JP2022169269A - Processing system, detection system, method for processing, and program - Google Patents

Abstract

To detect the position of an edge of a target member.SOLUTION: A processing system 100 includes an acquisition unit 111, a differentiation processing unit 112, and an edge detection unit 113. The acquisition unit 111 acquires measurement data on the height of a target member in a height direction intersecting with a length direction along the length direction of the target member. The differentiation processing unit 112 determines a plurality of differential values for a plurality of positions in the length direction by performing differentiation processing on the measurement data acquired by the acquisition unit 111, in the length direction of the target member. The edge detection unit 113 detects the edge position of the target member by using the differentiation values of two positions adjacent to each other in the length direction of the plurality of differentiation values.SELECTED DRAWING: Figure 1

Description

The present disclosure relates generally to processing systems, detection systems, processing methods, and programs. More particularly, the present disclosure relates to processing systems, detection systems, processing methods, and programs used to determine values relating to the shape of target members.

Patent Literature 1 discloses a non-contact displacement measuring device. This non-contact displacement measurement device includes a light source, a light detection section, a displacement calculation section, a signal quality calculation section, and an edge position determination section. The light source irradiates the object to be measured with light. The light detection unit receives reflected light emitted from the light source and reflected from the object to be measured. The displacement calculator calculates the displacement of the object to be measured based on the output signal of the photodetector, and outputs a displacement signal indicating the calculated displacement. The signal quality calculator calculates and outputs a signal quality parameter indicating the signal quality of the displacement signal. A signal quality parameter is calculated as the signal-to-noise ratio of the displacement signal from the output signal with a specific intensity for each frequency. The edge position determination unit determines the position of the edge of the object under measurement based on the signal quality parameter or the signal quality parameter and the displacement signal. The edge position determination unit differentiates the signal quality parameter by the measurement position to calculate a differential value, and determines the measurement position at the maximum value of the differential value as the position of the edge of the object to be measured.

JP 2007-178309 A

In a detection system such as the non-contact displacement measuring device described in Patent Document 1, it may be difficult to determine the edge position.

An object of the present disclosure is to provide a processing system, a detection system, a processing method, and a program capable of detecting the edge position of a target member.

A processing system according to one aspect of the present disclosure includes an acquisition unit, a differentiation processing unit, and an edge detection unit. The acquisition unit acquires measurement data relating to a height, which is a dimension of the target member, along a length direction of the target member and in a height direction that intersects with the length direction. The differentiation processing unit performs differentiation processing in the length direction of the target member on the measurement data acquired by the acquisition unit, thereby obtaining a plurality of differential values at a plurality of positions in the length direction. Ask. The edge detection unit detects an edge position of the target member using differential values of two positions adjacent in the length direction among the plurality of differential values.

A detection system of one aspect of the present disclosure comprises the processing system and a measurement system. The measurement system measures the height of the target member.

A processing method of one aspect of the present disclosure includes an acquisition step, a differentiation processing step, and an edge detection step. The obtaining step includes obtaining measurement data relating to height, which is a dimension of the target member along a length direction of the target member and in a height direction that intersects the length direction. The differential processing step performs differential processing in the length direction of the target member on the measurement data acquired in the acquisition step, thereby obtaining a plurality of differential values at a plurality of positions in the length direction. Including asking. The edge detection step includes detecting edge positions of the target member using differential values of two positions adjacent in the length direction among the plurality of differential values.

A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the processing method.

According to the present disclosure, there is an advantage that it is possible to provide a processing system, a detection system, a processing method, and a program capable of detecting the edge position of a target member.

1 is a block diagram of a detection system according to one embodiment of the present disclosure; FIG. FIG. 2 is a perspective view of a target member as a detection target whose edge position is detected by the same detection system. FIG. 3 is a perspective view of a coil made of the same target member. FIG. 4 is a side view of a motor provided with the same coils. FIG. 5 is a plan view of the same motor as seen from one side in the axial direction. FIG. 6 is a plan view of the motor as seen from the other side in the axial direction. FIG. 7 is a diagram for explaining a drawing method for forming a stepped portion in the same target member. FIG. 8 is a diagram for explaining a drawing method for forming a stepped portion in the same target member. FIG. 9 is a diagram for explaining an example of a method of measuring the height of a target member by a measuring system included in the detection system; FIG. 10 is a graph showing an example of a height waveform representing the height of the target member measured by the measuring system; FIG. 11 is a graph showing an example of a differential waveform representing a differential value of the height of the target member; FIG. 12 is a graph showing an example of a differential waveform representing a differential value of the height of the target member; FIG. 13 is a flow chart of a detection method for the edge position of a target member by the same detection system. 14 is a block diagram of a processing system included in the detection system of modification 1. FIG. FIG. 15 is a graph showing an example of a height waveform representing the height of the target member measured by the measurement system included in the detection system; FIG. 16 is a graph showing an example of a differential waveform representing a differential value of the height of the target member; FIG. 17 is a flow chart of a detection method for the edge position of a target member by the same detection system. 18 is a block diagram of a processing system included in the detection system of modification 2. FIG. FIG. 19 is a diagram for explaining an example of a method of measuring the height of a target member by a measuring system included in a detection system of one modification.

A processing system 100 of the present embodiment and a detection system 500 including the processing system 100 will be described with reference to the drawings. However, the embodiment described below is but one of the various embodiments of the present disclosure. The embodiments described below can be modified in various ways according to design and the like as long as the objects of the present disclosure can be achieved.

(1) Outline The detection system 500 is a system for detecting the edge position (the position of the step portion 900) of the target member 90 (see FIG. 2). As shown in FIG. 1, detection system 500 includes processing system 100 and measurement system 200 .

Measurement system 200 measures the height of target member 90 . Measurement system 200 measures the height of target member 90 along the length of target member 90 . The height of the target member 90 is the dimension of the target member 90 in the height direction that intersects the length direction. The measurement system 200 measures the height of the target member 90 at multiple locations along the length of the target member 90 . The measurement system 200 outputs the height value (measurement data) obtained by the measurement to the processing system 100 .

The processing system 100 uses the measurement data output from the measurement system 200 to detect the edge position P10 of the target member 90 . As shown in FIG. 1 , the processing system 100 includes an acquisition section 111 , a differential processing section 112 and an edge detection section 113 .

Acquisition unit 111 acquires measurement data. Acquisition unit 111 acquires measurement data output from measurement system 200 .

The differential processing unit 112 performs differential processing in the length direction of the target member 90 on the measurement data acquired by the acquisition unit 111 to obtain a plurality of differential values at a plurality of positions in the length direction.

The edge detection unit 113 detects the edge position P10 of the target member 90 using the differential values of two positions adjacent in the length direction among the multiple differential values.

According to the processing system 100 and the detection system 500 of this embodiment, the edge position P10 of the target member 90 can be detected.

(2) Details Hereinafter, the processing system 100 and the detection system 500 according to the embodiment will be described in more detail with reference to the drawings.

(2.1) Target Member First, the target member 90 as a detection target whose edge position P10 is detected by the detection system 500 will be described with reference to FIGS. 2 and 3. FIG.

The target member 90 is a plate-like member as shown in FIG. The target member 90 has a length in the first direction D1, a height in the second direction D2, and a thickness in the third direction D3. The first direction D1 corresponds to the length direction of the target member 90 . The second direction D2 is a direction that intersects (here, orthogonally) the first direction D1 and corresponds to the height direction of the target member 90 . A third direction D<b>3 is a direction that intersects (here, orthogonally) both the first direction D<b>1 and the second direction D<b>2 and corresponds to the thickness direction of the target member 90 .

The target member 90 has conductivity. The target member 90 is made of a conductive material such as copper, aluminum, brass, iron, magnesium, or SUS (Steel Use Stainless). It is assumed that the target member 90 is used as the winding (conductor 99) of the coil 1 as shown in FIG. The target member 90 is a rectangular conductive wire having a substantially rectangular cross section (a cross section orthogonal to the first direction D1). The target member 90 is not limited to bare conductors, and may be covered with an insulator such as resin.

As shown in FIG. 2, the target member 90 has a first side surface 951 and a second side surface along the first direction D1 (longitudinal direction) on one side and the other side in the second direction D2 (height direction). 952. The first side surface 951 has at least one stepped portion 900 in the first direction D1. The second side surface 952 has a planar shape without steps in the first direction D1.

The target member 90 is formed in a stepped shape having a plurality of steps when viewed from the third direction D3. The target member 90 includes two or more portions having different heights (dimensions in the second direction D2) from the first end (the left end in FIG. 2) toward the second end (the right end in FIG. 2) in the first direction D1. have. There is a stepped portion 900 between the two portions with different heights. The target member 90 shown in FIG. 2 has two stepped portions 901 and 902 as the stepped portion 900 . In addition, the object member 90 shown in FIG. 2 has a first portion 91 with the relatively lowest height and a second portion 92 with the second lowest height as the two or more portions with different heights. , and a third portion 93 having the third lowest height. The stepped portions 900 are formed at equal intervals in the length direction of the target member 90 . Therefore, the lengths (dimensions in the first direction D1) of the first portion 91, the second portion 92, and the third portion 93 are equal to each other.

The stepped portion 900 is a portion having a height difference on the first side surface 951 of the target member 90 . The position where the stepped portion 900 exists in the length direction of the target member 90 corresponds to the edge position P10 of the target member 90 .

A conducting wire 99 as the target member 90 is used as a so-called edgewise coil 1 wound edgewise. The conducting wire 99 is formed into a coil shape as shown in FIG. 3, for example, by bending the conducting wire 99 approximately 90 degrees so that the second side surface 952 faces inward at a plurality of locations in the length direction of the conducting wire 99 . For example, the conducting wire 99 is bent three times at the first portion 91 , once at the stepped portion 901 , three times at the second portion 92 , once at the stepped portion 902 , and three times at the third portion 93 . is folded. As shown in FIG. 3, the first portion 91, the second portion 92, and the third portion 93 are wound so as to be laminated in this order in the axial direction of the coil 1. As shown in FIG. Since the height of the second portion 92 is higher than the height of the first portion 91 (dimension in the second direction D2) and the height of the third portion 93 is higher than the height of the second portion 92, The width of the coil 1 (dimension in the direction perpendicular to the axis of the coil 1) gradually increases from the first portion 91 toward the third portion 93. As shown in FIG.

An example of the motor 70 including the coil 1 will be described with reference to FIGS. 4 to 6. FIG. 5 is a plan view of the motor 70 shown in FIG. 4 as viewed along arrow A1, and FIG. 6 is a plan view of motor 70 shown in FIG. 4 as viewed along arrow A2. As shown in FIGS. 5 and 6, the motor 70 includes a plurality of coil units U1-U4, V1-V4, W1-W4, a shaft 71, a rotor 72, a stator 73, and bus bars 74a-74d. ing. In FIGS. 4 and 5, each of the busbars 74a to 74d is hatched with a different pattern of dots so that the busbars 74a to 74d can be easily distinguished.

The shaft 71 is an elongated rod-shaped member.

The rotor 72 is arranged so as to be in contact with the outer circumference of the shaft 71 . The rotor 72 has a plurality of (10 in the example of FIG. 6) magnets 721 arranged to face the stator 73 . The plurality of magnets 721 are alternately arranged with N poles and S poles along the outer peripheral direction of the shaft 71 . In addition, the magnet 721 of this embodiment is, for example, a neodymium magnet.

The stator 73 has a substantially annular stator core 731 and a plurality of (12 in the example of FIG. 6) teeth 732 arranged at equal intervals along the inner circumference of the stator core 731 (see FIG. 6). . The stator 73 is arranged outside the rotor 72 so as to maintain a predetermined gap with respect to the rotor 72 in the radial direction of the shaft 71 .

The stator 73 has a plurality (twelve in the example of FIG. 6) of coil units U1 to U4, V1 to V4 and W1 to W4. Each of the coil units U1-U4, V1-V4, W1-W4 is composed of a coil 1. As shown in FIG.

Each of the plurality of coil units U1-U4, V1-V4, W1-4 (coil 1) is attached to one corresponding tooth 732. As shown in FIG. That is, each coil 1 is wound around the teeth 732 in a concentrated manner. Coil units U1-U4 are electrically connected to bus bar 74a, coil units V1-V4 are electrically connected to bus bar 74c, and coil units W1-W4 are electrically connected to bus bar 74b.

As described above, the target member 90 has the stepped portion 900 . The stepped portion 900 of the target member 90 is formed, for example, by the drawing method described below.

In the squeezing method, as shown in FIG. 7, a rectangular plate-shaped material member 80, which is the material of the target member 90, is prepared, and a squeezing roller 81 is pressed against one side surface 851 of the material member 80 along the longitudinal direction. The squeezing roller 81 is pushed toward the material member 80 by the step size H1 (see arrow B1 in FIG. 7). Then, the material member 80 is pulled in the longitudinal direction to move the material member 80 in a state where the squeeze roller 81 is pushed (see arrow B2 in FIG. 7). As a result, a stepped portion 800 having a stepped dimension H1 can be formed between a portion of one side surface 851 of the material member 80 before the squeeze roller 81 is pushed and a portion pushed by the squeeze roller 81 (FIG. 8). reference).

In the case of forming a plurality of stepped portions 800 by the drawing method, the drawing roller 81 is attached to the material member 80 at the time when the material member 80 is moved by a desired distance along the longitudinal direction while the drawing roller 81 is pushed. and push it further by the step size H1 (pressing process). Then, the material member 80 is further moved along the longitudinal direction while the squeeze roller 81 is pushed (moving step). By repeating the pressing process of the squeeze roller 81 and the moving process of the material member 80, the material member 80 is formed into a stepped target member 90 (conductor 99) having a plurality of stepped portions 900 on the second side surface 952. can be processed into Hereinafter, the interval between two adjacent stepped portions 900 among the plurality of stepped portions 900 in the longitudinal direction of the target member 90 is also referred to as "step width W0".

In the drawing method, the pushing process and the moving process can be performed continuously at high speed. That is, in the squeezing method, the pressing process of increasing the pressing amount of the squeezing roller 81 by the step dimension H1 can be performed multiple times at equal time intervals while continuously moving the material member 80 along the longitudinal direction. This makes it possible to process a plurality of stepped portions 900 in a short period of time.

Hereinafter, for convenience of explanation, the squeezing method in which the pressing amount of the squeezing roller 81 is sequentially increased while moving the material member 80 to form the stepped portion 900 is also referred to as the "first method". After moving the material member 80 in the longitudinal direction by a predetermined amount (a distance corresponding to the “step width W0”), the movement of the material member 80 is stopped. The drawing method in which the stepped portion 900 is formed by increasing the pressing amount is also referred to as the “second method”.

By the way, in the target member 90 (lead wire 99) in which the stepped portion 900 is formed by the drawing method (the first method and the second method), a target die is pressed against the material member 80 to punch it into a desired shape. The shape of the stepped portion 900 may be unclear compared to the target member 90 in which the stepped portion 900 is formed. For example, in the second method, as shown in FIG. 8, the shape of the stepped portion 800 reflects the outer peripheral shape (circular shape) of the squeeze roller 81 and is not perpendicular, so that the edge position may be unclear. In addition, in the first method, since the squeeze roller 81 is pushed in while moving the material member 80, the shape of the stepped portion 800 becomes oblique and the edge position may become unclear. Therefore, for example, when a person makes a visual judgment, it may be difficult to determine the edge position, or the detection accuracy of the edge position may decrease.

(2.2) Detection system The detection system 500 is introduced into, for example, a factory that manufactures (or processes) the conductor 99 (target member 90), and is used in an inspection process for inspecting the manufactured (or before processing) conductor 99. used for As mentioned above, detection system 500 comprises processing system 100 and measurement system 200 .

Below, as a detection target of the detection system 500, the target member 90 having the stepped portion 900 formed by the first method is assumed. However, the detection system 500 is not limited to this, and the detection system 500 may detect the target member 90 on which the stepped portion 900 is formed by the second method.

(2.2.1) Measurement System The measurement system 200 measures the height of the target member 90 along the length direction of the target member 90 . The measurement system 200 measures the height of the target member 90 at equal intervals in the length direction of the target member 90 in this embodiment. The interval at which the measurement system 200 measures the height of the target member 90 is sufficiently smaller than the interval (step width W0) between two adjacent stepped portions 900 . For example, the measurement system 200 measures the height of the target member 90 at 1000 or more points within one step width W0.

As shown in FIG. 1, measurement system 200 includes measurement module 21 and moving mechanism 22 .

The measurement module 21 measures the height of the target member 90 (dimension in the second direction D2). The operation of measurement module 21 is controlled by processing system 100, for example.

As shown in FIG. 1, measurement module 21 comprises sensor 210 . Sensor 210 is a displacement sensor in this embodiment.

In this embodiment, the sensor 210 is a contact sensor that measures the height of the target member 90 by contacting the target member 90 . The sensor 210 detects a contact that contacts the target member 90, a holding body that holds the contact via a spring so that the contact can be displaced in the axial direction, and a displacement amount of the contact with respect to the holding body. and a detector for The sensor 210 may be a differential transformer type sensor (linear variable differential transformer: LVDT) having a coil and a core as a detection unit, or an optical linear encoder having a light source, a light receiving element, and a glass scale. There may be one, or another type of sensor may be used.

As shown in FIG. 9, the measurement module 21 has two sensors 210 . The two sensors 210 are arranged so that the axial directions of the contacts (moving directions of the contacts) are aligned and face each other, and the contacts are biased toward the other sensor 210 by a spring. It is

As shown in FIG. 9, the target member 90 is placed between the two sensors 210 so that the first side surface 951 and the second side surface 952 of the target member 90 are in contact with the tips of the contactors of the two sensors 210, respectively. placed. In such an arrangement, the distance between the tips of the contactors of the two sensors 210 corresponds to the height of the target member 90 (dimension in the third direction D3). Therefore, the height of the target member 90 can be obtained based on the amount of displacement of each of the contacts of the two sensors 210 (the amount of displacement of the contact with respect to the holder).

The moving mechanism 22 is a device for moving the target member 90 or the sensor 210 along the longitudinal direction (first direction D1) of the target member 90 so that the relative positions of the sensor 210 and the target member 90 are changed. The moving mechanism 22 includes, for example, a conveying device such as a conveyor for placing the target member 90 thereon and moving the target member 90 . The operation of movement mechanism 22 is controlled by processing system 100, for example.

The measurement system 200 moves the target member 90 along the longitudinal direction at a constant speed by the moving mechanism 22 (see arrow C1 in FIG. 9), and measures the displacement amount of the contactor of each of the two sensors 210 at equal time intervals. (that is, the height of the target member 90) is measured. Thereby, the measurement system 200 measures the height of the target member 90 at substantially equal intervals in the length direction of the target member 90 . The measurement system 200 outputs height values (measurement data) obtained by measuring the height of the target member 90 to the processing system 100 . Here, the measurement system 200 measures the height of the target member 90 within a range in which only one step portion 900 is included on the first side surface 951 of the target member 90 (that is, within a range equal to or smaller than the step width W0). Measure. For example, the measurement system 200 measures the height of the target member 90 multiple times (N times; N is an integer) while moving the target member 90 by the step width W0 along the longitudinal direction. The measurement system 200 may output the measurement data of the height of the target member 90 (displacement amount of the contactor) for each measurement, or may collectively output measurement data for a plurality of times.

(2.2.2) Processing System The processing system 100 is composed of, for example, one personal computer. However, the processing system 100 is not limited to this, and may be a server device or a portable terminal (laptop computer, tablet terminal, etc.). The functions of the processing system 100 may be distributed among multiple devices. A plurality of devices may form, for example, a cloud (cloud computing).

The processing system 100 is communicatively connected to the measurement system 200 by wire or wirelessly. Processing system 100 controls the operation of measurement system 200 by communicating with measurement module 21 and movement mechanism 22 of measurement system 200 . Further, the processing system 100 acquires measurement data from the measurement system 200 and obtains the edge position P10 of the target member 90 based on the acquired measurement data. The edge position P10 of the target member 90 is the position where the stepped portion 900 exists in the longitudinal direction of the target member 90 .

As shown in FIG. 1 , the processing system 100 includes a processing section 11 , a storage section 12 , a communication section 13 , a display section 14 and an operation section 15 .

The processing unit 11 can be realized by a computer system including one or more processors (microprocessors) and one or more memories. That is, one or more processors function as the processing unit 11 by executing one or more programs (applications) stored in one or more memories. Although the program is pre-recorded in the memory of the processing unit 11 here, it may be provided through an electric communication line such as the Internet or recorded in a non-temporary recording medium such as a memory card.

The processing unit 11 controls the operation of the measurement system 200 , that is, the operation of the measurement module 21 and the movement mechanism 22 . The processing unit 11 also has a function of acquiring measurement data from the measurement system 200 and performing various processes on the acquired measurement data to detect the edge position P10 of the target member 90 . Functions of the processing unit 11 will be described later.

The storage unit 12 includes a rewritable nonvolatile memory such as EEPROM (Electrically Erasable Programmable Read-Only Memory). The storage unit 12 stores various information used in processing of the processing system 100 . The storage unit 12 may also be used as the memory of the processing unit 11 .

The communication unit 13 is a communication interface for communicating with the measurement system 200 directly or indirectly via another device such as a server. The communication unit 13 receives signals including measurement data from the measurement system 200 .

The display unit 14 constitutes a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 14 may be a touch panel display. The display unit 14 displays information on the processing result of the processing system 100, particularly information on the detection result of the edge position P10. The user can confirm various information by looking at the information displayed on the display unit 14 . The display unit 14 may be a display of an information terminal such as a smart phone or a tablet terminal possessed (carried) by the user.

The operation unit 15 includes a device such as a mouse, keyboard, or pointing device that receives input from the user. The processing system 100 may receive an operation input from the user through the operation unit 15 to change various settings related to the processing of the processing system 100 . The display unit 14 may also function as the operation unit 15 in the case of a touch panel display.

The processing unit 11 has an acquisition unit 111, a differential processing unit 112, and an edge detection unit 113, as shown in FIG.

Acquisition unit 111 acquires measurement data. Acquisition unit 111 acquires measurement data from measurement system 200 via communication unit 13 . For the measurement data, for example, a set of a predetermined position X[i] in the longitudinal direction of the target member 90 and a value Y[i] of the height of the target member 90 measured at that position X[i] is set. It contains one data set (X[i], Y[i]). The acquisition unit 111 acquires a plurality of (N) measurement data corresponding to the measurement range (for example, the range of the dimension of the “step width W0”) in which the measurement system 200 measures the height of the target member 90, to the measurement system 200. Get from Here, N is an integer corresponding to the number of pieces of measurement data acquired by the acquisition unit 111 . i is any integer from 1 to N; N corresponds to the upper limit of variable i.

The data set (X[1], Y[1]) corresponding to the first measurement data has the value of the height of the target member 90 measured at the first position X[1] in the longitudinal direction of the target member 90. , Y[1]. Similarly, the data set (X[i], Y[i]) corresponding to the i-th measurement data is the height of the target member 90 measured at the i-th position X[i] in the longitudinal direction of the target member 90. Y[i]. The data set (X[N], Y[N]) corresponding to the N-th measurement data has the value of the height of the target member 90 measured at the last position X[N] in the longitudinal direction of the target member 90. , Y[N].

FIG. 10 shows an example of a height waveform L1 representing changes in the height Y of the target member 90. As shown in FIG. A height waveform L1 can be obtained based on measurement data.

The differentiation processing unit 112 performs differentiation processing in the length direction of the target member 90 on the measurement data acquired by the acquisition unit 111 to obtain the A plurality of differential values Y'[i] are obtained respectively.

In this embodiment, the differential processing unit 112 calculates height values (Y[i−1], A differential value Y'[i] is obtained based on the difference of Y[i]). Specifically, the differential processing unit 112 obtains a differential value Y'[i] at the position X[i] based on the following equation (1).

FIG. 11 shows an example of a differential waveform L2 representing changes in the differential value Y'. A differentiated waveform L2 in FIG. 11 is a waveform obtained based on the measurement data of the example in FIG.

The edge detection unit 113 detects the differential values (Y'[i ], Y′[i+1]), the edge position P10 of the target member 90 is detected.

As shown in FIG. 1 , the edge detection unit 113 includes a threshold setting unit 1131 , a comparison unit 1132 , a specification unit 1133 and a determination unit 1134 .

The threshold setting unit 1131 sets a threshold Th1 (see FIG. 11) based on multiple differential values Y'[i]. In this embodiment, the threshold value setting unit 1131 sets the threshold value Th1 based on the average value of the minimum value _Y'min and the maximum value _Y'max of the plurality of differential values Y'[i]. The minimum value _Y'min is the smallest value among the plurality of differential values Y'[i]. The minimum value Y' _min can be negative. The maximum value _Y'max is the largest value among the plurality of differential values Y'[i].

The threshold Th1 is the average value of the minimum value _Y'min and the maximum value _Y'max in this embodiment. The threshold setting unit 1131 sets the threshold Th1 based on the following equation (2), for example.

Comparing section 1132 compares a plurality of differential values Y'[i] with threshold Th1. The comparison unit 1132 determines the magnitude relationship between the differential value Y'[i] and the threshold Th1 for each of the plurality of positions X[i].

The identifying unit 1133 identifies two specific points P<b>0 based on the comparison result of the comparing unit 1132 . The specific point P0 is a point corresponding to two adjacent positions (X[i], X[i+1]) where the differential value Y'[i] straddles the threshold Th1.

For example, in the example of FIG. 11, the differential value Y'[n-1] corresponding to the position X[n-1] is smaller than the threshold Th1, and the differential value Y'[n] corresponding to the position X[n] is smaller than the threshold Th1 greater than Therefore, the identifying unit 1133 identifies the position X[n] (or X[n−1]) as the specific point P0. This specific point P0 is a point where the differential waveform L2 of the differential value Y' straddles the threshold Th1 from below.

Further, in the example of FIG. 11, the differential value Y'[m] corresponding to the position X[m] is larger than the threshold Th1, and the differential value Y'[m+1] corresponding to the position X[m+1] is smaller than the threshold Th1. Therefore, the identifying unit 1133 identifies the position X[m] (or X[m+1]) as the specific point P0. This specific point P0 is a point where the differential waveform L2 of the differential value Y' straddles the threshold Th1 from above.

The two specific points P0 are a combination of a point where the differentiated waveform L2 of the differentiated value Y' straddles the threshold Th1 from below and a point where the differentiated waveform L2 of the differentiated value Y' straddles the threshold Th1 from above. desirable.

As described above, the acquiring unit 111 acquires measurement data measured within a range including only one stepped portion 900 (that is, within a range equal to or smaller than the step width W0) from the measurement system 200 . Therefore, the differentiated waveform L2 representing the change in the differentiated value Y' has one peak around the step portion 900, as shown in FIG. Therefore, the identifying unit 1133 can identify two specific points P0 at the rising portion and the falling portion of the mountain. For convenience, one of the two specific points P0 is hereinafter also referred to as "starting point P1", and the other is also referred to as "ending point P2". Note that if only one specific point P0 can be identified or if no specific point can be identified, the identifying unit 1133 may output an error.

By the way, since the height value Y[i] included in the measurement data is a value measured by the measurement system 200, it may contain noise. Therefore, the differential value Y′[i] obtained by the differential processing unit 112 is also affected by noise, and as shown in FIG. there is a possibility. In such a case, the specifying unit 1133 of the present embodiment selects a position before the position where the differential value becomes the maximum value _Y'max among a plurality of points where the differential waveform L2 of the differential value Y' straddles the threshold value Th1 from below. The last position is specified as "starting point P1". Further, the specifying unit 1133 selects the last position after the position where the differential value is the maximum value _Y'max among the plurality of points where the differential waveform L2 of the differential value Y' crosses the threshold value Th1 from above. end point P2” (see FIG. 12). In this manner, the identifying unit 1133 can identify two specific points P0 even if the measurement data contains noise.

The determination unit 1134 determines the edge position P10 based on the two specific points P0. In the present embodiment, the determining unit 1134 determines the position between the two specific points P0 at a predetermined ratio between the two specific points P0 as the edge position P10. “A position between the two specific points P0 and at a predetermined ratio between the two specific points P0” means a position in the longitudinal direction of the target member 90 and the longitudinal direction of the target member 90 . is the position where the ratio of the distances from the specific point P0 of the two points is the predetermined ratio. For example, as shown in FIG. 11, the determination unit 1134 determines the midpoint of two specific points P0 (start point P1, end point P2) in the longitudinal direction of the target member 90, that is, the 1:1 ratio between the two specific points P0. is determined as the edge position P10.

(2.3) Detection Method A method for detecting the edge position P10 performed by the detection system 500 will be described below with reference to the flowchart of FIG.

First, the detection system 500 measures the height of the target member 90 at multiple locations along the length of the target member 90 .

Specifically, the processing system 100 of the detection system 500 first sets the value of the variable i to an initial value (here, "1") (ST1). Then, the processing system 100 controls the measurement system 200 to move the target member 90 along the longitudinal direction by a predetermined amount (ST2), and the target member 90 is measured at the position X[i] (=X[1]). height Y[i] (=Y[1]) is measured (ST3). The measurement system 200 outputs measurement data including the position X[i] and the height Y[i] of the target member 90 to the processing system 100, and the processing system 100 associates the variable i (=1) with the target member 90. The position X[i] and height Y[i] of the member 90 are recorded in memory (ST4).

Next, the processing system 100 increases the value of the variable i by 1 (ST5), and determines whether or not the sampling has ended based on whether or not the value of the variable i exceeds the upper limit value N (ST6). . If it is determined that sampling has not ended (ST6: No), the processing system 100 returns to step ST2 and causes the measurement system 200 to measure the height Y[i] of the target member 90. FIG. If it is determined that sampling has ended (ST6: Yes), the processing system 100 sets the value of the variable i to the initial value (here, "2") (ST7), and calculates the differential value Y '[i] (=Y'[2]) is calculated (ST8), and the differential value Y'[i] is recorded in the memory in association with the variable i (=2).

The processing system 100 increases the value of the variable i by 1 (ST9), and determines whether or not it is the final data based on whether the value of the variable i exceeds the upper limit value N (ST10). If it is determined that the data is not the final data (ST10: No), the processing system 100 returns to step ST8 to calculate the differential value Y'[i]. If it is determined that the data is the final data (ST10: Yes), the processing system 100 sets the threshold Th1 based on Equation (2) (ST11).

After setting the threshold Th1, the processing system 100 sets the value of the variable i to the initial value (here, "1") (ST12), and the differential value Y'[i] for the position X[i] reaches the threshold Th1 It is determined whether or not a first condition that the differential value Y'[i+1] is less than the threshold value Th1 and that the differential value Y'[i+1] is greater than the threshold value Th1 is satisfied (ST13). If the first condition is satisfied (ST13: Yes), the processing system 100 determines this position X[i] as the starting point P1 (ST14). Further, the processing system 100 determines whether or not the position X[i] satisfies a second condition that the differential value Y'[i] is greater than the threshold Th1 and the differential value Y'[i+1] is less than the threshold Th1. Determine (ST15). If the second condition is satisfied (ST15: Yes), the processing system 100 determines this position X[i] as the end point P2 (ST16).

The processing system 100 increases the value of the variable i by 1 (ST17), and determines whether or not it is the final data based on whether the value of the variable i has reached the upper limit value N (ST18). If it is determined that the data is not the final data (ST18: No), the processing system 100 returns to step ST13 and repeats the process. If it is determined that the data is the final data (ST18: Yes), the processing system 100 determines edge positions based on the start point P1 and the end point P2 (ST19).

Thus, the processing system 100 of this embodiment detects the edge position P10 of the target member 90 based on the two specific points P0. Therefore, compared with the case where the edge position P10 is simply determined as the position where the differential value is the maximum value, it is less likely to be affected by noise, and it is possible to improve the detection accuracy of the edge position P10.

(3) Modifications The embodiment described above is merely one of various embodiments of the present disclosure. The above-described embodiment can be modified in various ways according to design and the like, as long as the object of the present disclosure can be achieved.

A function similar to that of the processing unit 11 of the processing system 100 may be embodied by a communication control method, a (computer) program, a non-temporary recording medium recording the program, or the like.

A processing method according to one aspect includes an acquisition step, a differentiation processing step, and an edge detection step. The obtaining step includes obtaining measurement data about the height, which is the dimension of the target member 90 along the length of the target member 90 and in the height direction transverse to the length direction. The differentiation processing step includes obtaining a plurality of differential values at a plurality of positions in the length direction by performing differentiation processing in the length direction of the target member 90 on the measurement data acquired in the acquisition step. . The edge detection step includes detecting the edge position P10 of the target member 90 using the differential values of two positions adjacent in the length direction among the multiple differential values.

A program according to one aspect is a program for causing one or more processors to execute the processing method described above. The program may be recorded on a non-temporary recording medium.

The detection system 500 according to the present disclosure includes a computer system in the processing unit 11 and the like. A computer system is mainly composed of a processor and a memory as hardware. The processor executes a program recorded in the memory of the computer system, thereby realizing the functions of the processing unit 11 and the like in the present disclosure. The program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided. A processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). The integrated circuit such as IC or LSI referred to here is called differently depending on the degree of integration, and includes integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). In addition, a field-programmable gate array (FPGA) that is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit partitions inside the LSI may also be adopted as the processor. can be done. A plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. A computer system, as used herein, includes a microcontroller having one or more processors and one or more memories. Accordingly, the microcontroller also consists of one or more electronic circuits including semiconductor integrated circuits or large scale integrated circuits.

In addition, it is not an essential configuration for the present disclosure that a plurality of functions of the processing unit 11 and the like are integrated in one housing. may have been Furthermore, at least some functions of the detection system 500 may be realized by the cloud (cloud computing) or the like.

Conversely, in embodiments, at least some functionality of detection system 500 that is distributed across multiple devices may be centralized within a single housing.

(3.1) Modification 1
A processing system 100 of this modification will be described with reference to FIGS. 14 to 17. FIG. The processing system 100 of this modification differs from the processing system 100 of the above-described embodiment in that the detection algorithm of the edge position P10 by the edge detection unit 113 is different. In the following description, components that are substantially the same as those of the processing system 100 of the above-described embodiment may be given the same reference numerals, and the description thereof may be omitted as appropriate.

The processing system 100 of this modified example can be particularly useful for detecting the stepped portion 900 formed by the second method.

FIG. 15 shows an example of a height waveform L11 representing changes in the height Y of the target member 90 having the stepped portion 900 formed by the second method. Also, FIG. 16 shows an example of a differential waveform L12 representing changes in the differential value Y' obtained based on the measurement data of the example of FIG. As can be seen from FIG. 16, in the target member 90 in which the step portion 900 is formed by the second method, the differential value Y'[i] is around the position X[i] where the differential value Y'[i] is maximum. There are a plurality of positions X[i] with relatively large values, and it is difficult to determine the position X[i] with the maximum differential value Y'[i]. Therefore, the edge detection unit 113 of the processing system 100 of the present modified example detects points corresponding to two adjacent positions where the amount of change in the differential value Y′ is maximum in the length direction of the target member 90 as the edge position P10. and decide.

As shown in FIG. 14 , the edge detection unit 113 of the processing unit 11 of this modified example includes a change amount calculation unit 1135 and a determination unit 1136 .

The change amount calculator 1135 calculates the change amount Y _D [i] of the differential value Y' for each of the plurality of positions X[i].

In this modification, the change amount calculation unit 1135 calculates, for each of a plurality of positions X[i], the differential value Y′[i] at this position X[i] and the differential value at the adjacent position X[i+1] The difference from Y'[i+1] is calculated as the amount of change Y _D [i]. Specifically, the change amount calculator 1135 obtains the change amount Y _D [i] at the position X[i] based on the following equation (3).

The determination unit 1136 determines the edge position P10 based on the amount of change Y _D [i] at the multiple positions X[i] obtained by the amount of change calculation unit 1135 . As shown in FIG. 16, the determining unit 1136 determines the position X[i] (which may be the position X[i+1]) at which the absolute value of the change amount Y _D [i] is maximum as the edge position P10.

A method of detecting the edge position P10 executed by the processing system 100 of this modified example will be described below with reference to the flowchart of FIG.

First, the detection system 500 measures the height of the target member 90 at multiple points in the length direction of the target member 90 (ST101 to ST106). Also, processing system 100 calculates a differential value Y'[i] at each of the plurality of positions X[i] based on the measurement data (ST107 to ST110). Steps ST101 to ST110 are the same as steps ST1 to ST10 in the detection method of the embodiment described above with reference to FIG. 13, so description thereof will be omitted.

When the calculation of differential values Y'[i] at a plurality of positions X[i] is completed (ST110: Yes), processing system 100 sets the value of variable i to an initial value (here, "1"). (ST111), the amount of change Y _D [i] (=Y _D [1]) is calculated based on the equation (3) (ST112), and the amount of change Y _D [i] is associated with the variable i (=1). is recorded in memory.

The processing system 100 increases the value of the variable i by 1 (ST113), and determines whether it is the final data based on whether the value of the variable i has reached the upper limit value N (ST114). If it is determined that the data is not the final data ( _ST114 : No), the processing system 100 returns to step ST112 and calculates the amount of change YD[i]. If it is determined to be the final data ( _ST114 : Yes), the processing system 100 maximizes the amount of change _YD [i] based on the amount of change YD[i] at a plurality of positions X[i]. Position X[i] is determined as edge position P10.

In the processing system 100 of this modified example, the detection accuracy of the edge position P10 can be improved by detecting the position X[i] where the amount of change Y _D [i] is maximum as the edge position P10. .

(3.2) Modification 2
A processing system 100 of this modification will be described with reference to FIG. The processing system 100 of this modified example differs from the processing system 100 of the above embodiment in that it has a function of estimating the step width W0, which is the interval between two adjacent step portions 900 . In the following description, components that are substantially the same as those of the processing system 100 of the above-described embodiment may be given the same reference numerals, and the description thereof may be omitted as appropriate.

In this modification, the measurement system 200 measures the height of the target member 90 within a range in which two or more stepped portions 900 are included in the first side surface 951 of the target member 90 (i.e., within a range larger than the step width W0). to measure. In the processing system 100 of this modification, the data acquired from the measurement system 200 is divided into a plurality of ranges each including only one step portion 900, and the edge detection section 113 detects the edge position P10 for each of the plurality of divided data. , a plurality of edge positions P10 are detected.

Further, as shown in FIG. 18 , the processing unit 11 of the processing system 100 of this modification further includes a step width estimation unit 114 .

The step width estimation unit 114 estimates the step width W0 of the target member 90 based on the two edge positions P10 detected by the edge detection unit 113 . The step width estimator 114, for example, estimates the interval between two edge positions P10 adjacent in the longitudinal direction of the target member 90 as the step width W0.

In this modification, since the processing unit 11 includes the step width estimation unit 114, it is possible to confirm, for example, that the plurality of step portions 900 are formed on the target member 90 at regular intervals.

(3.3) Other Modifications In one modification, as shown in FIG. 19, the measurement module 21 of the measurement system 200 includes a non-contact sensor 215 that measures the height of the target member 90 without contact. may be The non-contact sensor 215 can be an optical displacement sensor, a laser displacement sensor, an ultrasonic displacement sensor, or the like.

In a modified example, the target member 90 may be a member having a stepped portion 900 formed by a punching method.

In one variation, measurement system 200 may measure the height of target member 90 at non-equidistant intervals along its length. Measurement system 200 or processing system 100 may interpolate the data accordingly.

In a modified example, the sensors included in the measurement module 21 are not limited to displacement sensors, and may be, for example, a camera that photographs the target member 90 and a processor that processes the image photographed by the camera.

In one variation, the measurement module 21 may comprise only one sensor 210 (215) or more than two.

In a modified example, the threshold Th1 is not limited to the average value of the minimum value _Y'min and the maximum value _Y'max of the differential value Y'[i]. The threshold Th1 may be any value equal to or greater than the minimum value Y'min and equal to or less than the _maximum value _Y'max of the differential value Y'[i]. The threshold Th1 may be selectable (designated) by the user using the operation unit 15 while the differential waveform L2 is being displayed on the display unit 14, for example. For example, the threshold setting unit 1131 may set the value of the differential waveform L2 selected (designated) by the user using the operation unit 15 as the threshold Th1.

In one variant, the threshold Th1 may be a predetermined value.

In a modified example, the determination unit 1134 may determine a point other than the middle point of the two specific points P0 (the start point P1 and the end point P2) as the edge position P10. For example, as can be seen from FIG. 16, the differential waveform L12 is not symmetrical in the target member 90 having the stepped portion 900 formed by the second method. Therefore, the actual edge position P10 is shifted from the middle point of the two specific points P0. The edge position P10 can be appropriately determined by obtaining the degree of deviation from the midpoint by measurement or the like in advance. The position of the ratio determined to be the edge position P10 in the position between the two specific points P0 may be variable according to the formation method of the edge (step portion 900).

In a modified example, the differentiation processing unit 112 may include a first noise processing unit that performs noise reduction processing on the height value Y[i] (that is, the height waveform L1) acquired by the acquisition unit 111. . The first noise processor may comprise, for example, a first averaging processor. The first averaging unit performs a first averaging process for obtaining a moving average in the length direction of the target member 90 for the height value Y[i] acquired by the acquiring unit 111 . The differential processing unit 112 may obtain the differential value Y'[i] using data on the height value Y[i] after the noise reduction processing has been performed by the first noise processing unit.

In a modified example, the differential processing section 112 may include a second noise processing section that performs noise reduction processing on the differential value Y'[i] (that is, the differential waveform L2). The second noise processor may comprise, for example, a second averaging processor. The second averaging section performs a second averaging process for obtaining a moving average in the length direction of the target member 90 for the differential value Y′[i]. The edge detection unit 113 may detect the edge position P10 using data on the differential value Y'[i] after the noise reduction processing has been performed by the second noise processing unit.

In a modified example, the specifying unit 1133 selects the first point before the position where the differential value becomes the maximum value _Y'max among a plurality of points where the differential waveform L2 of the differential value Y' straddles the threshold value Th1 from below. The point is specified as the “start point P1”, and among the plurality of points where the differential waveform L2 of the differential value Y′ straddles the threshold Th1 from above, the differential value is the maximum value Y′ _max after the position where the first The point may be identified as "end point P2".

In a modified example, the specifying unit 1133 determines, among a plurality of points where the differential waveform L2 of the differential value Y' straddles the threshold Th1 from below, a plurality of points before the position where the differential value is the maximum value _Y'max . The position of the average is specified as the "start point P1", and among the plurality of points where the differential waveform L2 of the differential value Y' crosses the threshold Th1 from above, the differential value is the maximum value _Y'max . The average position of the points may be specified as "end point P2".

In a modified example, when the differential value Y'[i] is equal to the threshold value Th1, the specifying unit 1133 specifies the position X[i] corresponding to the differential value Y'[i] as the specific point P0. good too.

In a modified example, the determining unit 1136 may have a threshold in advance and determine the position X[i] at which the amount of change Y _D [i] is equal to or greater than the threshold as the edge position P10.

(4) Aspects The following aspects are disclosed from the embodiments and the like described above.

The processing system (100) of the first aspect comprises an acquisition section (111), a differential processing section (112), and an edge detection section (113). An acquisition unit (111) acquires measurement data relating to the height, which is the dimension of the target member (90) in the height direction intersecting the length direction along the length direction of the target member (90). A differentiation processing unit (112) differentiates the measurement data acquired by the acquisition unit (111) in the length direction of the target member (90), thereby obtaining a plurality of values at a plurality of positions in the length direction. Find each differential value. An edge detection unit (113) detects an edge position (P10) of a target member (90) using differential values of two positions adjacent in the length direction among a plurality of differential values.

According to this aspect, the edge position (P10) of the target member (90) can be detected.

In the processing system (100) of the second aspect, in the first aspect, the edge detection unit (113) comprises a comparison unit (1132), an identification unit (1133), and a determination unit (1134). A comparison unit (1132) compares a plurality of differential values with a predetermined threshold (Th1). The identifying unit (1133) identifies two specific points (P0) corresponding to two adjacent positions where the differential value straddles the threshold (Th1) based on the comparison result of the comparing unit (1132). A determination unit (1134) determines an edge position (P10) based on the two specific points (P0).

According to this aspect, it is possible to improve the detection accuracy of the edge position (P10).

In the processing system (100) of the third aspect, in the second aspect, the determining unit (1134) determines the position between the two specific points (P0) in advance between the two specific points (P0). The position of the determined ratio is determined as the edge position (P10).

According to this aspect, it is possible to improve the detection accuracy of the edge position (P10).

In the processing system (100) of the fourth aspect, in the second or third aspect, the edge detection section (113) further comprises a threshold setting section (1131). A threshold setting unit (1131) sets a threshold (Th1) based on a plurality of differential values.

According to this aspect, the threshold (Th1) is set based on the differential value obtained by the differential processing section (112), so the specific point (P0) is more The possibility of being unidentified is reduced.

In the fourth aspect of the processing system (100) of the fifth aspect, the threshold value setting unit (1131) sets the threshold (Th1) based on the average value of the minimum value and the maximum value among the plurality of differential values. set.

According to this aspect, the possibility that the specific point (P0) is not specified is further reduced.

In the processing system (100) of the sixth aspect, in the first aspect, the edge detection section (113) detects two adjacent points where the amount of change in the differential value is maximum in the length direction of the target member (90). A point corresponding to the position is determined as the edge position (P10).

According to this aspect, it is possible to improve the detection accuracy of the edge position (P10).

The processing system (100) of the seventh aspect, in any one of the first to sixth aspects, further comprises a step width estimator (114). A step width estimation unit (114) estimates a step width (W0) of a target member (90) based on the two edge positions (P10) detected by the edge detection unit (113).

According to this aspect, it is possible to confirm that a plurality of edge positions (P10) are formed at predetermined intervals on the target member (90).

The detection system (500) of the eighth aspect comprises the processing system (100) of any one of the first to seventh aspects and a measurement system (200) for measuring the height of the target member (90). Prepare.

According to this aspect, the edge position (P10) of the target member (90) can be detected.

In the detection system (500) of the ninth aspect, in the eighth aspect, the measurement system (200) comprises a contact sensor (210) for contacting the target member (90) to measure the height.

According to this aspect, it is possible to improve the measurement accuracy of the height of the target member (90).

In the detection system (500) of the tenth aspect, in the eighth aspect, the measurement system (200) comprises a non-contact sensor (215) for measuring height without contact with the target member (90).

According to this aspect, it is possible to measure the height of the object member (90) without applying a load to the object member (90).

In the detection system (500) of the eleventh aspect, in the ninth or tenth aspect, the measurement system (200) further comprises a movement mechanism (22). The moving mechanism (22) moves the target member (90) or the sensor (210, 215) along the length of the target member (90) such that the relative positions of the sensor (210, 215) and the target member (90) change. ).

According to this aspect, it is possible to measure the height of the target member (90) along the length direction of the target member (90) while moving the target member (90).

The processing method of the twelfth aspect includes an acquisition step, a differential processing step, and an edge detection step. The obtaining step includes obtaining measurement data about the height, which is the dimension of the target member (90) along the length of the target member (90) and in the height direction transverse to the length direction. The differential processing step performs differential processing in the length direction of the target member (90) on the measurement data acquired in the acquisition step, thereby obtaining a plurality of differential values at a plurality of positions in the length direction. including. The edge detection step includes detecting the edge position (P10) of the target member (90) using the differential values of two positions adjacent in the length direction among the multiple differential values.

According to this aspect, the edge position (P10) of the target member (90) can be detected.

A program of the thirteenth aspect is a program for causing one or more processors to execute the processing method of the twelfth aspect.

According to this aspect, the edge position (P10) of the target member (90) can be detected.

111 acquisition unit 112 differential processing unit 113 edge detection unit 1131 threshold setting unit 1132 comparison unit 1133 identification unit 1134 determination unit 114 step width estimation unit 100 processing system 200 measurement system 210 sensor 215 sensor 22 movement mechanism 500 detection system 90 target member P0 identification Point P10 Edge position Th1 Threshold W0 Step width

Claims (13)

an acquisition unit that acquires measurement data relating to height, which is a dimension of the target member along the length direction of the target member and in a height direction that intersects with the length direction;
a differentiation processing unit that obtains a plurality of differential values at a plurality of positions in the length direction by performing differentiation processing in the length direction of the target member on the measurement data acquired by the acquisition unit;
an edge detection unit that detects an edge position of the target member using differential values at two positions adjacent in the length direction among the plurality of differential values;
comprising
processing system. The edge detection unit
a comparison unit that compares the plurality of differential values with a predetermined threshold;
a specifying unit that specifies two specific points corresponding to two adjacent positions where the differential value straddles the threshold based on the comparison result of the comparing unit;
a determination unit that determines the edge position based on the two specific points;
comprising
2. The processing system of claim 1. The determination unit determines a position between the two specific points and having a predetermined ratio between the two specific points as the edge position.
3. The processing system of claim 2. The edge detection unit further includes a threshold setting unit that sets the threshold based on the plurality of differential values.
4. A processing system according to claim 2 or 3. The threshold setting unit sets the threshold based on an average value of a minimum value and a maximum value among the plurality of differential values,
5. The processing system of claim 4. The edge detection unit determines, as the edge positions, points corresponding to two adjacent positions at which the amount of change in the differential value is maximum in the length direction of the target member.
2. The processing system of claim 1. Further comprising a step width estimation unit that estimates a step width of the target member based on the two edge positions detected by the edge detection unit,
The processing system according to any one of claims 1-6. A processing system according to any one of claims 1 to 7;
a measuring system for measuring the height of the target member;
comprising
detection system. The measurement system includes a contact sensor that measures the height by contacting the target member.
9. A detection system according to claim 8. The measurement system includes a non-contact sensor that measures the height without contacting the target member.
9. A detection system according to claim 8. The measurement system further comprises a movement mechanism for moving the target member or the sensor along the length direction of the target member such that the relative position between the sensor and the target member changes.
11. Detection system according to claim 9 or 10. an acquisition step of acquiring measurement data relating to height, which is a dimension of the target member along the length direction of the target member and in a height direction that intersects the length direction;
a differentiation processing step of obtaining a plurality of differential values at a plurality of positions in the length direction by performing differentiation processing in the length direction of the target member on the measurement data acquired in the acquisition step;
an edge detection step of detecting an edge position of the target member using differential values at two positions adjacent in the length direction among the plurality of differential values;
including,
Processing method. for causing one or more processors to perform the processing method of claim 12,
program.

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