Workpiece recognition method and processing system

Abstract

[Problem] To provide a workpiece recognition method and a processing system with which association between an image coordinate and an actual coordinate can be achieved with high accuracy. [Solution] This workpiece recognition method comprises: a processing step for forming a visually identifiable processing mark PM at a reference position RP on a predetermined test plate 100 by a processing machine 1; a conveyance step for holding and conveying the test plate 100, on which the processing mark PM has been formed in the processing step, by a first conveying unit 5, and placing the test plate 100 on a support portion 6; an imaging step for capturing an image including the test plate 100 placed on the support portion 6 by an imaging unit 10; and an association step for associating an image coordinate related to the image captured by the imaging unit 10 with an actual coordinate related to an object placed on the support portion 6, on the basis of the position of the processing mark PM in the image captured in the imaging step.

Description

[[Technical Field]]

[0001] The present invention relates to a workpiece recognition method and a processing system. [[Background Art]]

[0002] Patent Document 1 discloses a processing system including: an imaging unit that images a product supported by a support unit; and a recognition unit that recognizes the product supported by the support unit based on an image captured by the imaging unit. This processing system takes out the product on the support unit based on the position of the product recognized by the recognition unit and conveys the product to a predetermined position. [[Prior Art Literature]] [[Patent Literature]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2022-178976 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] In order to correctly take out a product on a support unit, it is necessary to associate image coordinates, which are coordinates of an image captured by an imaging unit, with actual coordinates, which are coordinates of an object placed on the support unit, with high accuracy. However, Patent Document 1 does not describe the association between image coordinates and actual coordinates, and cannot achieve association between image coordinates and actual coordinates with high accuracy.

[0005] An object of the present invention is to provide a workpiece recognition method and a processing system that can achieve association between image coordinates and actual coordinates with high accuracy. [[Means for Solving the Problem]]

[0006] A workpiece recognition method according to an aspect of the present invention is a processing system comprising: a processing machine for processing a plate-shaped workpiece; a first transport unit for holding and transporting the workpiece processed by the processing machine and placing it on a support unit; an imaging unit for capturing an image including the workpiece placed on the support unit; a recognition unit for recognizing the workpiece placed on the support unit based on the image captured by the imaging unit; and a second transport unit for picking up the workpiece recognized by the recognition unit from the support unit and transporting it to a discharge position, wherein the processing system comprises: a processing step of forming a visually identifiable processing mark at a reference position on a predetermined test plate using the processing machine; and a transport unit for holding and transporting the test plate on which the processing mark has been formed in the processing step, and placing it on the support unit. Process The system includes an imaging step of capturing an image of a test plate placed on a support unit using an imaging unit, and a correspondence step of matching the image coordinates of the image captured by the imaging unit with the actual coordinates of the object placed on the support unit, based on the position of the processing marks in the image captured in the imaging step.

[0007] A processing system according to an aspect of the present invention comprises: a processing machine for processing a plate-shaped workpiece; a first transport unit for holding and transporting the workpiece processed by the processing machine and placing it on a support unit; an imaging unit for capturing an image including the workpiece placed on the support unit; a recognition unit for recognizing the workpiece placed on the support unit based on the image captured by the imaging unit; and a second transport unit for picking up the workpiece recognized by the recognition unit from the support unit and transporting it to a discharge position. The processing machine forms a visually identifiable processing mark at a reference position on a predetermined test plate. The first transport unit holds and transports the test plate on which the processing mark has been formed and places it on the support unit. The imaging unit captures an image including the test plate placed on the support unit, and the recognition unit, based on the position of the processing mark in the image captured by the imaging unit, associates the image coordinates of the image captured by the imaging unit with the actual coordinates of the object placed on the support unit. [Effects of the Invention]

[0008] Relating to the above-mentioned aspect ruAccording to the workpiece recognition method and processing system, the correspondence between image coordinates and actual coordinates is achieved with high accuracy because the test plate is processed, transported, and imaged using the same equipment and process as the workpiece. Furthermore, since the test plate is processed by the processing machine, it is less expensive than ordering the test plate from an external supplier.

[0009] Furthermore, in the processing step of the workpiece recognition method described above, the processing machine may perform marking at a reference position on the test plate. With this configuration, if a through hole is formed, the lower part of the test plate (fork device, etc.) is visible, making image recognition difficult. However, if a marking is made, the lower part is not visible, making image recognition easy.

[0010] Furthermore, in the workpiece recognition method of the above embodiment, the processing system includes a storage unit for storing workpieces processed by the processing machine, and the second transport unit transports the workpieces picked up from the support unit to the storage unit, and processing marks are formed in the processing process and transport Process In the process, the test plate placed on the support section is picked up from the support section by the second transport section and transported to the storage section, where it is stored. Process This may include the following. With such a configuration, the test plates can be stored in the storage section when not in use.

[0011] Furthermore, in the workpiece recognition method of the above embodiment, the test plate stored in the storage unit is placed on the support unit using the second transport unit. Process and return transport Process The system may include an imaging step in which an imaging unit captures an image including a test plate placed on a support unit, and a correspondence step in which the image coordinates of the image captured by the imaging unit are matched with the actual coordinates of the object placed on the support unit, based on the position of the processing marks in the image captured in the imaging step. With such a configuration, the test plate stored in the storage unit can be taken out as needed, and the correspondence between image coordinates and actual coordinates can be performed using the test plate.

[0012] Further, in the workpiece recognition method according to the above aspect, a first return conveyance step of placing the test plate stored in the storage unit onto the support unit using a second conveyance unit Process and a second return conveyance step Process of holding the test plate placed on the support unit in the first return conveyance by a first conveyance unit and conveying the test plate to a processing machine Process and a reprocessing step Process of forming a visually identifiable processing mark at a reference position on the test plate conveyed to the processing machine in the second return conveyance, may be included. According to this configuration, when the visibility of the processing mark on the test plate decreases, such as when the test plate becomes contaminated, the visibility can be improved by processing the processing mark again with the processing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] [Figure 1] FIG. 1 is a perspective view showing an example of a processing system according to the present embodiment. [Figure 2] FIG. 2 is a perspective view showing a processing pallet according to the present embodiment. [Figure 3] FIG. 3 is a perspective view showing a processing pallet according to the present embodiment. [Figure 4] FIG. 4 is a perspective view showing a support unit according to the present embodiment. [Figure 5] FIG. 5 is a perspective view showing a support unit according to the present embodiment. [Figure 6] FIG. 6 is a schematic block diagram of a control device according to the present embodiment [Figure 7] FIG. 7 is a view showing a test plate according to the present embodiment. [Figure 8] FIG. 8 is a plan view of a processing system according to the present embodiment. [Figure 9] FIG. 9 is a plan view of a test plate placed on a support unit according to the present embodiment. [Figure 10] FIG. 10 is a view showing an example of a captured image G according to the present embodiment. [Figure 11] FIG. 11 is a view showing an example of correspondence data according to the present embodiment. [Figure 12] FIG. 12 is a flowchart of a first method according to the present embodiment. [Figure 13] It is a flowchart of the second method according to the present embodiment. [Figure 14] It is a flowchart of the third method according to the present embodiment. MODE FOR CARRYING OUT THE INVENTION

[0014] Hereinafter, the present invention will be described through embodiments. However, the following embodiments do not limit the invention defined by the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention. In the drawings, the same or similar parts are denoted by the same reference numerals, and duplicate descriptions may be omitted. In addition, the shapes and dimensions of elements in the drawings may be exaggerated for clearer explanation, and thus may differ from the shapes and dimensions of the actual product.

[0015] In the drawings, directions in the drawings may be described using an XYZ coordinate system. In the XYZ coordinate system, a plane parallel to the horizontal plane is defined as the XY plane. One direction in this XY plane is denoted as the X direction, and the direction orthogonal to the X direction is denoted as the Y direction. The direction perpendicular to the XY plane is denoted as the Z direction. For each of the X direction, the Y direction, and the Z direction, the description is given on the basis that the direction pointed by the arrow in the figure is the + direction, and the direction opposite to the direction pointed by the arrow is the - direction.

[0016] Figure 1 is a perspective view showing an example of the processing system PS according to the present embodiment. As shown in Figure 1, the processing system PS includes, for example, a processing machine 1, a storage unit 2, a conveying device 3, and a control device 4. The conveying device 3 conveys a workpiece (object to be processed) W between the processing machine 1 and the storage unit 2. The conveying device 3 conveys the workpiece W processed by the processing machine 1 to the storage unit 2. Furthermore, the conveying device 3 conveys the workpiece W stored in the storage unit 2 to the processing machine 1. The conveying device 3 includes, for example, a first conveying unit 5, a support unit 6, a second conveying unit 7, a gripper device 8, an illumination unit 9, and one or more imaging units 10. Note that in the example shown in Figure 1, the conveying device 3 includes two imaging units 10. The control device 4 is an information processing device such as a computer, and is an example of the "recognition unit" in the present invention.

[0017] The processing machine 1 performs processing such as cutting on the workpiece W, which is the object to be processed. The workpiece W is, for example, a plate-shaped material. The processing performed by the processing machine 1 is, for example, laser processing. The processing machine 1 can perform laser processing that separates the workpiece W into a product Wa and leftover material Wb. This laser processing may be a so-called jointless process, where there is no connection between the product Wa and the leftover material Wb, or it may be a processing method other than jointless processing. The leftover material Wb is a plate-shaped material that remains after the product Wa has been cut out from the workpiece W by the processing machine 1, and is sometimes referred to as a skeleton.

[0018] The processing machine 1 can form a visually identifiable processing mark on the workpiece W. For example, the processing machine 1 forms a processing mark at a reference position RP on the workpiece W by performing a marking process on the workpiece W. The marking process is a laser process that marks the surface of the workpiece W without forming a through hole, and by appropriately adjusting the laser output and frequency, only the surface of the workpiece is altered (scorched), causing it to change to a color different from the original color of the workpiece W. The processing machine 1 is not limited to laser processing and may also perform other types of processing.

[0019] Here, the processing system PS is provided with a storage area AR1 and an loading / unloading area AR2. In storage area AR1, for example, workpieces W before processing are stored. Also in storage area AR1, workpieces W after processing are stored. The loading / unloading area AR2 is located, for example, on the +X side of the processing machine 1. The loading / unloading area AR2 is located between the processing machine 1 and the storage area AR1. For example, workpieces W before processing are transported from storage area AR1 to loading / unloading area AR2. Then, workpieces W before processing are transported from loading / unloading area AR2 to the processing machine 1, where laser processing is performed.

[0020] The storage unit 2 is located in the storage area AR1. Workpieces W are stored in the storage unit 2. The storage unit 2 also stores workpieces W before processing and workpieces W after processing by the processing machine 1. The storage unit 2 comprises, for example, a plurality of storage shelves 2a and an elevator 2b. The plurality of storage shelves 2a are arranged, for example, in the vertical direction (Z direction).

[0021] Storage rack 2a stores, for example, a material pallet (not shown) on which multiple unprocessed workpieces W are placed. Elevator 2b can take the material pallet from storage rack 2a and raise or lower it. A temporary storage area AR3 is provided in storage area AR1. Storage unit 2 uses elevator 2b to place the material pallet on which multiple unprocessed workpieces W are placed in temporary storage area AR3.

[0022] Storage rack 2a stores the workpieces W processed by the processing machine 1. Elevator 2b can retrieve pallets 13 for storing the workpieces W processed by the processing machine 1 from storage rack 2a and raise and lower the pallets 13. Storage unit 2 places pallets 13 in temporary storage area AR3. Processed workpieces W are placed on pallets 13 placed in temporary storage area AR3 by second transport unit 7. Storage unit 2 transfers pallets 13 with processed workpieces W from temporary storage area AR3 to storage rack 2a.

[0023] The first transport unit 5 holds the workpiece W processed by the processing machine 1 and transports it to the loading / unloading area AR2. The first transport unit 5, for example, transports the workpiece W processed by the processing machine 1 to the loading / unloading area AR2 and places it on the support unit 6. The first transport unit 5 includes, for example, a processing pallet 11 and a pallet changer 12.

[0024] The processing pallet 11 is movable in and out of the processing machine 1 with the workpiece W on it. The processing pallet 11 is equipped with wheels that can move along a rail R, for example. The rail R extends from the processing machine 1 to the pallet changer 12. The processing pallet 11 supports the workpiece W before processing. The processing pallet 11 also supports the workpiece W after it has been processed by the processing machine 1. The processing pallet 11 transports the workpiece W before processing or after processing between the loading / unloading area AR2 and the processing machine 1.

[0025] Figures 2 and 3 are perspective views showing a processing pallet according to this embodiment. As shown in Figure 2, the processing pallet 11 is, for example, rectangular when viewed from the vertical direction. The processing pallet 11 comprises, for example, a frame portion 11a and a plurality of support plates 11b. Each of the plurality of support plates 11b is plate-shaped and is provided upright relative to the frame portion 11a. Each of the plurality of support plates 11b extends in the Y direction and is arranged at predetermined intervals in the X direction. In a plan view, the plurality of support plates 11b extend in the longitudinal direction and are arranged in parallel to each other. Each of the plurality of support plates 11b has an upper end portion 11c formed in a sawtooth shape.

[0026] Multiple support plates 11b support the lower surface of the workpiece W at their upper ends 11c (sawtooth tips). In the example shown in Figure 3, the processing pallet 11 can hold and move the workpiece W, including the product Wa and leftover material Wb cut by laser processing, on the multiple support plates 11b. However, it is not limited to this, and the processing pallet 11 can also hold and move the workpiece W, which has been marked by laser processing, on the multiple support plates 11b.

[0027] The pallet changer 12 is located in the loading / unloading area AR2 and replaces the processing pallets 11 being loaded into or unloaded from the processing machine 1. The pallet changer 12 also handles the transfer of processing pallets 11 to the processing machine 1. The pallet changer 12 transports the processing pallets 11 along the rail R, for example, by pulling them. The mechanism for moving the processing pallets 11 can be changed as appropriate; for example, the processing pallets 11 may be self-propelled.

[0028] When the processing pallet 11 on which the workpiece W is placed is transported to the loading / unloading area AR2, the support unit 6 receives the workpiece W from the processing pallet 11 and supports the workpiece W. In other words, the first transport unit 5 transports the workpiece W processed by the processing machine 1 to the loading / unloading area AR2, thereby placing the workpiece W on the support unit 6. For example, when the processing pallet 11 is transported to the loading / unloading area AR2, the processing pallet 11 moves downward, placing the workpiece W on the support unit 6. The support unit 6 is, for example, a fork device.

[0029] Figures 4 and 5 are perspective views showing the support portion 6 according to this embodiment. The support portion 6 comprises, for example, a base portion 6a and a plurality of arm portions 6b. The base portion 6a is plate-shaped and extends in the X direction. The plurality of arm portions 6b are each rod-shaped members extending from the base portion 6a in the +Y direction. Each arm portion 6b is insertable between two adjacent support plates 11b. The upper surface 6c of each arm portion 6b faces the lower surface of the workpiece W when the workpiece W is transferred. A plurality of suction pads 6d are provided on the upper surface 6c of the arm portion 6b. The support portion 6 comprises a drive unit (not shown) for driving the base portion 6a, and a guide 6e. The guide 6e is arranged on both sides of the base portion 6a in the X direction and extends in the Y direction. The drive unit of the support portion 6 moves the base portion 6a and the plurality of arm portions 6b along the guide 6e in the Y direction.

[0030] In the state shown in Figure 4, the workpiece W is supported by multiple support plates 11b of the processing pallet 11. As shown in Figure 4, with multiple arms 6b positioned below the workpiece W, the processing pallet 11 moves downward relative to the multiple arms 6b, and the workpiece W is placed on the multiple arms 6b. Each of the multiple arms 6b supports the lower surface of the workpiece W between the multiple support plates 11b of the processing pallet 11. Alternatively, the support 6 may receive the workpiece W from the processing pallet 11 by the movement of the multiple arms 6b upward.

[0031] The second transport unit 7 picks up the workpiece W supported by the arm portion 6b of the support portion 6 and transports it to the loading position (for example, the storage area AR1). Specifically, after laser processing, the second transport unit 7 takes the processed workpiece W from the processing pallet 11 located in the loading / unloading area AR2 and transfers the taken workpiece W to the pallet 13 in the temporary storage area AR3. The second transport unit 7 is, for example, a loader device. The second transport unit 7 has a loader head 71 that can move in the X, Y, and Z directions. The loader head 71 moves in the X direction along the X rail 72, moves in the Y direction by the traveling carriage 73, and moves vertically by the Z moving body 74. The loader head 71 can pick up the workpiece W with a suction pad provided at the tip of the loader head 71.

[0032] Furthermore, the second transport unit 7 places the workpiece W stored in the storage unit 2 onto the support unit 6. Specifically, for example, the second transport unit 7 transports the workpiece W before processing from the temporary storage area AR3 to the loading / unloading area AR2 and places it on the processing pallet 11 located in the loading / unloading area AR2.

[0033] The gripper device 8 removes the remaining material Wb from the workpiece W lifted by the support unit 6 by holding it with the gripping unit 8a. The gripper device 8 then discharges the removed remaining material Wb to the remaining material collection unit 81.

[0034] The lighting unit 9 illuminates an area including the entire upper surface of the processed workpiece W located in the loading / unloading area AR2. The lighting unit 9 is, for example, attached to the storage unit 2. For example, LED lighting is used for the lighting unit 9. The light emitted from the lighting unit 9 is, for example, visible light. In this embodiment, one lighting unit 9 is used, but two or more lighting units 9 may be used. The lighting unit 9 may emit light continuously or intermittently.

[0035] The imaging unit 10 captures an image including the workpiece W placed on the support unit 6. The imaging unit 10 has a field of view (imaging field of view) that can capture the entire upper surface of the support unit 6 placed in the loading / unloading area AR2, for example. The imaging unit 10 is, for example, a camera. As an example, the imaging unit 10 is positioned on the -X side of the processing pallet 11 located in the loading / unloading area AR2. For example, two imaging units 10 are attached to the processing machine 1, and of the two imaging units 10, one imaging unit 10A is positioned on the +Y side in the Y direction, and the other imaging unit 10B is positioned on the -Y side in the Y direction.

[0036] The imaging unit 10 can acquire an image showing the entire workpiece W placed on the support unit 6 by, for example, taking an image while the support unit 6 is supporting the workpiece W that has been processed by the processing machine 1. The imaging unit 10 transmits the captured image to the control device 4. The image captured by the imaging unit 10 may be a still image or a video.

[0037] The control device 4 is connected to the processing machine 1 by wire or wireless connection and controls the operation of the processing machine 1. The control device 4 is also connected to the transport device 3 by wire or wireless connection and controls the operation of the transport device 3, namely the operation of the storage unit 2, the first transport unit 5, the support unit 6, the second transport unit 7, the gripper device 8, and the imaging unit 10. For example, the control device 4 reads predetermined programs and data stored in a storage device (not shown) to control the operation of the processing machine 1 and the transport device 3.

[0038] The control device 4 controls the second transport unit 7 to pick up the product Wa placed on the support unit 6 and transport the product Wa to the discharge position (for example, storage area AR1). Specifically, the imaging unit 10 captures an image including the product Wa on the support unit 6. The control device 4 then recognizes the position of the product Wa on the support unit 6 based on the captured image showing the product Wa on the support unit 6, and the second transport unit 7 picks up the product Wa at the recognized position. Hereafter, the operation of the second transport unit 7 picking up the product Wa on the support unit 6 may be referred to as the "product discharge operation".

[0039] Here, in order for the second transport unit 7 to correctly pick up product Wa during the product unloading operation, it is desirable to accurately recognize the position of product Wa placed on the support unit 6. Therefore, before executing the product unloading operation, the control device 4 performs a correspondence between the image coordinates related to the image captured by the imaging unit 10 and the actual coordinates related to the object placed on the support unit 6 (hereinafter referred to as "coordinate calibration").

[0040] The functional parts of the control device 4 are described below. Figure 6 is a schematic block diagram of the control device 4 according to this embodiment. As shown in Figure 6, the control device 4 includes a calibration control unit 20, a processing control unit 30, a transport control unit 31, a storage unit 21, a product recognition unit 22, and a product discharge control unit 23. These components are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integrated Circuit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or by the cooperation of software and hardware. The program may be stored in advance in a storage device such as an HDD (Hard Disk Drive) or flash memory (a storage device equipped with a non-transient storage medium), or it may be stored in a removable storage medium such as a DVD or CD-ROM (a non-transient storage medium) and installed in the storage device when the storage medium is mounted on a drive device. Storage devices consist of, for example, HDDs, flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), or RAM (Random Access Memory).

[0041] The calibration control unit 20 performs the above coordinate calibration. For example, the calibration control unit 20 performs the above coordinate calibration after the installation of each device in the processing system PS is complete and before operation begins. In addition, the calibration control unit 20 may perform the above coordinate calibration if an error occurs during the product unloading operation, such as failing to remove product Wa or removing product Wa other than the target product Wa.

[0042] If the above error occurs, the product unloading operation will stop, and the calibration control unit 20 may use this cessation of the product unloading operation as a trigger to perform the coordinate calibration. However, it is not limited to this, and the calibration control unit 20 may also use any manual operation by an operator as a trigger to perform the coordinate calibration. Any manual operation is, for example, when a start button for starting coordinate calibration is displayed on the display screen provided on the control panel, the operator presses this start button. Thus, the coordinate calibration may be started automatically or manually.

[0043] The processing control unit 30 controls the processing machine 1 to process the workpiece W before processing. That is, it controls the processing machine 1 to perform processing such as cutting on the workpiece W, which is the object to be processed. Since the processing of the workpiece W is a known technique, a description will be omitted. The processing control unit 30 also causes a test plate 100 for coordinate calibration to be created by processing the workpiece W before processing. Figure 7 shows a test plate 100 according to this embodiment. The test plate 100 is a plate-shaped member in which a visually identifiable processing mark PM is formed at a preset reference position RP. The processing mark PM is formed, for example, by marking. Multiple reference positions RP are set on the surface of the test plate 100. For example, if the test plate 100 is a rectangular plate-shaped member, it is preferable that the reference positions RP be set at least at approximately the four corners of the surface of the test plate 100. However, it is not limited to this, and the number of reference positions RP may be two. In this case, the angle of the imaging unit 10 and the shape of the workpiece W (test plate 100) must be known.

[0044] The test plate 100 shown in Figure 7 has nine reference positions RP1 to RP9, including approximately the four corners of the test plate 100. That is, on the test plate 100 shown in Figure 7, processing marks PM1 to PM9 are formed at the nine reference positions RP1 to RP9, including approximately the four corners of the test plate 100. However, it is not limited to this, and the number of reference positions RP, i.e., the number of processing marks PM formed on the test plate 100, may be changed depending on the size of the test plate 100.

[0045] The shape of the machining marks PM shown in Figure 7 is circular, but it is not limited to this and may be other shapes. In this way, the machining machine 1 forms machining marks PM, which are not through holes, by marking the workpiece W, i.e., the material, at multiple pre-set reference positions before machining.

[0046] The transport control unit 31 controls the first transport unit 5 to transport the workpiece W. Specifically, it controls the first transport unit 5 to hold the workpiece W processed by the processing machine 1 and transport it to the loading / unloading area AR2 (support unit 6). It also controls the first transport unit 5 to hold the workpiece W located in the loading / unloading area AR2 (support unit 6) and transport it to the processing machine 1. Since the transport of this workpiece W is a known technology, a detailed explanation is omitted. The transport control unit 31 also controls the first transport unit 5 to transport the test plate 100 between the processing machine 1 and the loading / unloading area AR2 to the first transport unit 5. For example, the transport control unit 31 controls the first transport unit 5 to transport the test plate 100 created by the processing machine 1 to the loading / unloading area AR2 and place the test plate 100 on the support unit 6. The transport control unit 31 can also control the first transport unit 5 to transport the test plate 100 placed on the support unit 6 to the processing machine 1.

[0047] Furthermore, the transport control unit 31 controls the second transport unit 7 to transport the test plate 100 between the loading / unloading area AR2 and the storage area AR1 to the second transport unit 7. For example, the transport control unit 31 controls the second transport unit 7 to pick up the test plate 100 placed on the support unit 6, and transfer the picked-up test plate 100 to the pallet 13 in the temporary storage area AR3. The transport control unit 31 also controls the second transport unit 7 to place the test plate 100 placed on the pallet 13 in the temporary storage area AR3 onto the support unit 6.

[0048] An example of the calibration control unit 20 is described below. The calibration control unit 20 includes, for example, a processing unit 32. The processing unit 32 causes the imaging unit 10 to capture an image including the entire surface of the test plate 100 placed on the support unit 6. The processing unit 32 communicates with the imaging unit 10, for example, to control the imaging timing of the imaging unit 10. Figure 8 is a plan view of the processing system PS when the test plate 100 is placed on the support unit 6. As shown in Figure 8, when the test plate 100 is placed on the support unit 6, the processing unit 32 starts imaging by the imaging unit 10. As a result, the processing unit 32 acquires an image G that shows the entire surface of the test plate 100 placed on the support unit 6. Note that the imaging area of ​​the imaging unit 10 only needs to include the entire surface of the test plate 100, and may include, for example, the entire upper surface of the support unit 6 located in the loading / unloading area AR2.

[0049] The processing unit 32 performs coordinate calibration based on the captured image G. Specifically, the processing unit 32 associates the image coordinates of the image captured by the imaging unit with the actual coordinates of the object placed on the support unit 6, based on the position of the processing marks PM in the captured image G. If the processing system PS has multiple imaging units 10, the processing unit 32 performs coordinate calibration based on the captured image G for each imaging unit 10. In the example shown in Figure 8, the processing unit 32 performs coordinate calibration to associate the image coordinates of the captured image G captured by imaging unit 10A with the actual coordinates, and coordinate calibration to associate the image coordinates of the captured image G captured by imaging unit 10B with the actual coordinates.

[0050] Here, the processing unit 32 has a pre-defined ideal position (hereinafter referred to as "actual position") Pr for each processing mark PM formed on the test plate 100. Figure 9 is a plan view of the test plate 100 placed on the support unit 6. The actual position Pr indicates the position in actual coordinates (XY coordinates), as shown in Figure 9. That is, the processing unit 32 has a pre-defined actual position Pr (Pr1 to Pr9) for each processing mark PM1 to PM9 when the test plate 100 is placed on the support unit 6.

[0051] Figure 10 shows an example of an image G according to this embodiment. When the processing unit 32 acquires the image G from the imaging unit 10, it applies known image recognition processing to the image G to identify the center position (image position) Pg of the processing marks PM on the image G. Known image recognition processing can be any processing that can recognize the image position Pg. The image position Pg is, for example, a pixel position. A pixel position indicates a position in the image G and is a position represented by vertical pixels and horizontal pixels (as indicated in parentheses in Figure 10). That is, the processing unit 32 acquires each image position Pg (Pg1 to Pg9) of the processing marks PM1 to PM9 on the image G from the image G.

[0052] For example, if the processing mark PM is circular in shape, the processing unit 32 recognizes the circular object in the captured image G as the processing mark PM and obtains the image position Pg of the recognized processing mark PM from the captured image G. If there are many circular objects in the captured image G, the processing unit 32 may black out everything except the processing mark PM in the captured image G. This removes disturbances from the captured image G. In this case, the processing unit 32 recognizes the processing mark PM on the blacked-out captured image G through image processing and obtains the image position Pg of the recognized processing mark PM from the captured image G.

[0053] The processing unit 32 associates each actual position Pr (Pr1 to Pr9) of the processing marks PM1 to PM9 with each image position Pg (Pg1 to Pg9) of the processing marks PM1 to PM9. In other words, the processing unit 32 associates the actual position Pr with the image position Pg for each processing mark PM. The processing unit 32 stores data (hereinafter referred to as "correspondence relationship data") D, which associates the actual position Pr with the image position Pg for each processing mark PM, in the storage unit 21.

[0054] Figure 11 shows an example of correspondence data D. As illustrated in Figure 11, correspondence data D includes data D1 which associates real position Pr1 with image position Pg1, data D2 which associates real position Pr2 with image position Pg2, data D3 which associates real position Pr3 with image position Pg3, data D4 which associates real position Pr4 with image position Pg4, data D5 which associates real position Pr5 with image position Pg5, data D6 which associates real position Pr6 with image position Pg6, data D7 which associates real position Pr7 with image position Pg7, data D8 which associates real position Pr8 with image position Pg8, and data D9 which associates real position Pr9 with image position Pg9.

[0055] In this way, the processing unit 32 associates the actual positions Pr of each processing mark PM1 to PM9 with the image positions Pg of each processing mark PM1 to PM9, thereby linking the image coordinates of the image captured by the imaging unit 10 with the actual coordinates of the object placed on the support unit 6. That is, by associating the actual positions Pr of each processing mark PM1 to PM9 with the image positions Pg of each processing mark PM1 to PM9, the processing unit 32 can also determine the correspondence between the positions on the XY coordinates between the processing marks PM and the positions on the image between the processing marks PM. As a result, the processing unit 32 can convert any image position in the image captured by the imaging unit to an actual position. For example, the processing unit 32 may use the above correspondence data as a conversion table for converting image positions to actual positions.

[0056] When the product unloading operation is performed, the product recognition unit 22 acquires an image containing the product Wa on the support unit 6 captured by the imaging unit 10. The product recognition unit 22 recognizes the image position of each product Wa on the image by applying known image recognition processing to the acquired image. Then, the product recognition unit 22 converts the image position of each product Wa into its actual coordinate position on the support unit 6 using the correspondence relationship data D stored in the storage unit 21.

[0057] The product unloading control unit 23 executes a product unloading operation based on the actual coordinate position of each product Wa converted by the product recognition unit 22. Specifically, the product unloading control unit 23 controls the second transport unit 7 to pick up the product Wa located at the actual coordinate position converted by the product recognition unit 22. Then, the product unloading control unit 23 transports the picked-up product Wa to the unloading position (for example, storage area AR1).

[0058] Thus, in this embodiment, the test plate 100 used in coordinate calibration is processed by the same processing machine 1 that processes the actual workpiece (product), using the same process as the workpiece, and then transported to the loading / unloading area AR2 by the same first transport unit 5 that transports the workpiece. Then, an image of the test plate 100 is captured by the imaging unit 10, and the image coordinates are matched to the actual coordinates based on the position of the processing marks PM in the captured image G of the test plate 100, thus enabling high-precision matching of image coordinates and actual coordinates. In other words, since the process of processing and transporting the test plate 100 is reproduced when processing the actual workpiece (product), high-precision calibration can be guaranteed. Furthermore, since the test plate 100 is processed by the processing machine 1, there is also the advantage of lower costs compared to ordering the test plate 100 from an external supplier.

[0059] The following describes the workflow of the workpiece recognition method according to this embodiment. The workpiece recognition method is a method of performing coordinate calibration using a test plate 100, and can be broadly classified into three methods: the first method, the second method, and the third method. The machining system PS according to this embodiment has functions for executing the first method, the second method, and the third method. First, the first method will be described. Figure 12 is a flowchart of the first method according to this embodiment.

[0060] First, when the workpiece W before processing is brought from the storage unit 2 to the processing machine 1, the processing machine 1 performs marking on the workpiece W at a reference position. This allows the processing machine 1 to create a test plate 100 with processing marks PM formed at the reference position (Step S101: Processing step). Once the test plate 100 is created by the processing machine 1, the first transport unit 5 holds and transports the test plate 100 and places it on the support unit 6 (Step S102: Transport). Process ).

[0061] When the support unit 6 supports the test plate 100 placed on the first transport unit 5, the control device 4 transmits an imaging start signal to the imaging unit 10. Upon receiving the imaging start signal, the imaging unit 10 images the entire surface of the test plate 100 placed on the support unit 6 (step S103: imaging process). The control device 4 receives the image captured by the imaging unit 10 in step S103. Then, based on the position of the processing marks PM in the received image G, the control device 4 performs coordinate calibration, which is the correspondence between the image coordinates related to the image captured by the imaging unit 10 and the actual coordinates related to the object placed on the support unit 6 (step S104: correspondence process).

[0062] Once coordinate calibration is complete, the second transport unit 7 picks up the test plate 100 placed on the support unit 6 and transports it to the entrance to the storage unit 2 (for example, the temporary storage area AR3). For example, at the entrance to the storage unit 2, a pallet 13 but The test plate is placed there. The second transport unit 7 places the test plate 100, which has been picked up from the support unit 6, onto the pallet 13. The storage unit 2 stores the test plate 100 on the storage shelf 2a by moving the pallet 13 on which the test plate 100 is placed from the temporary storage area AR3 to the storage shelf 2a (Step S105: Storage). Process ).

[0063] Next, the second method will be described. The second method is a method of performing coordinate calibration using the test plate 100 stored in the storage shelf 2a. Figure 13 is a flowchart of the second method according to this embodiment.

[0064] The storage unit 2 uses elevator 2b to place the pallet 13 on which the test plate 100 is placed in the temporary storage area AR3. The second transport unit 7 picks up the test plate 100 from the pallet 13 placed in the temporary storage area AR3, transports it, and places it on the support unit 6 (Step S201: Return transport). Process ). When the support unit 6 supports the test plate 100 placed on the second transport unit 7, the control device 4 transmits an imaging start signal to the imaging unit 10. Upon receiving the imaging start signal, the imaging unit 10 images the entire surface of the test plate 100 placed on the support unit 6 (step S202: imaging process).

[0065] The control device 4 receives the image captured by the imaging unit 10 in step S202. Then, based on the position of the processing marks PM in the received image G, the control device 4 performs coordinate calibration, which is the correspondence between the image coordinates related to the image captured by the imaging unit 10 and the actual coordinates related to the object placed on the support unit 6 (step S203: correspondence process). When step S203 is completed, the transport device 3 stores the test plate 100 placed on the support unit 6 in the storage unit 2 in the same manner as in step S105 (step S204: storage). Process ).

[0066] Next, the third method will be described. The third method involves re-marking the test plate 100 stored in the storage rack 2a, and then performing coordinate calibration on the re-marked test plate 100. For example, if the visibility of the processing marks PM on the test plate 100 decreases, the marking process is repeated.

[0067] Figure 14 is a flowchart of the third method according to this embodiment. The timing of the re-marking process may be initiated by some manual operation, automatically after a predetermined time has elapsed, or automatically when the contrast between the processed mark PM and the rest of the test plate 100 falls below a certain value. The control device 4 may determine, for example, that the contrast has fallen below a certain value based on an image captured by the imaging unit 10.

[0068] The storage unit 2 uses elevator 2b to place the pallet 13 on which the test plate 100 is placed in the temporary storage area AR3. The second transport unit 7 picks up the test plate 100 from the pallet 13 placed in the temporary storage area AR3, transports it, and places it on the support unit 6 (Step S301: First return transport) Process ). The first transport unit 5 holds the test plate 100 placed on the support unit 6 in step S301 and transports it to the processing machine 1 (step S302: second return transport). Process ). The processing machine 1 reprocesses the processing marks PM at the reference position on the test plate 100 that was brought in in step S302 (step S303: reprocessing step). This restores the processing marks PM to their original color and improves the visibility of the processing marks PM.

[0069] When the test plate 100 is reprocessed by the processing machine 1, the first transport unit 5 holds and transports the test plate 100 and places it on the support unit 6 (step S304). When the support unit 6 supports the test plate 100 placed on the first transport unit 5 in step S304, the control device 4 transmits an imaging start signal to the imaging unit 10. Upon receiving the imaging start signal, the imaging unit 10 images the entire surface of the test plate 100 placed on the support unit 6 (step S305). The control device 4 receives the image captured by the imaging unit 10 in step S305. Then, based on the position of the processing marks PM in the received image G, the control device 4 performs coordinate calibration, which is the correspondence between the image coordinates related to the image captured by the imaging unit 10 and the actual coordinates related to the object placed on the support unit 6 (step S306).

[0070] Once the coordinate calibration is complete, the second transport unit 7 picks up the test plate 100, which is placed on the support unit 6, from the support unit 6 and transports it to the entrance to the storage unit 2 (for example, the temporary storage area AR3). For example, the test plate is placed on a pallet 13 at the entrance to the storage unit 2. The second transport unit 7 places the test plate 100, which it picked up from the support unit 6, onto the pallet 13. The storage unit 2 stores the test plate 100 on the storage shelf 2a by moving the pallet 13 on which the test plate 100 is placed from the temporary storage area AR3 to the storage shelf 2a (step S307). If only the processing marks PM on the test plate 100 are to be reprocessed and coordinate calibration is not to be performed, the processes in steps S305 and S306 may be omitted, and the process may proceed directly from step S304 to step S307 to store the test plate 100 in the storage unit 2.

[0071] The above embodiment discloses the following configuration. <Configuration 1> In a processing system PS comprising: a processing machine 1 for processing a plate-shaped workpiece W; a first transport unit 5 for holding and transporting the workpiece W processed by the processing machine 1 and placing it on a support unit 6; an imaging unit 10 for capturing an image including the workpiece W placed on the support unit 6; a recognition unit (control device 4) for recognizing the workpiece W placed on the support unit 6 based on the image captured by the imaging unit 10; and a second transport unit 7 for picking up the workpiece W recognized by the (control device 4) from the support unit 6 and transporting it to a discharge position, A processing step in which a processing machine 1 forms a visually identifiable processing mark PM at a reference position RP on a predetermined test plate 100, In the said processing step, the test plate 100 on which the processing marks PM have been formed is held and transported by the first transport unit 5 and placed on the support unit 6. Process and, The imaging step involves capturing an image including the test plate 100 placed on the support part 6 using the imaging unit 10, A correspondence step is performed in which, based on the position of the processing marks PM in the image captured in the imaging step, the image coordinates related to the image captured by the imaging unit 10 are associated with the actual coordinates of the object placed on the support unit 6. A method for recognizing a workpiece, including the method described above. <Configuration 2> In the processing step, the processing machine 1 performs marking on the reference position RP on the test plate 100. The workpiece recognition method described in Configuration 1. <Structure 3> The processing system PS includes a storage unit 2 for storing the workpiece W processed by the processing machine 1. The second transport unit 7 transports the workpiece W picked up from the support unit 6 to the storage unit 2. During the processing stage, processing marks (PM) are formed, and then transported. Process In this process, the test plate 100 placed on the support unit 6 is picked up from the support unit 6 by the second transport unit 7 and transported toward the storage unit 2, where it is stored. Process including, A workpiece recognition method according to configuration 1 or configuration 2. <Structure 4> The test plates 100 stored in the storage unit 2 are placed on the support unit 6 using the second transport unit 7 in a return transport process. Process and, Return transport Process The imaging step involves capturing an image including the test plate 100 placed on the support portion 6 using the imaging unit 10. A correspondence step is performed in which, based on the position of the processing marks PM in the image captured in the imaging step, the image coordinates related to the image captured by the imaging unit 10 are associated with the actual coordinates of the object placed on the support unit 6. A workpiece recognition method according to any one of configurations 1 to 3, including the above. <Composition 5> The first return transport involves placing the test plate 100 stored in the storage unit 2 onto the support unit 6 using the second transport unit 7. Process and, First return transport Process The second return transport unit holds the test plate 100, which is placed on the support unit 6, with the first transport unit 5 and transports it to the processing machine 1. Process and, Second return transport Process The process involves a reprocessing step in which a visually identifiable processing mark PM is formed at a reference position RP on the test plate 100 that has been transported to the processing machine 1, A workpiece recognition method according to any of configurations 1 to 4, including the above.

[0072] One or more of the requirements described in the embodiments described above may be omitted. Furthermore, the requirements described in the embodiments described above can be combined as appropriate. Also, the execution order of each procedure shown in this embodiment can be implemented in any order, as long as the results of the previous procedure are not used in the subsequent procedure. Furthermore, even if the operations in the embodiments described above are described using terms such as "first," "next," and "followed by," it is not mandatory to perform them in this order. In addition, to the extent permitted by law, disclosures from Japanese Patent Application No. 2023-066483 and all documents cited in the embodiments described above are incorporated into this text. [Explanation of Symbols]

[0073] 1...processing machine 2...Storage Department 3. Conveying device 4. Control device (recognition unit) 5. First Conveyor Unit 6...Support part 7. Second Transport Section 10. Imaging Unit W...workpiece (workpiece)

Claims

1. A processing machine for processing plate-shaped workpieces, A first conveying unit holds and transports the workpiece processed by the aforementioned processing machine and places it on a support unit, An imaging unit that captures an image including the workpiece placed on the support unit, A recognition unit recognizes the workpiece placed on the support unit based on the image captured by the imaging unit, A second conveying unit picks up the workpiece recognized by the recognition unit from the support unit and transports it to the discharge position, In a processing system equipped with, The processing step involves using the aforementioned processing machine to form a visually identifiable processing mark at a reference position on a predetermined test plate, A transport step is to hold and transport the test plate on which the processing marks have been formed in the processing step using the first transport unit and place it on the support unit, An imaging step in which an image including the test plate placed on the support portion is captured by the imaging unit, A correspondence step is performed based on the position of the processing marks in the image captured in the imaging step, which involves matching the image coordinates of the image captured by the imaging unit with the actual coordinates of the object placed on the support unit. A method for recognizing a workpiece, including the method described above.

2. In the processing step, the processing machine performs marking at a reference position on the test plate. The method for recognizing a workpiece according to claim 1.

3. The processing system includes a storage unit for storing the workpiece processed by the processing machine, The second transport unit transports the workpiece picked up from the support unit to the storage unit. The processing step involves forming the processing marks on the test plate, and the transport step involves lifting the test plate, which has been placed on the support, from the support by the second transport unit and transporting it toward the storage unit, and storing it in the storage unit. The method for recognizing a workpiece according to claim 1 or 2.

4. A return transport step in which the test plate stored in the storage section is placed on the support section using the second transport section, The imaging step involves capturing an image of the test plate, which is placed on the support portion, using the imaging unit during the return transport step, A correspondence step is performed based on the position of the processing marks in the image captured in the imaging step, which involves matching the image coordinates of the image captured by the imaging unit with the actual coordinates of the object placed on the support unit. The workpiece recognition method according to claim 3, including the method described in claim 3.

5. A first return transport step involves placing the test plate stored in the storage section onto the support section using the second transport section, A second return transport step involves holding the test plate, which was placed on the support in the first return transport step, with the first transport unit and transporting it to the processing machine. A reprocessing step in which a visually identifiable processing mark is formed at a reference position on the test plate that was transported to the processing machine in the second return transport step, The workpiece recognition method according to claim 3, including the method described in claim 3.

6. A processing machine for processing plate-shaped workpieces, A first conveying unit holds and transports the workpiece processed by the aforementioned processing machine and places it on a support unit, An imaging unit that captures an image including the workpiece placed on the support unit, A recognition unit recognizes the workpiece placed on the support unit based on the image captured by the imaging unit, The system includes a second conveying unit that picks up the workpiece recognized by the recognition unit from the support unit and transports it to the discharge position, The processing machine forms a visually identifiable processing mark at a reference position on a predetermined test plate. The first transport unit holds and transports the test plate on which the processing marks have been formed, and places it on the support unit. The imaging unit captures an image including the test plate placed on the support unit, The recognition unit, based on the position of the processing marks in the image captured by the imaging unit, associates the image coordinates of the image captured by the imaging unit with the actual coordinates of the object placed on the support unit. Processing system.

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