JP7329974B2 - Machining device and tool detection method - Google Patents

Description

The present invention relates to a machining device and a tool detection method.

2. Description of the Related Art A processing apparatus having a tool magazine capable of holding processing tools for processing a workpiece is known as a conventional technique (Patent Document 1).

Japanese Patent Application Laid-Open No. 2014-145732

As described above, in the conventional processing apparatus, determination as to whether a processing tool is held in the tool magazine is performed by a method such as bringing the sensor into physical contact with the processing tool, which is a complicated task.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a processing apparatus or a tool detection method that can easily determine the presence or absence of a processing tool.

In order to solve the above problems, the present invention includes a holding section capable of holding a tool, an imaging section that captures an image of the holding section, and a control section that controls the imaging section. an imaging process of capturing an image of the holding part using a part; an acquisition process of acquiring an image obtained by the imaging process; A processing apparatus capable of executing a determination process of determining whether or not a tool is held by a holding part is provided.

Further, the present invention provides a processing apparatus comprising a holding section capable of holding a tool, an imaging section for imaging the holding section, and a control section for controlling the imaging section, wherein the holding section is an acquisition process of acquiring an image obtained by the imaging process; and referring to at least some pixels of an image corresponding to the holding part in the image, so that the tool is held by the holding part A determination process for determining whether or not a tool is detected is provided.

With the above configuration, the present invention can provide a machining apparatus or a tool detection method that can easily determine the presence or absence of a machining tool.

It is an appearance perspective view showing a processing device concerning this embodiment. It is a perspective view which shows the internal structure of the processing apparatus which concerns on this embodiment. It is a sectional view of a processing device concerning this embodiment. 1 is a block diagram of a processing device according to this embodiment; FIG. It is a figure which shows a part of support part which concerns on this embodiment, and shows the state which mounted the workpiece. It is a perspective view showing a tool magazine in this embodiment. 6 is a flowchart of a projective transformation matrix acquisition process according to the embodiment; It is a figure which shows the jig|tool used by this embodiment, (a) and (b) show a top view, (c) and (d) show a side view. FIG. 10A is a diagram showing the arrangement of jigs at the time of imaging in the projective transformation matrix acquisition process, and FIG. 10B is a diagram showing the imaged jig image. FIG. 4A is a diagram showing an image of a jig captured in the process of obtaining a projective transformation matrix, and FIG. 4B is a diagram showing a region used as a target of projective transformation. (a) is a diagram showing an image that has been projectively transformed in the projective transformation matrix acquisition process, and (b) and (c) show the equations of the projective transformation matrix. 6 is a flowchart of mask image acquisition processing according to the present embodiment. FIG. 10A is a diagram showing the arrangement of jigs at the time of imaging in mask image acquisition processing, and FIG. (a) A view showing an image of a jig taken, (b) a view showing a projectively transformed image, (c) a view showing a grayscaled image, and (d) in the mask image acquisition process. It is a figure which shows the image by which the binarization process was carried out. 4 is a flow chart of exchange processing in this embodiment. It is a flowchart which shows the detail of a determination process among the replacement|exchange processes in this embodiment. FIG. 10A is a diagram showing the arrangement of jigs at the time of imaging, (b) is a diagram showing the imaged image of the jig, and (c) is a diagram showing a projectively transformed image in the determination process. In the determination process, (a) a diagram showing a projective transformed image, (b) a diagram showing a grayscaled image, (c) a diagram showing a masked image, and (d) a binarized image. FIG. 10 is a diagram showing an image obtained by (a) A diagram showing regions used in determination processing, and (b) a formula showing the definition of the ratio of white pixels.

<Embodiment>
A processing apparatus 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 19. FIG. As shown in FIGS. 1 to 5, the processing apparatus 1 according to this embodiment includes a housing 10, a processing section 20, a moving mechanism 30, a support section 40, a tank 50, a camera 60, and a control section . The processing device 1 is a device for cutting a workpiece C three-dimensionally. The tank 50 has a function of storing coolant used for machining work, and is detachable from the housing 10 .

[Chassis]
As shown in FIG. 1 , the housing 10 includes a substantially rectangular body portion 11 , a front cover 12 movable with respect to the body portion 11 , and a bottom cover 13 . A machining space 10 a is defined inside the main body 11 . Further, the body portion 11 has a tank portion section 10b that houses a tank 50 below the processing space 10a, and communicates with the processing space 10a through an opening 10c (FIGS. 2 and 3).

In this embodiment, as shown in FIGS. 1 to 3, the front, rear, left, right, and upper and lower directions are determined. In FIG. 3, the side where the front cover 12 is attached to the body portion 11 is defined as the front side, and the opposite direction is defined as the rear side. Further, as shown in FIG. 1, the left and right directions are defined with reference to the case where the housing 10 is viewed from the front. The direction in which the processed portion 20 is arranged with respect to the support portion 40 is defined as upward, and the opposite direction is defined as downward. Also, the orientation of detachable members such as the tank 50 is determined based on the state of attachment to the housing 10 .

By moving the front cover 12 upward, the machining space 10 a is opened to the outside of the housing 10 . Further, by pulling out the bottom cover 13 forward, the tank section 10b is opened to the outside of the housing 10 .

〔process section〕
As shown in FIGS. 2 to 4, the processing unit 20 includes a motor unit 21, a spindle 22, a connecting unit 23, a milling bur 24 as a tip tool for cutting the workpiece C, and a coolant nozzle 25. and An output shaft (not shown) of the motor section 21 is connected to the spindle 22 and can rotationally drive the spindle 22 .

The spindle 22 is a substantially cylindrical member and is exposed to the machining space 10a. A lower end of the spindle 22 detachably holds a milling bur 24 for cutting. In addition, below, the extending direction of the spindle 22 is defined as the Z-axis direction. Also, the directions orthogonal to the Z-axis are defined as the Y-axis direction and the X-axis direction as shown in FIG.

A coolant nozzle 25 is arranged in the vicinity of the spindle 22 . The coolant nozzle 25 has a function of receiving supply of coolant from the tank 50 and injecting the coolant toward the machining portion of the workpiece C and the milling bur 24 for cutting. During the processing operation, the processing unit 20 processes the workpiece C by contacting the workpiece C while rotating the spindle 22 . At the same time, the processing section 20 injects coolant from the coolant nozzle 25 to cool the processing portion.

The connecting portion 23 is a member that connects the motor portion 21 and the moving mechanism 30 . Specifically, the front end of the connecting portion 23 is fixed to the motor portion 21 . Also, the rear portion of the connecting portion 23 is supported by the moving mechanism 30 .

[Movement Mechanism]
As shown in FIGS. 2 and 3, the moving mechanism 30 is arranged above the machining space 10a. The movement mechanism 30 includes a pair of shafts 31A and 31B extending in the Z-axis direction, a base portion 32 supporting both upper and lower ends of the shafts 31A and 31B, and a pair of shafts 33A and 33B extending in the left-right direction. Prepare. The shafts 31A and 31B movably support the connecting portion 23 in the Z-axis direction. The connecting portion 23 is driven in the Z-axis direction by a motor (not shown). Further, the shafts 33A and 33B support the base portion 32 so as to be movable in the left-right direction. The base portion 32 is driven in the left-right direction by a motor (not shown). With the above configuration, the moving mechanism 30 supports the processing unit 20 and allows the processing unit 20 to move in the Z-axis direction and the left-right direction (Y-axis direction). During the processing operation, the moving mechanism 30 moves the processing section 20 in the Z-axis direction and the left-right direction.

[Support part]
2, 5 and 6, the support portion 40 includes a drive portion 41, a pair of shafts 43A and 43B supporting the drive portion 41, a mounting portion 44 supported by the drive portion 41, and a tool magazine 45 .

The drive unit 41 is arranged to the right of the machining space 10a. The driving portion 41 has an output shaft extending in the left-right direction, and can rotationally drive the mounting portion 44 around the output shaft. The mounting portion 44 is arranged inside the processing space 10a. The left end portion of the attachment portion 44 can attach and detach the workpiece C (FIG. 5).

Both ends of the shafts 43A and 43B are fixed to the housing 10 and extend in the X-axis direction (FIG. 2) orthogonal to the Z-axis direction. The shafts 43A and 43B support the driving portion 41 so as to be movable in the X-axis direction. In this manner, the driving portion 41 and the mounting portion 44 are movable in the X-axis direction.

The tool magazine 45 is a member having a substantially rectangular parallelepiped shape and having a function of holding the milling bur 24 . The tool magazine 45 is arranged on the right side and in front of the mounting portion 44 . The tool magazine 45 is provided with a rectangular upper surface 45A and six holding portions 451 . The upper surface 45A is parallel to the X-axis and Y-axis and orthogonal to the Z-axis.

Each of the holding portions 451 forms a circular hole opened in the Z-axis direction from the upper surface 45A. Further, the holding portion 451 has a peripheral surface 45 a capable of supporting the outer peripheral portion of the milling bur 24 . The milling bur 24 is held by the holding portion 451 by being inserted through the holding portion 451 and coming into contact with the peripheral surface 45a.

〔camera〕
The camera 60 is arranged above the machining space 10a and above the tool magazine 45 as shown in FIG. The camera 60 has a function of taking an image of the processing space 10a and converting it into an image. The camera 60 is electrically connected to the control section 70 and controlled by the control section 70, as shown in FIG. The imaging range of the camera 60 is set so that the upper part of the tool magazine 45 can be imaged. Camera 60 is an example of an imaging unit in the present invention.

[Control part]
The overall operation of the processing apparatus 1 is controlled by the control section 70 . As shown in FIG. 4, the control unit 70 is communicably connected to the processing unit 20, the moving mechanism 30, and the support unit 40, and controls them. The configuration of the control unit 70 is not particularly limited. It mainly includes an NVRAM for storing data.

The control unit 70 has a function of controlling the camera 60 and acquiring images of the tool magazine 45 and the like. Further, the control unit 70 can analyze the acquired image and execute processing (determination processing) for determining whether the holding unit 451 holds the milling bur 24 .

The control unit 70 stores a projective transformation matrix M and a mask image used for determination processing. The projective transformation matrix M and the mask image are obtained by the projective transformation matrix acquisition process and the mask image acquisition process, which will be described in detail below. It is appropriately acquired before performing the processing work of C.

[Projective transformation matrix acquisition process]
Processing for acquiring the projective transformation matrix M will be described with reference to FIGS. 7 to 11. FIG. In this process, the jig 81 is placed on the upper surface 45A of the tool magazine 45 and used. The jig 81 includes a plate portion 811 and six protrusions 812 (FIG. 8(c)). The plate portion 811 is a rectangular plate material, and a checkered pattern 81a is drawn on the surface thereof. As shown in FIG. 8A, the checkered pattern 81a has a lattice pattern, and the portions divided by the lattice pattern are alternately colored black and white. This checkered pattern 81a defines an area 81b that substantially conforms to the shape of the upper surface 45A of the tool magazine 45. As shown in FIG. The region 81b is formed in a rectangular shape and has four vertices 81c, 81d, 81e and 81f. Although the region 81b and the vertices 81c to 81f are not drawn directly on the jig 81, they are shown using dotted lines, circles, etc. in each drawing for easy understanding. The projecting portion 812 is a member for positioning when installing the jig 81 on the upper surface 45A. Each of the projecting portions 812 is a substantially cylindrical member, and its end portion is fixed to the plate portion 811 . The outer diameter of each protrusion 812 is approximately equal to the inner diameter of the holding portion 451 . Further, the protrusion 812 is arranged so as to match the arrangement position of the holding portion 451 . Therefore, each projection 812 can be inserted through the holding portion 451 .

The control unit 70 performs a projective transformation matrix acquisition process based on the process shown in the flow of FIG. First, in step S<b>1 , the control section 70 takes an image of the jig 81 placed on the upper surface 45</b>A of the tool magazine 45 . During imaging, the six projections 812 are inserted into the holding portion 451 . In this manner, the jig 81 is placed so that the upper surface 45A and the region 81b overlap each other when viewed in the Z-axis direction (FIG. 9A). In step S3, the control unit 70 acquires the image G1 obtained by this imaging.

An image G1 obtained in step S3 is shown in FIG. 9(b). The image G1 is an image displayed in a plane having an image coordinate system GC. The image coordinate system GC is defined by mutually orthogonal X1 and Y1 axes, as shown in FIG. 9(b). In the image G1, images corresponding to the checkered pattern 81a, the area 81b, and the vertices 81c to 81f are displayed. These images are hereinafter referred to as pattern 81Ga, region 81Gb, and vertices 81Gc to 81Gf, respectively.

Image G1 is an image acquired using camera 60 as described above. Therefore, the pattern 81Ga and the region 81Gb are not necessarily arranged parallel to the X1 axis or the Y1 axis. Also, the shape of the region 81Gb is normally not rectangular but distorted.

In step S5, the control unit 70 sets the projective transformation matrix M. FIG. The projective transformation matrix M is represented as a cubic square matrix having eight parameters h11 to h32, as shown in FIGS. 11(b) and 11(c). Y1). The projective transformation matrix M is set so that the region 81Gb can be projectively transformed into the same size and shape as the preset region 81Hb (FIG. 10(b9)). It is a planar area whose coordinates are set, and has a shape similar to the top surface 45 A. The area 81Hb has vertices 81Hc to 81Hf, and the projective transformation matrix M has vertices 81Gc to 81Gf, respectively It is set to be projectively transformed to ~81Hf.

Specifically, the control unit 70 first acquires the coordinates of the vertices 81Gc to 81Gf in the image G1. By successively substituting the coordinates of these four points and the coordinates of the corresponding vertices 81Hc to 81Hf into the equation of FIG. 11(b), an 8-element simultaneous equation is obtained. Thus, eight parameters h11 to h32, ie, the projective transformation matrix M are obtained. The control unit 70 stores the obtained parameters h11 to h32 and the projective transformation matrix M (S7).

In step S9, the control unit 70 uses the projective transformation matrix M to projectively transform the image G1. FIG. 11A shows the image G1 after projective transformation as an image J1. The image J1 comprises a checkered pattern 81Ja, an area 81Jb, and vertices 81Jc-81Jf. These are images corresponding to the checkered pattern 81a, the region 81b, and the vertices 81c to 81f, respectively.

In step S11, the control unit 70 examines the magnitude of distortion of the image J1 obtained by the projective transformation. Specifically, the control unit 70 compares the coordinates of the intersections P11 to P26 of the lattice pattern in the checkered pattern 81Ja with the target coordinates of these intersections, and calculates the error. The target coordinates are the ideal values of the intersection coordinates obtained when the image G1 is correctly projectively transformed without distortion. The error is obtained, for example, by calculating the distance between the coordinates of each intersection point P11-P26 and the corresponding target coordinates. At each intersection, the difference between the X1 coordinates and the difference between the Y1 coordinates may be calculated separately.

If the maximum error is less than the predetermined threshold (S11: YES), the control section 70 terminates the process. If the maximum error is greater than or equal to the threshold (S11: NO), the control unit 70 returns the process to step S1 and calculates the projective transformation matrix M again.

[Mask image acquisition processing]
The processing for acquiring the mask image will be described with reference to FIGS. 12 to 14. FIG. In this process, as shown in FIG. 13(a), the jig 82 is used while being placed on the upper surface 45A of the tool magazine 45. As shown in FIG. The jig 82 includes a plate portion 821 and six projecting portions 822 (FIG. 8(d)). The plate portion 821 is a rectangular plate member as shown in FIG. 8B, and has an outer shape substantially equal to the upper surface 45A, that is, the region 81b. Six white circular patterns 82 a are drawn on the plate portion 821 . The diameter of the circular pattern 82 a is substantially the same as the diameter of the holding portion 451 . Also, the six circular patterns 82 a are arranged at the same positions as the six holding portions 451 . The portion of the plate portion 821 other than the circular pattern 82a is painted in a dark color instead of white. The projecting portion 822 is a member for positioning when installing the jig 82 on the upper surface 45A. Each of the projecting portions 822 is a substantially cylindrical member, and its end portion is fixed to the plate portion 821 . The outer diameter of each protrusion 822 is substantially equal to the inner diameter of the holding portion 451 . Moreover, the protrusion 822 is arranged so as to match the arrangement positions of the circular pattern 82 a and the holding portion 451 . Therefore, each projection 822 can be inserted through the holding portion 451 .

Processing is performed according to the flow shown in FIG. In step S21, the control unit 70 takes an image of the jig 82 placed on the upper surface 45A of the tool magazine 45, and in step S23 acquires an image G2 obtained by this image pickup. When the jig 82 is placed on the upper surface 45A, all the protrusions 822 are inserted into the holding portions 451. As shown in FIG. At this time, the plate portion 821 and the upper surface 45A overlap without deviation when viewed in the Z-axis direction. The circular pattern 82a also overlaps the holding portion 451 without deviation when viewed in the Z-axis direction. As shown in FIGS. 13B and 14A, the image G2 displays a plate portion 821G and a circular pattern 82Ga, which are images corresponding to the plate portion 821 and the circular pattern 82a.

In step S25, the control unit 70 performs projective transformation of the image G2 to obtain an image J2. The projective transformation uses the projective transformation matrix M stored in step S7. As a result of this projective transformation, in the image J2, the images of the plate portion 821 and the circular pattern 82a are expressed as a plate portion 821J and a circular pattern 82Ja (FIG. 14(b)). As a result, the outer shape and position of the plate portion 821J represented by the image coordinate system GC substantially match the shape and position of the region 81Hb.

Further, the control unit 70 performs grayscaling processing on the image J2 to convert it into the image K1 (S27, FIG. 14(c)). By this processing, the image J2 is converted into a monochrome image. Note that the gradation of the image is set to a gradation suitable for the conditions, such as 256 gradation or 512 gradation.

The control unit 70 further converts the image K1 into an image K2 by performing a binarization process (S29, FIG. 14(d)). As a result of this processing, the image K2 is a black and white binary image. When binarizing, the threshold is set so that the pixel values of the image showing the inside of the circular pattern 82a and the image of its periphery are different.

FIG. 14(d) shows an image K2 in which a circular pattern 82Ka, which is an image corresponding to the circular pattern 82a, is displayed. As a result of the binarization process, the pixels of the circular pattern 82Ka are displayed in white, and the pixels surrounding the circular pattern 82Ka are all displayed in black. Thereafter, the control unit 70 saves the image K2 in step S31. In addition, below, the image of the black portion displayed in the image K2 is assumed to be the black portion 82K.

[Exchange process]
When the processing device 1 performs the processing operation of the workpiece C, it is necessary to use the optimum milling bur 24 according to the conditions such as the material and processing shape of the workpiece C, for example. Therefore, there are cases where the milling bur 24 held at the lower end of the spindle 22 is replaced with another milling bur 24 held in the tool magazine 45 before the machining operation. This exchange processing will be described below with reference to FIGS. 15 to 19. FIG.

The exchange process is performed according to the flow shown in FIG. Upon receiving an instruction to start the replacement process from the user (S41), the control unit 70 determines where the milling bur 24 is held in the tool magazine 45 by performing determination processing (S43). If an appropriate milling bur 24 is held, the control unit 70 determines that it can be replaced (S45: YES), and holds the milling bur 24 held at the lower end of the spindle 22 in the tool magazine 45. The work of exchanging with the other milling bur 24 that is being used is performed (S47), and the process is completed.

On the other hand, if not even one milling bur 24 is held in the tool magazine 45 or if an appropriate milling bur 24 is not held, the control unit 70 determines that replacement is not possible (S45: NO), and proceeds directly. exit.

[Details of judgment processing]
FIG. 16 shows a detailed flow of the determination process (S43). In the determination process, the control unit 70 uses the camera 60 to image the upper surface 45A of the tool magazine 45 holding the milling bur 24 as shown in FIG. 17A (S51), and acquires the image L1 ( S53). FIG. 17(b) shows an image L1 obtained by imaging. As a result of imaging the upper surface 45A, the holding portion 451 holding the milling bur 24, and the holding portion 451 not holding the milling bur 24, images corresponding to these are displayed in the image L1. In other words, images corresponding to the upper surface 45A, the milling bur 24, and the holding portion 451 are displayed in the image L1. These images are hereinafter referred to as the upper surface 45LA, the milling bur 24L, and the holding portion 451L.

In step S55, the control unit 70 uses the projective transformation matrix M to projectively transform the image L1. FIG. 17(c) shows the projectively transformed image L1 as an image N1. The image N1 displays the upper surface 45NA, the milling bur 24N, and the holding portion 451N. These are images corresponding to the upper surface 45A, the milling bur 24, and the holding portion 451, respectively. The outer shape and position of the upper surface 45NA substantially match the shape and position of the region 81Hb as a result of projective transformation. That is, the projective transformation corrects and shapes the distortion of the image, making it easy to grasp the image of each member in the image. Note that the projective transformation process corresponds to the shaping process of the present invention.

Further, the control unit 70 performs grayscaling processing on the image N1 to convert it into an image P1 (S57). Through this processing, the image N1 is converted into a monochrome image. Note that the gradation of the image is set to a suitable gradation such as 256 gradation or 512 gradation. As shown in FIG. 18B, the image P1 displays the upper surface 45PA, the milling bur 24P, and the holding portion 451P. These are images corresponding to the upper surface 45A, the milling bur 24, and the holding portion 451, respectively.

Further, the control unit 70 performs masking processing on the image P1 using the image K2 (S59). In the masking process, the black portion 82K of the image K2 is overlaid on the image P1. As a result, all the pixels of the image other than the holding portion 451P and the milling bur 24P are converted to black. FIG. 18(c) shows the image P1 after the masking process as an image Q1. The image Q1 displays the upper surface 45QA, the milling bur 24Q, and the holding portion 451Q. These are images corresponding to the upper surface 45A, the milling bur 24, and the holding portion 451, respectively. Note that the masking process corresponds to the conversion process in the present invention.

In step S61, the image Q1 is binarized. In the binarization process, threshold values are set so that the pixel tone values of the milling bar 24Q can be distinguished from the pixel tone values of other images. For example, pixels of the milling bar 24Q whose gradation value is lower than the threshold are converted to white, and pixels other than the milling bar 24P whose gradation value is higher than the threshold are converted to black. As a result, the pixels of the image corresponding to the holding section 451 that does not hold the milling bur 24 are converted to black. On the other hand, the pixels of the milling bur 24P are converted to white. In other words, the pixels of the image corresponding to the holding portion 451 holding the milling bur 24 are converted to white.

In this way, the pixels of the image corresponding to the holding portion 451, that is, the pixels in the portion where the holding portion 451 should exist are converted to either white or black depending on whether or not the milling bur 24 is held.

FIG. 18(d) shows the image Q1 after the binarization process as an image R1. An image corresponding to the holding portion 451 holding the milling bur 24 (assumed to be a holding portion 451R) is displayed in white. Further, the holding portion 451 that does not hold the milling bur 24 and the image corresponding to the upper surface 45A (referred to as an upper surface 45RA) are all displayed in black. That is, in the image corresponding to the holding unit 451, when the milling bur 24 is not held, its pixels are converted to black. On the other hand, when the milling bur 24 is held, the pixels of the image corresponding to the holding unit 451 are converted to white.

Next, the control unit 70 determines whether or not the milling bur 24 is present using the image R1. First, the control unit 70 sets six regions R11 in the image R1 so as to correspond to the positions of the six holding units 451, respectively, and selects one of them (S62). In other words, each region R11 includes one image corresponding to the holding portion 451 converted to white or black (FIG. 19(a)).

The control unit 70 calculates the ratio Rw of white pixels to the total number of pixels in each region R11 (S63). In step S65, control unit 70 determines whether or not ratio Rw exceeds a predetermined set value. The ratio Rw is the ratio of the number of white pixels to the total number of pixels in the region R11, as shown in the formula of FIG. 19(b).

If the ratio Rw exceeds the set value (S65: YES), it is determined that the milling bur 24 is held (S66). If the ratio Rw is less than or equal to the set value (S65: NO), it is determined that the milling bur 24 is not held (S67).

Even if the diameter of the milling bur 24 is smaller than the diameter of the holding portion 451 and there is a gap, or if noise is displayed in the image R1, the holding state of the milling bur 24 can be determined by using the ratio Rw. is accurately captured.

In step S69, the control unit 70 determines whether or not the presence or absence of the milling bur 24 has been determined for all regions R11. If there is a region R11 for which determination has not been completed (step S69: NO), the control unit 70 returns the process to step S62, and newly selects a region for which tool presence/absence determination has not been made.

If the presence or absence of the milling bur 24 is determined for all regions R11 (S69: YES), the control unit 70 ends the determination process. After that, the control unit 70 advances the process to step S45 (FIG. 15) as described above, and performs work such as replacing the milling bur 24 .

In this way, since the position where the milling bur 24 is held can be grasped only by image processing, the determination processing can be executed quickly and accurately. In addition, since where the milling bur 24 is held is grasped by the determination processing, the replacement work after step S45 is also performed quickly and accurately.

<effect>
In the above-described embodiment, the processing apparatus 1 includes a tool magazine 45 that holds tools, a camera 60 that images the tool magazine 45, and a control unit 70 that controls the camera 60. The control unit 70 uses the camera 60 to image capturing processing for capturing an image of the holding unit 451 using the image capturing unit 451; acquisition processing for acquiring an image obtained by the image capturing processing; and a determination process of determining whether the bar 24 is held.

In the above configuration, the image corresponding to the holding portion 451 is displayed differently depending on whether or not the milling bur 24 is present. Therefore, the control unit 70 can determine the holding state of the milling bur 24 in the holding unit 451 . Since there is no need for direct contact with the milling bur 24 and no visual work by the user, determination of the holding state can be made accurately, easily, or quickly.

The control unit 70 can further execute projective transformation processing for shaping the image by projectively transforming the image acquired in the acquisition processing, and can perform determination processing using the projectively transformed image.

In the above configuration, image distortion is corrected, and the positions and shapes of images of the tool magazine 45, the holding portion 451, the milling bur 24, etc. in the image can be easily grasped. Therefore, the holding state of the milling bur 24 can be accurately determined.

The control unit 70 can further execute conversion processing for converting the gradation of pixels around the image of the holding unit 451 into a predetermined gradation, and performs determination processing using the image obtained by the conversion processing.

With the above configuration, the pixels in the holding portion 451 and the pixels in the vicinity thereof can be clearly distinguished and displayed. The position and shape of the holding portion 451 can be easily grasped, and the holding state of the milling bur 24 can be accurately determined.

The control unit 70 can further execute binarization processing for binarizing an image, and performs the determination processing using the image obtained by the binarization processing.

In the above configuration, the pixels corresponding to the holding portion 451 are displayed differently depending on the holding state of the milling bur 24 . The holding state of the milling bur 24 by the holding portion 451 can be easily grasped, and the holding state of the milling bur 24 can be determined accurately.

<Modification>
In the above embodiments, it is possible to omit part or all of the projective transformation process, the binarization process, and the mask process. In this case, the control unit 70 can determine whether or not the milling bur 24 is present in the holding unit 451 by extracting at least some of the pixels of the image corresponding to the holding unit 451 and examining the gradation of the pixels.

The error calculation in steps S9 and S11 is not necessarily limited to the method of calculating the maximum value. For example, the determination in step S11 may be made by calculating the sum of errors at each intersection and comparing it with a threshold.

In step S63, instead of examining the pixels in the entire area R11, a plurality of pixels or one pixel in the central portion of the area R11 may be extracted. In this case, the control unit 70 can determine whether the pixels in the central portion of the region R11 are white or black, and determine whether the holding unit 451 holds the milling bur 24 in the determination target region R11.

The above embodiments are presented as examples of the invention and do not limit the scope of the invention. Various omissions, replacements, and modifications can be made to the above configuration without departing from the scope of the invention. The above-described embodiments and modifications thereof are included in the scope and spirit of the invention, as well as the scope of the invention described in the claims and equivalents thereof.

1 processing device 10 housing 11 main unit 20 processing unit 30 moving mechanism 40 support unit 50 tank 60 camera

Claims (6)

a holding portion capable of holding a tool;
an imaging unit that captures an image of the holding unit;
A control unit that controls the imaging unit,
The control unit
a process of capturing an image of a jig having an area while being supported by the holding unit, and acquiring an area image that is an image of the area;
A process of acquiring a transformation matrix for projectively transforming the area image into an image of a predetermined shape;
an image capturing process of capturing an image of the holding unit using the image capturing unit;
Acquisition processing for acquiring an image obtained by the imaging processing as a holding portion image ;
a process of projectively transforming the holding unit image using the transformation matrix;
Determination processing for determining whether or not a tool is held by the holding portion by referring to at least some pixels of an image corresponding to the holding portion in the holding portion image subjected to the projective transformation ;
processing equipment capable of executing 2. The processing apparatus according to claim 1, wherein said area is rectangular. The control unit
a conversion process for converting the gradation of pixels around the image of the holding unit in the image into a predetermined gradation,
3. The processing apparatus according to claim 1, wherein said determination processing is performed using said image obtained by said conversion processing. The control unit
A binarization process for binarizing the image can be further executed,
4. The processing apparatus according to any one of claims 1 to 3, wherein said determination processing is performed using said image obtained by said binarization processing. 5. The processing apparatus according to any one of claims 1 to 4, wherein said region has the same shape as one surface of said holding portion. a holding portion capable of holding a tool;
an imaging unit that captures an image of the holding unit;
A processing apparatus comprising a control unit that controls the imaging unit,
a process of capturing an image of a jig having an area while being supported by the holding unit, and acquiring an area image that is an image of the area;
A process of acquiring a transformation matrix for projectively transforming the area image into an image of a predetermined shape;
an image capturing process of capturing an image of the holding unit using the image capturing unit;
Acquisition processing for acquiring an image obtained by the imaging processing as a holding portion image ;
a process of projectively transforming the holding unit image using the transformation matrix;
determining whether or not the tool is held by the holding portion by referring to at least some pixels of an image corresponding to the holding portion in the holding portion image subjected to the projective transformation ; Detection method.

Images