Processing method, processing program, and processing system

Abstract

To provide a processing method, a processing program and a processing system capable of appropriately extracting a contour of a base material.SOLUTION: According to the present invention, a processing method includes a position information acquisition step for acquiring position information about a position of a processing object in a three-dimensional space, an image acquisition step for acquiring image information of the processing object, a scale detection step for respectively calculating approximation curves from a plurality of kinds of moving average points having the number of points for extraction points different from one another by using a plurality of extraction points extracted as the contour of the processing object in an image of the processing object, and detecting extraction points located outside a region in which contour determination ranges set in each approximation curve overlap as a scale, a correction step for correcting a conveyance position to a processing part of a conveyance arm on the basis of the position information and detection information of the scale, and a processing step for performing processing to the processing object conveyed to the corrected conveyance position.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] This invention relates to a processing method, a processing program, and a processing system. [Background technology]

[0002] Conventionally, when manufacturing products by forging, a method is known in which a base material to be forged is transported using a transport arm and the base material is subjected to forging. The transport arm grips the base material and positions it at a predetermined position in the forging apparatus by rotating and extending / contracting (see, for example, Patent Document 1). When positioning the base material, an image of the base material is captured to detect its position and orientation, and this image is used to correct the positional relationship between the base material and a preset reference position. In this case, the contour of the base material is detected using, for example, edge extraction (see, for example, Patent Document 2). [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2016-159363 [Patent Document 2] Japanese Patent Publication No. 2010-256053 [Overview of the project] [Problems that the invention aims to solve]

[0004] Incidentally, if the base material has been heat-treated, scale may adhere to its surface. Depending on the location of the scale on the base material, edge extraction may become inaccurate, and the contour of the base material may not be properly extracted. If the contour of the base material is not properly extracted, the transport position of the base material will also shift from the reference position.

[0005] The present invention has been made in view of the above, and aims to provide a processing method, processing program, and processing system that can appropriately extract the contour of a base material. [Means for solving the problem]

[0006] To solve the above-mentioned problems and achieve the objective, the processing method according to the present invention is a processing method that transports an object to be processed to a processing unit by a transport arm and processes the object to be processed, and is characterized by including: a transport step of transporting the object to be processed to a position information acquisition unit provided at a position different from the processing unit; a position information acquisition step of acquiring position information relating to the position of the object to be processed transported to the position information acquisition unit in three-dimensional space; an image acquisition step of acquiring image information of the object to be processed transported to the position information acquisition unit; a scale detection step of using a plurality of extracted points extracted as the contour of the object to be processed in the image of the object to be processed, calculating approximation curves from a plurality of moving average points with different numbers of extracted points, and detecting extracted points located outside the region where the contour determination range set in each approximation curve overlaps as a scale; a correction step of correcting the transport position of the transport arm to the processing unit based on the position information and the scale detection information; and a processing step of processing the object to be processed transported to the corrected transport position.

[0007] Furthermore, the processing method according to the present invention is characterized in that, in the above invention, the correction step corrects the transport position using the contour of the object to be processed, which is composed of extraction points excluding the extraction points detected as the scale.

[0008] Furthermore, the processing method according to the present invention is characterized in that, in the above invention, the scale detection step calculates approximation curves from two moving average points with different numbers of extracted points, and detects extracted points located outside the region where the contour determination ranges set in each approximation curve overlap as the scale.

[0009] Furthermore, the processing method according to the present invention is characterized in that, in the above invention, the scale detection step calculates approximation curves from a 10-point moving average and a 30-point moving average, respectively, and detects extracted points located outside the region where the contour determination ranges set in each approximation curve overlap as scale.

[0010] Furthermore, the processing program according to the present invention is a processing program that transports an object to be processed to a processing unit by a transport arm and processes the object to be processed, and is characterized in that it causes a computer to execute the following steps: transport step of transporting the object to be processed to a position information acquisition unit provided at a different location from the processing unit; position information acquisition step of acquiring position information relating to the position of the object to be processed in three-dimensional space that has been transported to the position information acquisition unit; image acquisition step of acquiring image information of the object to be processed that has been transported to the position information acquisition unit; scale detection step of using a plurality of extracted points extracted as the contour of the object to be processed in the image of the object to be processed, calculating approximation curves from a plurality of moving average points with different numbers of extracted points, and detecting extracted points located outside the region where the contour determination range set in each approximation curve overlaps as a scale; correction step of correcting the transport position of the transport arm to the processing unit based on the position information and the scale detection information; and processing step of processing the object to be processed that has been transported to the corrected transport position.

[0011] In addition, the processing system according to the present invention includes a transfer arm that transfers an object to be processed, a processing unit that processes the object to be processed transferred by the transfer arm, a position information acquisition unit that is provided at a position different from the processing unit and acquires position information regarding the position of the object to be processed in a three-dimensional space, an image acquisition unit that acquires image information of the object to be processed transferred to the position information acquisition unit, and in the image of the object to be processed, using a plurality of extraction points extracted as the contour of the object to be processed, approximate curves are respectively calculated from a plurality of types of moving average points with different numbers of extraction points, and a scale detection unit that detects, as a scale, extraction points located outside a region where contour determination ranges set in each approximate curve overlap, and a correction unit that corrects the transfer position of the transfer arm to the processing unit based on the position information and the detection information of the scale, wherein the transfer arm transfers the object to be processed to the corrected transfer position.

Advantages of the Invention

[0012] According to the present invention, there is an effect that the contour of the base material can be appropriately extracted.

Brief Description of the Drawings

[0013] [Figure 1] FIG. 1 is a side view showing an example of the configuration of a stabilizer manufactured in one embodiment of the present invention. [Figure 2] FIG. 2 is a view showing a base material for manufacturing the stabilizer shown in FIG. 1, and shows the base material before forming a through hole by forging. [Figure 3] FIG. 3 is a view showing a processing system for manufacturing the stabilizer shown in FIG. 1. [Figure 4] FIG. 4 is a view showing the correction information acquisition device shown in FIG. 3. [Figure 5] FIG. 5 is a flowchart showing the flow of a forging process executed by the processing system. , [Figure 6] FIG. 6 is a view (Part 1) for explaining the correction information acquisition process. [Figure 7]Figure 7 is a diagram (part 2) illustrating the correction information acquisition process. [Figure 8] Figure 8 is a diagram (part 3) illustrating the correction information acquisition process. [Figure 9] Figure 9 is a diagram (part 1) illustrating the scale detection process. [Figure 10] Figure 10 is a diagram (part 2) illustrating the scale detection process. [Figure 11] Figure 11 is a diagram (part 3) illustrating the scale detection process. [Figure 12] Figure 12 is a diagram (part 4) illustrating the correction information acquisition process. [Modes for carrying out the invention]

[0014] Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described with reference to the attached drawings. Note that the drawings are schematic, and the relationship between the thickness and width of each part, the ratio of the thickness of each part, etc., may differ from reality, and there may be parts where the dimensional relationships and ratios differ between drawings.

[0015] (Embodiment) Figure 1 is a side view showing an example of the configuration of a stabilizer manufactured in one embodiment of the present invention. The stabilizer 1 shown in Figure 1 is made of metal or various fibers (for example, carbon fiber). The stabilizer 1 has a main body portion 2 which is bent at both ends and extends linearly in the center, a first end portion 3 provided at one end of the main body portion 2, and a second end portion 4 provided at the other end of the main body portion 2.

[0016] The main body 2 extends in a columnar shape, for example, a cylindrical shape. The main body 2 may be solid or hollow.

[0017] The first end portion 3 is flat. A through hole 31 is formed in the first end portion 3, penetrating in the thickness direction of the plate. For example, the position of the through hole 31 is designed by the distances W1 and W2 between the outer edge and the through hole 31. The second end portion 4 is flat. A through hole 41 is formed in the second end portion 4, penetrating in the thickness direction of the plate. For example, when the stabilizer 1 is installed in an automobile, the first end 3 is connected to one of the suspensions located on the left and right sides, and the second end 4 is connected to the other suspension. In this case, each end is fixed to the suspension through a through hole.

[0018] Stabilizer 1 is manufactured by processing a base material. For example, a columnar base material is bent, then both ends are pressed to flatten it into a plate shape, and through holes are formed at each end.

[0019] Figure 2 shows the base material for manufacturing the stabilizer shown in Figure 1, before the formation of through holes by forging. The stabilizer 1 is manufactured, for example, by forming through holes at the ends of the base material 10. The base material 10 has a main body portion 11 which is bent at both ends, a first end portion 12 provided at one end of the main body portion 11, and a second end portion 13 provided at the other end of the main body portion 11. The base material 10 is manufactured by bending a rod-shaped material and then pressing the ends to make them flat. In the forging process, the base material 10 is transported to the forging position to form through holes in the first end 12 and the second end 13.

[0020] Next, the forging process for forming through holes at both ends of the base material 10 described above will be explained with reference to Figures 3 to 9. Figure 3 is a diagram showing a forging process system for manufacturing the stabilizer shown in Figure 1. The forging process system 100 comprises a forging processing device 200 that performs the forging process on the base material 10, and a control device 300 that electrically controls the forging processing device 200.

[0021] The forging apparatus 200 includes a transport unit 210 that transports the base material 10 and the base material 10 (stabilizer 1) after forging, a forging unit 220 that performs forging on the base material 10, a correction information acquisition unit 230 that acquires correction information to correct the position of the base material 10 transported by the transport unit 210, a supply unit 240 that holds the base material 10 transported by the transport unit 210 and supplies the base material 10 to be forged, and a discharge unit 250 that transports the base material 10 after forging and discharges the base material 10 to the outside. The forging apparatus 200 shown in Figure 3 corresponds to an arrangement view of the forging apparatus 200 from above. In this arrangement view, the plane corresponding to the bottom surface (device mounting surface) is the XY plane, and the direction perpendicular to the XY plane is the Z direction. In this case, the X, Y, and Z directions are perpendicular to each other. The Z direction is sometimes called the height direction. This height direction is the vertical direction, that is, the direction parallel to the direction of gravity.

[0022] The transport unit 210 has a transport arm 211. Under the control of the control device 300, the transport arm 211 takes the base material 10 from the supply unit 240 and transports it to the discharge unit 250 via the correction information acquisition unit 230 and the forging processing unit 220. The transport arm 211 has multiple arms and joints that extend, extend, and rotate to transport the base material 10 to a position where it can be processed in each unit.

[0023] The forging section 220 performs forging and deburring / scale removal processes on the base material 10 conveyed by the transport arm 211. The forging section 220 has a punch that moves back and forth in the Z direction. As a result, the forging section 220 forms a through hole that penetrates the base material 10 in the Z direction.

[0024] The correction information acquisition unit 230 acquires information for correcting the position in the X, Y, and Z directions and transmits it to the control device 300.

[0025] Figure 4 shows the correction information acquisition device shown in Figure 3. The correction information acquisition unit 230 includes a light-emitting unit 231, a light-receiving unit 232, an imaging unit 323, and an illumination unit 234.

[0026] The light-emitting unit 231 emits light to detect the position of the base material 10 in the Z direction. The light-emitting unit 231 emits light in the ultraviolet wavelength band or the infrared wavelength band (infrared light), for example. The light-emitting unit 231 emits light in the X direction.

[0027] The light-receiving unit 232 is positioned to receive light emitted from the light-emitting unit 231. The light-receiving unit 232 is constructed using a light-receiving element. Any light-receiving element capable of detecting the position of an object in the Z direction is acceptable, such as a PSD (Position Sensitive Detector), a CCD (Charge Coupled Device) image sensor, or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The following describes the case where a CCD is used as the light-receiving element. When the light-receiving unit 232 is equipped with a CCD as the light-receiving element, it forms a light-receiving surface with multiple pixels arranged on the YZ plane, and outputs the detected value (received light intensity) detected by each pixel to the control device 300. The light-emitting unit 231 and the light-receiving unit 232 constitute a displacement sensor that detects the position of the end of the base material 10 in the Z direction.

[0028] The imaging unit 233 images the end portion (first end portion 12 or second end portion 13) of the transported base material 10. The imaging unit 233 has an optical axis of imaging optics that is perpendicular to the XY plane, and it images using a plane parallel to this XY plane as the imaging surface. The imaging unit 233 outputs the image signal generated by imaging to the control device 300. The imaging unit 233 is configured using an image sensor such as a CCD or CMOS.

[0029] The illumination unit 234 illuminates the imaging area of ​​the imaging unit 233. The illumination unit 234 is configured using, for example, a lamp light source such as an LED (Light Emitting Diode), a laser light source, or a xenon lamp.

[0030] Returning to Figure 3, the control device 300 electrically controls the operation of the forging apparatus 200. The control device 300 includes a displacement information acquisition unit 301, a height measurement unit 302, an image acquisition unit 303, a scale detection unit 304, a shift amount calculation unit 305, a control unit 306, and a storage unit 307.

[0031] The displacement information acquisition unit 301 is connected to the light receiving unit 232 in a communication manner. The displacement information acquisition unit 301 outputs the received detection value to the control unit 306. The displacement information acquisition unit 301 is configured using a communication interface. The displacement information acquisition unit 301 corresponds to the position information acquisition unit.

[0032] The height measurement unit 302 measures the height of the transported base material 10 based on the detected value acquired by the displacement information acquisition unit 301. The height measurement unit 302 measures the position of the end of the base material 10 based on the reception intensity of each pixel of the light receiving unit 232. For example, if the end of the base material 10 is located between the light emitting unit 231 and the light receiving unit 232, the light from the light emitting unit 231 is blocked, and the reception intensity of the corresponding pixel decreases. The height measurement unit 302 uses the position where the reception intensity of the pixel is low as the end location and measures the height at which the end of the base material 10 is located. The height referred to here corresponds to the amount of deviation in the Z direction from a preset reference position.

[0033] The image acquisition unit 303 is connected to the imaging unit 233 in a communication manner. The image acquisition unit 303 outputs the received image signal to the control unit 306. The image acquisition unit 303 is configured using a communication interface.

[0034] The scale detection unit 304 uses the image signal acquired by the image acquisition unit 303 to detect scale adhering to the surface of the base material.

[0035] The shift amount calculation unit 305 uses the image signal acquired by the image acquisition unit 303 and the detection result of the scale detection unit 304 to calculate the shift amount, which is the deviation of the end of the base material 10 from a preset reference position. In this embodiment, the shift amount calculation unit 305 calculates the deviation from the reference position in the X, Y, and Z directions. Here, for example, the shift amount calculation unit 305 calculates the shift amount in the X and Y directions using the image signal, and in the Z direction, it calculates the shift amount based on the height measured by the height measurement unit 302. The shift amount calculation unit 305 corresponds to the correction unit.

[0036] The control unit 306 controls the operation of each component of the control device 300 and the forging apparatus 200. For example, the control unit 306 determines whether the height measured by the height measuring unit 302 is a preset height, and adjusts the end position of the base material 10 based on the determination result. The control unit 306 also controls the transport position of the base material 10 by the transport arm 211 based on the shift amount calculated by the shift amount calculation unit 305.

[0037] The height measurement unit 302, scale detection unit 304, shift amount calculation unit 305, and control unit 306 are each composed of processors such as a CPU (Central Processing Unit) or various arithmetic circuits that perform specific functions, such as an ASIC (Application Specific Integrated Circuit).

[0038] The memory unit 307 stores programs for the control unit 306 to perform various operations (for example, a program for performing the forging process described later), as well as thresholds related to position correction. The memory unit 307 is configured using volatile memory, non-volatile memory, or a combination thereof. For example, the memory unit 307 is configured using RAM (Random Access Memory), ROM (Read Only Memory), etc.

[0039] In addition, the control device 300 may have an input unit that receives various signals related to the operation of the control device 300, and an output unit that displays images or outputs sound or light. The input unit is configured using a keyboard, mouse, switch, touch panel, etc. The output unit is configured using a display, speaker, light source, etc.

[0040] Next, the forging process performed by the forging system 100 will be explained with reference to Figures 5 to 12. Figure 5 is a flowchart showing the flow of the forging process executed by the forging system. Figures 6 to 8 and 12 are diagrams illustrating the correction information acquisition process. Figures 9 to 11 are diagrams illustrating the scale detection process.

[0041] First, the workpiece is removed from the supply unit 240 by the transport arm 211 (step S101). Below, we will describe an example in which the workpiece is a base material 10 having the shape shown in Figure 2, and through holes 31 and 41 are formed by a forging process.

[0042] The transport arm 211 transports the workpiece to the correction information acquisition unit 230 (step S102). The transport arm 211 extends and retracts to a preset length and rotates its joints at a set angle to position the workpiece in the correction information acquisition unit 230. At this time, for example as shown in Figure 6, one end of the base material 10 (the first end 12 or the second end 13) is positioned between the light emitting unit 231 and the light receiving unit 232.

[0043] When the workpiece is transported to the correction information acquisition unit 230, the height measurement unit 302 measures the height of the workpiece (step S103: position information acquisition step). The height measurement unit 302 receives detected values ​​from the displacement sensor (light receiving unit 232) and measures the position (height) of the workpiece (end of the base material 10) based on the received intensity of each pixel. The height measurement unit 302 outputs the measured height to the control unit 306.

[0044] The control unit 306 determines whether the measured height is within a preset reference range (step S104). If the measured height is within the reference range (step S104: Yes), the control unit 306 proceeds to step S106. Conversely, if the measured height is outside the reference range (step S104: No), the control unit 306 proceeds to step S105.

[0045] In step S105, the control unit 306 takes the difference between, for example, a representative value of the measured height and a representative value of the reference range, and moves the workpiece by a height corresponding to this difference. Here, the representative value can be the midpoint, maximum value, minimum value, etc., in the Z direction. The transport arm 211 moves the workpiece in the Z direction by a distance corresponding to the difference. For example, by moving the base material 10 in the direction of arrow Q1 (Z direction) shown in Figure 6, the position of the first end 12 is adjusted as shown in Figure 7. This adjustment adjusts the position in the optical axis direction of the imaging position by the imaging unit 233. Alternatively, different correction values ​​for each height may be stored in the memory unit 307 beforehand, and the correction value determined according to the measured height may be used as the correction value for adjusting the position in the optical axis direction.

[0046] In step S106, the control unit 306 causes the imaging unit 233 to perform imaging processing (image acquisition step). The control unit 306 emits illumination light from the illumination unit 234 and causes the imaging unit 233 to perform imaging processing (see Figure 8). The imaging unit 233 captures an image of the workpiece and outputs an image signal to the control device 300 (image acquisition unit 303). The image signal includes the captured image and image information such as the time of capture.

[0047] After the imaging process, the control unit 306 causes the scale detection unit 304 to execute scale detection processing (step S107: scale detection step). The scale detection unit 304 executes scale detection processing at the end of the base material 10 using the imaging signal. For example, in the image of the first end portion 12 shown in FIG. 9, the scale detection unit 304 extracts the contour of the first end portion 12 using a known method such as edge detection. At this time, as an extraction result, a plurality of extraction points are generated at predetermined intervals. In the present embodiment, for the first end portion 12, an approximate curve L is calculated from 10-point moving average points based on 10 extraction points, and an approximate curve L is calculated from the second end portion 12 based on 30 extraction points. 10 is calculated, and an approximate curve L is calculated from 30-point moving average points based on 30 extraction points. 30 is calculated. The moving average points may be based on different extraction points, but from the viewpoint of increasing the difference in the shape change due to the scale, it is preferable that the difference in the number of each moving average point is larger. In the present embodiment, an example in which there are two types of moving average points will be described, but approximation curves may be calculated using a plurality of types of three or more types of moving average points.

[0048] The approximate curve is generated as a function approximated by an (n - 1) - th order equation for n extraction points. At this time, the coefficients of the (n - 1) - th order function are calculated, for example, by the following equation (1).

Equation

[0049] Here, a threshold is set for each approximation curve. Specifically, approximation curve L 10 For the given approximation curve L, 10 A range is set with the distance from a threshold. This distance is the distance in the direction perpendicular to the longitudinal axis of the end (for example, axis N shown in Figure 9). For example, in Figure 10, the vertical direction of the paper is the longitudinal axis direction, and a range is set according to the distance in the left-right direction of the paper. Furthermore, in this left-right direction, the left side is the side opposite the second end 13 to the first end 12 (OUT side), and the right side is the side facing the second end 13 to the first end 12 (IN side). In the example in Figure 10, the approximation curve L 10 In contrast, the threshold TO on the OUT side 10 and the threshold TI on the IN side 10 Contour determination range TH determined by 10 The following is set. Also, the approximation curve L 30 In contrast, the threshold TO on the OUT side 30 and the threshold TI on the IN side 30 Contour determination range TH determined by 30 This will be set.

[0050] The scale detection unit 304 determines that each extracted point is within the contour determination range TH. 10 and contour detection range TH 30 The scale detection unit 304 determines whether the extracted point is located outside the overlapping area (the area shown by hatching in Figure 10). If the extracted point to be determined is located outside the area, the scale detection unit 304 determines that the contour position indicated by the extracted point is due to the scale and detects it as a scale. On the other hand, if the extracted point to be determined is located within the area, the scale detection unit 304 determines that the contour position indicated by the extracted point is on the contour of the first end 12. For each extracted point, the scale detection unit 304 determines whether it is due to the scale or on the contour of the first end 12. For example, in Figure 11, extracted points determined to be due to the scale are shown with ○, and extracted points determined to be on the contour of the first end 12 are shown with ●.

[0051] The shift amount calculation unit 305 calculates the shift amount based on the image signal acquired by the image acquisition unit 303 and the detection result of the scale detection unit 304 (step S108: correction step). The shift amount calculation unit 305 calculates the displacement (shift amount) of the end position in the XY plane from the image of the end of the base material 10. At this time, the shift amount calculation unit 305 excludes extracted points that are determined to be scale-related from the calculation of the end position. The shift amount calculation unit 305 calculates the displacement in the X direction and Y direction of the end of the base material 10 shown in the image from a preset position. The shift amount calculation unit 305 detects the end position in the image by, for example, contour extraction, and calculates the difference between the end position in the X direction and the reference position in the X direction as the displacement in the X direction. The shift amount calculation unit 305 also calculates the difference between the detected end position in the Y direction and the reference position in the Y direction as the displacement in the Y direction. The shift amount calculation unit 305 outputs a shift amount to the control unit 306 that associates the X-direction displacement, Y-direction displacement, and Z-direction displacement. Here, the Z-direction displacement is the difference calculated in step S104. Note that if it is determined in step S104 that the height reference range is met, the Z-direction displacement may be set to zero. Also, if a correction value set for each height is used, the correction value is set for the Z-direction shift amount.

[0052] Subsequently, the control unit 306 corrects the position to which the transport arm 211 transports the workpiece based on the shift amount, and sets the workpiece transport position in the forging processing unit 220 (step S109). The control unit 306 corrects the preset arm length and joint rotation angle when transporting the workpiece to the forging processing unit 220 according to the shift amount. Under the control of the control unit 306, the transport arm 211 transports the workpiece to the corrected transport position.

[0053] The workpiece is moved from the correction information acquisition unit 230 by the transport arm 211 (see Figure 12) and transported to the forging processing unit 220, where the forging process is performed (step S110: processing step). For example, in the forging processing unit 220, a piercing trim is performed on the end of the base material 10 to form a through hole. After the through hole is formed, a process to remove burrs and scale is performed.

[0054] Subsequently, the control unit 306 determines whether or not forging is required for other parts of the workpiece (step S111). For example, the control unit 306 determines whether or not a through hole needs to be formed at the other end of the base material 10. If the control unit 306 determines that forging is required for other parts of the workpiece (step S111: Yes), it returns to step S102 and performs forging on the other parts. Conversely, if the control unit 306 determines that forging is not required for other parts of the workpiece (step S111: No), it proceeds to step S112.

[0055] In step S112, the transport arm 211, under the control of the control unit 306, transports the workpiece after the forging process to the discharge unit 250. In this way, the forging process is performed on one workpiece.

[0056] In the embodiments of the present invention described above, using a plurality of detection points extracted as the contour of the base material in an image of the base material, approximation curves are calculated from two types of moving average points with different numbers of detection points, and detection points located outside the overlapping region of the contour determination range set in each approximation curve are detected as scales. According to this embodiment, since the detection points excluding the detection points detected as scales are processed as the contour of the base material, the contour of the base material can be appropriately extracted. As a result, detection deviations of the central axis of the base material can be suppressed, and positional deviations of the processing position can be suppressed.

[0057] Furthermore, according to this embodiment, by performing position correction for each processing location and for each individual workpiece, it is possible to suppress deviations in processing positions within a workpiece and deviations in processing positions between individual workpieces.

[0058] In this embodiment, we have described an example of calculating two approximation curves. However, for example, a straight line may be generated for the curve with a larger number of extracted points for calculating the moving average (in this case, a 30-point moving average).

[0059] Furthermore, while the embodiment described an example in which thresholds are set for the OUT side and IN side of the approximation curve, if there is a side on which no overlapping region occurs with other approximation curves, the threshold may be set only on the side on which an overlapping region occurs with other approximation curves.

[0060] Furthermore, although the embodiment described an example where the threshold value for the approximation curve is a predetermined fixed value, it may also be set to vary depending on the conditions. For example, the threshold value may change according to the smoothness of the approximation curve or the curvature of the curve.

[0061] Furthermore, although the embodiment described an example in which the outer edge of the base material includes a curve, it can also be applied when the outer edge consists of a straight line.

[0062] Furthermore, in this embodiment, information for correcting deviations in the X, Y, and Z directions is acquired by the displacement sensor (light-emitting unit 231 and light-receiving unit 232) and the imaging unit 233. However, the correction information acquisition unit 230 may be configured using only the imaging unit or a sensor that detects position in three dimensions, as long as information for correcting deviations in each direction can be acquired.

[0063] Furthermore, in the above-described embodiment, an example was given of correcting the transport position of the transport arm 211 for deviations in the three directions of X, Y, and Z. However, the rotation angle around the axis in each direction may also be detected and reflected in the transport position. In this case, for example, the rotation angle around the axis in the X direction is detected based on the size of the end in the image and reflected in the rotation angle of the joint.

[0064] While embodiments for carrying out the present invention have been described so far, the present invention should not be limited to the embodiments described above. For example, it can be applied to products manufactured by rolling or deburring processes.

[0065] Thus, the present invention may include various embodiments not described herein, and various design modifications can be made without departing from the technical idea specified by the claims.

[0066] As described above, the forging method and forging process system according to the present invention are suitable for suppressing positional deviations of the forging position. [Explanation of Symbols]

[0067] 1 Stabilizer 2.11 Main body 3, 12 First end 4, 13 Second end 10 Base material 31, 41 Through holes 100 Forging Process Systems 200 Forging Processing Equipment 210 Conveying section 211 Transport Arm 220 Forging Processing Unit 230 Correction Information Acquisition Unit 231 Lighting Unit 232 Light receiving section 233 Imaging Unit 234 Lighting Section 240 Supply section 250 Discharge section 300 Control device 301 Displacement Information Acquisition Unit 302 Height measurement unit 303 Image acquisition unit 305 Shift Amount Calculation Unit 304 Scale detection unit 306 Control Unit 307 Storage section

Claims

1. A processing method comprising transporting an object to be processed to a processing unit using a transport arm and performing processing on the object, A transport step of transporting the object to be processed to a position information acquisition unit located at a different position from the processing unit, A position information acquisition step involves acquiring position information relating to the position of the object to be processed in three-dimensional space, which has been transported to the position information acquisition unit. An image acquisition step of acquiring image information of the object to be processed that has been transported to the position information acquisition unit, A scale detection step in which, using a plurality of extracted points extracted as the contour of the object to be processed in the image of the object to be processed, approximate curves are calculated from multiple types of moving average points with different numbers of extracted points, and extracted points located outside the region where the contour determination range set in each approximate curve overlaps are detected as scales, A correction step to correct the transport position of the transport arm to the processing unit based on the position information and the scale detection information, A processing step of performing processing on the object to be processed that has been transported to the corrected transport position, A processing method characterized by including the following.

2. The correction step corrects the transport position using the contour of the object to be processed, which is composed of extraction points excluding the extraction points detected as the scale. The processing method according to feature 1.

3. The scale detection step calculates approximation curves from two moving average points with different numbers of extracted points, and detects extracted points located outside the overlapping region of the contour determination range set in each approximation curve as the scale. The processing method according to feature 1.

4. The scale detection step calculates approximation curves from the 10-point moving average and the 30-point moving average, respectively, and detects extracted points located outside the overlapping region of the contour determination range set in each approximation curve as the scale. The processing method according to feature 3.

5. A processing program that transports an object to be processed to a processing unit using a transport arm and performs processing on the object, A transport step of transporting the object to be processed to a position information acquisition unit located at a different position from the processing unit, A position information acquisition step involves acquiring position information relating to the position of the object to be processed in three-dimensional space, which has been transported to the position information acquisition unit. An image acquisition step of acquiring image information of the object to be processed that has been transported to the position information acquisition unit, A scale detection step in which, using a plurality of extracted points extracted as the contour of the object to be processed in the image of the object to be processed, approximate curves are calculated from multiple types of moving average points with different numbers of extracted points, and extracted points located outside the region where the contour determination range set in each approximate curve overlaps are detected as scales, A correction step to correct the transport position of the transport arm to the processing unit based on the position information and the scale detection information, A processing step of performing processing on the object to be processed that has been transported to the corrected transport position, A processing program characterized by causing a computer to execute it.

6. A transport arm that transports the object to be processed, A processing unit that performs processing on the object to be processed, which has been transported by the transport arm, A position information acquisition unit is provided at a location different from the aforementioned processing unit and acquires position information relating to the position of the object to be processed in three-dimensional space. An image acquisition unit acquires image information of the object to be processed that has been transported to the position information acquisition unit, A scale detection unit that, using a plurality of extracted points extracted as the contour of the object to be processed in the image of the object to be processed, calculates an approximation curve from a plurality of moving average points with different numbers of extracted points, and detects extracted points located outside the region where the contour determination range set in each approximation curve overlaps as a scale, A correction unit corrects the transport position of the transport arm to the processing unit based on the position information and the scale detection information, Equipped with, The transport arm transports the object to be processed to the corrected transport position. A processing system characterized by the following:

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