representative value Z2 of the second area AR2. In FIG. 8, the horizontal axis represents position in the reference direction (length direction), and the vertical axis represents height. A solid line 91 represents height information, a dashed line 92 represents the representative value (average value) of areas AR1 to AR3, and a dashed-dotted line 95 represents the representative value Z0 of the search area AR0 obtained by adding the predetermined constant C0 to the representative value Z2 of the search area AR0. By using the representative values ​​Z0, Z1, and Z3 to determine whether the search area AR0 has a convex shape, it can be determined that the search area AR0 has a convex shape, and the influence of fitting due to a local protrusion M1 in the search area AR0 can be prevented.

[0048] On the other hand, FIG. 9 shows the search area AR2 obtained by adding a negative predetermined constant C0 to the representative value Z2 of the second area AR2. 9 is a diagram showing an example in which a representative value of 0 is used. Compared to FIG. 8, FIG. 9 differs in that the predetermined constant C0 is a negative value, but the other configurations are the same. Even if the shape is close to a flat shape and has almost no adverse effect on lapping with the surface plate, if the representative value Z2 of the search area AR0 is slightly higher than the representative value Z1 of the first area AR1 and the representative value Z3 of the third area AR3, it will be determined to be a convex shape. Therefore, by using Z0, which is the representative value Z2 of the search area AR0 plus the negative predetermined constant C0, as the representative value of the search area AR0 as shown in FIG. 9, it is possible to prevent the shape from being determined to be a convex shape and to eliminate the need for additional machining.

[0049] In step S170, the processing instruction data generation unit 110 determines the height of area AR0 (AR2) relative to area AR1 or area AR3 as a mid-height based on the representative values ​​of each area AR0 (AR2), AR1, and AR3, and executes processing instruction data generation processing to perform additional processing (scraping) on ​​the search area AR0 at a cutting depth corresponding to this mid-height. This processing instruction data generation processing is the same as the processing instruction data generation processing in step S110 described above.

[0050] The processing instruction data generation unit 110 calculates the mid-height η of the processing target surface 11 by subtracting the higher of the representative value Z1 of the first area AR1 and the representative value Z3 of the third area AR3 from the representative value Z2 of the search area AR0 (second area AR2). η = Z2 - Zm Equation 1 m=1,3.

[0051] Furthermore, when adding a predetermined constant C0 to the representative value Z2 of the search area AR0 (second area AR2) as shown in Figures 8 and 9, the mid-height ηb of the surface 11 to be machined may be obtained by subtracting the higher of the representative value Z1 of the first area AR1 and the representative value Z3 of the third area AR3 from the value obtained by adding the predetermined constant C0 to the representative value Z2 of the search area AR0 (second area AR2) as shown in Equation 2. ηb=η+C0=(Z2+C0)−Zm...Equation 2 m=1,3.

[0052] In step S180, the machining control unit 111 controls the robot arm 200 in accordance with the machining instruction data for additional machining created in step S170, and performs additional machining (scraping) on ​​the machining target surface 11 of the workpiece 10. When this additional machining is completed, the control device 100 returns to step S160, and repeats steps S160 to S180 until it is determined in step S160 that the shape is not a convex shape.

[0053] It is also possible to confirm the validity of the determination of the cone shape using the cone height. Based on the cone height, a mapping of the difference in height between the first area AR1 or the third area AR3 and the search area AR0 can be output, and the shape of the surface 11 to be machined can be grasped. Figures 10 to 12 show an example in which a sigmoid function is used as such a mapping. The sigmoid function converts an input value (here, the cone height) into a numerical value between 0 and 1 and outputs it. Figure 10 shows an example in which the output of the sigmoid function is large (close to 1), Figure 11 shows an example in which the output of the sigmoid function is small (close to 0), and Figure 12 shows an example in which the output of the sigmoid function is medium (close to 0.5). In Figures 10 to 12, the horizontal axis represents position in the reference direction (length direction), and the vertical axis represents height. 10 to 12, it can be seen that when the output of the sigmoid function in Fig. 10 is close to 1, the surface 11 to be machined tends to have a convex shape, and when the output of the sigmoid function in Fig. 11 is close to 0, the surface 11 to be machined tends to have a concave shape. Also, when the output of the sigmoid function in Fig. 12 is close to 0.5, it can be seen that the surface 11 to be machined tends to have a flat shape. Note that the confirmation of the convex shape is not limited to the sigmoid function, and other functions, such as a function that converts into a probability value, may also be used.

[0054] As described above, according to this embodiment, the control device 100 determines the representative values ​​Z1, Z2 (Z0), and Z3 of the regions AR1, AR2 (AR0), and AR3 from the height information of the surface 11 to be machined, and determines whether the surface 11 to be machined is centered or not depending on whether the representative value Z2 (Z0) is higher than the representative values ​​Z1 and Z3. It is possible to determine whether the shape is high or low.

[0055] In this embodiment, the control device 100 performs control (determination control) to determine whether or not the shape is a convex shape, and control of the robot arm, etc., but the control device for controlling the robot arm and the control device (determination device) for determining the convex shape may be separate entities.

[0056] In step 140 of this embodiment, if the height information acquired in step S125 for determining flatness can also be used for determining the height of the center, the processing control unit 111 may acquire this height information by reading it from the memory device 102.

[0057] Second Embodiment Next, a second embodiment will be described. In this embodiment, unlike the first embodiment, a second region AR2 is defined as a region smaller than the search region AR0, and the position of the second region AR2 is varied within the search region AR0 to determine a representative value for each region AR0-AR3. The peak shape is determined based on this representative value. The remaining configuration is the same as in the first embodiment, and therefore, the same elements are designated by the same reference numerals and will not be described again.

[0058] FIG. 13 is a schematic plan view showing an example of a second embodiment in which a determination is made by varying the position of the second region AR2 within the search region AR0. In FIG. 13, in state ST1, the second region AR2 is set closest to the first region AR1 within the search region AR0. In state ST1, the second region AR2 is set narrower than in the first embodiment, and the third region AR3 is correspondingly wider. In this state, a representative value for each region AR1-AR3 is calculated, and the representative value Z2 for the second region AR2 or Z0, which is the value obtained by adding a predetermined constant C0 to the representative value Z2, is set as the representative value for the search region AR0. It is then determined whether the representative value Z2 or Z0 for the search region AR0 is higher than the representative value Z1 for the first region AR1 and higher than the representative value Z3 for the third region AR. Hereinafter, this determination will also be referred to as a comparative determination.

[0059] Next, as shown in state ST2 in Figure 13, the second area AR2 is set by moving the second area AR2 by a predetermined distance Δ0 within the search area AR0 toward the third area AR3 compared to state ST1. This predetermined distance is shorter than the range (total length) of the second area AR2 in the reference direction, and the ranges set for the second area AR2 in states ST1 and ST2 partially overlap. Note that when setting the second area AR2 at different positions, the ranges of the second area AR2 may be set so that they do not overlap. Then, as in state ST1, representative values ​​Z1 to Z3 for each area AR0 to AR3 are calculated, and these representative values ​​Z1 to Z3 are compared and determined.

[0060] As in state STN, the second area AR2 is moved as far as possible toward the third area AR3 within the search area AR0, and the same process is repeated multiple times until a comparison is made for the representative values ​​of each of the areas AR0 to AR3. Hereinafter, this process of making a comparison while changing the position of the second area AR2 within the search area AR0 will also be referred to as a search. If at least one of the results of these comparisons is a positive judgment, the workpiece surface 11 is judged to have a convex shape.

[0061] 14 is a flowchart of the scraping method executed by the processor 104 of the control device 100 according to the second embodiment. Note that the processes from step S110 to step S140 and step S160 to step S180 are the same as those in FIG. 6 described above.

[0062] In step S145, the determination unit 112 sets a second area AR2 within the search area AR0 that is smaller than the search area AR0, thereby also setting a first area AR1 and a third area AR3.

[0063] In step S150, the determination unit 112 determines whether the height information acquired in step S130 is Based on this, a representative value of the height of each of the regions AR0 to AR3 is calculated. The method for calculating the representative value is the same as in the first embodiment, but because the second region AR2 is set smaller than in the first embodiment, the areas of each of the regions AR1 to AR3 differ from those in the first embodiment.

[0064] In step S155, the determination unit 112 compares the representative values ​​of the areas AR0, AR1, and AR3 and stores the determination results in the storage device .

[0065] 15 is a diagram illustrating the effect of setting a second area AR2 in a range narrower than the search area AR0. The solid line 91 shown in states ST5 and ST6 indicates height information of the machining surface 11 of the same workpiece 10. State ST5 shows an example in which the representative value Z2 is calculated using height information of the entire search area AR0, as in the first embodiment. On the other hand, state ST6 shows an example in which the second area AR2 is set in a range narrower than the search area AR0, and the representative value Z2 is calculated from the height information of this range.

[0066] As shown by the height information of the solid line 91, the surface 11 to be machined has a high shape at a portion 81 of the search area AR0. If the representative value Z2 is calculated by averaging the height information of the entire search area AR0, as in state ST5, the influence of the portion 81 is reduced and the calculated value of the representative value Z2 is low. As a result, the determination unit 112 erroneously determines that the surface 11 to be machined does not have a convex shape.

[0067] In contrast, when the representative value Z2 is calculated by averaging the height information within the second region AR2 as in state ST6, the influence of the portion 81 becomes greater, and the representative value Z2 is calculated to be higher. Therefore, the determination unit 112 can determine that the processing surface 11 has a convex shape.

[0068] In step S157, the determination unit 112 determines whether the search is complete based on whether the search has been repeated a predetermined number of times. The value of the predetermined number of times (hereinafter referred to as NA) can be determined based on the length LA of the search area AR0 and the length LB of the second area AR2. For example, NA = (LA - LB) / Δ0 + 1. In this case, the length LA of the search area AR0, the length LB of the second area AR2, and the predetermined distance Δ0 are set so that no remainder occurs. Alternatively, the predetermined distance Δ0 may be set equal to the length LB of the second area AR2, and NA may be set as NA = LA / LB. If the determination result is positive, the determination unit 112 proceeds to step S160, and if the determination result is negative, the determination unit 112 returns to step S145. When returning to step S145, the determination unit 112 moves the second area AR2 from the previously set position of the second area AR2 toward the third area AR3 by the predetermined distance Δ0 within the range of the search area AR0, resets the second area AR2, and repeats the search of steps S145 to S157 until the determination result is positive.

[0069] In step S160, the determination unit 112 reads from the storage device 102 the determination results of step S155 that have been repeated multiple times, and if any one determination is positive, it determines that the workpiece surface 11 has a convex shape, and proceeds to step S170. Note that the processing from step S170 onwards is the same as that in the first embodiment described above. In this embodiment, steps S145 to S157 are repeated to set a second area AR2 that is narrower than the search area AR0, and search the entire search area AR0 before proceeding to step S160. However, this is not limiting. For example, when the representative values ​​of the areas AR0, AR1, and AR3 are compared and determined in step S155, if the representative value of area AR0 is higher than the representative values ​​of areas AR1 and AR3, it may be determined that the workpiece surface 11 has a convex shape, and proceed to step S170. If the representative value of area AR0 does not have a convex shape, it may return to step S145 and continue the search.

[0070] The additional processing (scraping) in this embodiment is not limited to processing the entire search area AR0. If the determination unit 112 determines in step S155 that the search area AR0 has a convex shape, the process may proceed to step S170 to perform additional processing to cut the convex area. This can shorten the additional processing time.

[0071] <Other embodiments> The above-described embodiment is merely an example, and the present disclosure may be modified as appropriate within the scope of the present disclosure. Furthermore, the processes and means described in the present disclosure may be freely combined and implemented as long as no technical contradiction occurs.

[0072] The means for solving the above-described problems in the present disclosure may be a computer program that is read and executed by the processor 104. The computer program is provided to a computer (control device 100), and one or more processors of the computer read and execute the program, thereby realizing the functions of the above-described functional units and controlling the robot arm 200, etc. Such a computer program may be provided to the computer by a non-transitory computer-readable storage medium connectable to the system bus of the computer, or may be provided to the computer via a network. [Explanation of symbols]

[0073] 1...Automatic scraping processing equipment 10. Work 11. Machining surface 100 Control device 110 Processing instruction data generation unit 111 Processing control unit 200···Robot arm 300...3D shape measuring instrument

Claims

1. 1. A determination device for determining the shape of a surface to be machined of a workpiece whose surface to be machined has been machined, comprising: acquiring height information of the processing target surface in a height direction of the workpiece; In a reference direction of the surface to be machined extending in any one direction perpendicular to the height direction, a partial range including the center of the surface to be machined is set as a search area, a partial area on one end side of the surface to be machined is set as a first area, an area within the search area that is set with the range of the search area as the maximum range and that is adjacent to the other end side of the first area is set as a second area, and an area adjacent to the other end side of the second area is set as a third area, and a representative value of the height of each area is obtained based on the height information obtained in each area, and a representative value of the search area is obtained from the representative value of the second area; determining whether the surface to be machined has a convex shape based on whether the representative value of the search area is higher than the representative value of the first area and higher than the representative value of the third area; A determination device comprising a control unit that executes the above.

2. The control unit sets the second area to a range narrower than the search area, sets a representative value of the second area as a representative value of the search area, and performs a determination multiple times by changing the position of the second area within the search area as to whether the representative value of the search area is higher than the representative value of the first area and higher than the representative value of the third area, and if at least one of the determination results is a positive determination, determines that the surface to be machined has a convex shape.

3. the first region is a region from a boundary with the second region to one end of the processing target surface, The determination device according to claim 2 , wherein the third region is a region from a boundary with the second region to the other end of the processing surface.

4. The determination device according to claim 1 , wherein the control unit determines a representative value of the first region, a representative value of the second region, and a representative value of the third region from values ​​of the height information that are equal to or greater than a threshold value.

5. 2. The determination device according to claim 1, wherein the representative value is one of an average value, a median value, and a mode value, or a value obtained by adding a predetermined constant to one of the average value, the median value, and the mode value.

6. The control unit subtracts the higher of the representative value of the first region and the representative value of the third region from the representative value of the second region to obtain the mid-height of the surface to be processed. A determination device according to any one of claims 1 to 5.

7. 6. The determination device according to claim 1, wherein the surface to be machined is rectangular, and the reference direction is the length direction of the surface to be machined.

8. a processing robot that holds and operates a scraper having a cutting blade; a control device that controls the processing robot and strokes the scraper along the processing target surface of the workpiece to cut the processing target surface; The determination device according to claim 6 ; Equipped with When the determination device determines that the surface to be machined has a convex shape, the control device controls the machining robot to cut the search area of ​​the workpiece based on the convex shape. Processing equipment.

9. The control device is configured to: The processing device according to claim 8, wherein the second region determined to be higher than the representative value of the three regions is determined to be a convex region, and the processing robot is controlled to cut the convex region within the search region.

10. a control unit of a determination device for determining a shape of a surface to be machined of a workpiece whose surface to be machined has been machined, acquiring height information of the processing target surface in a height direction of the workpiece; In a reference direction of the surface to be machined that extends in any one direction perpendicular to the height direction, a partial range including the center of the surface to be machined is set as a search area, a partial area on one end side of the surface to be machined is set as a first area, an area within the search area that is set with the range of the search area as the maximum range and that is adjacent to the other end side of the first area is set as a second area, and an area adjacent to the other end side of the second area is set as a third area, and a representative value of the height of each area is obtained; determining a representative value of the search region from the representative value of the second region; determining whether the surface to be machined has a convex shape based on whether the representative value of the search area is higher than both the representative value of the first area and the representative value of the third area; A determination method to be performed.

11. a control unit of a determination device for determining the shape of a surface to be machined of a workpiece whose surface to be machined has been machined, acquiring height information of the processing target surface in a height direction of the workpiece; In a reference direction of the surface to be machined that extends in any one direction perpendicular to the height direction, a partial range including the center of the surface to be machined is set as a search area, a partial area on one end side of the surface to be machined is set as a first area, an area within the search area that is set with the range of the search area as the maximum range and that is adjacent to the other end side of the first area is set as a second area, and an area adjacent to the other end side of the second area is set as a third area, and a representative value of the height of each area is obtained; determining a representative value of the search region from the representative value of the second region; determining whether the surface to be machined has a convex shape based on whether the representative value of the search area is higher than both the representative value of the first area and the representative value of the third area; A judgment program for executing the above.

Images