JP2023125957A - Cutting system, cutting method, program, and control system - Google Patents

Abstract

To specify a finishing object portion having a variety of shapes to cut the portion.SOLUTION: A cutting system 1 includes a cutting unit 10, a detection unit 20, and a control device 60. The control device 60 includes a unit control part 604, a ridge line detection part 605 and a specification part 606. The ridge line detection part 605 detects a ridge line showing the shape of a workpiece machined by cutting an object on the basis of the state of the cut object detected by the detection unit 20. The specification part 606 compares a target shape of the workpiece and the shape of the workpiece shown by the ridge line, and specifies a finishing object portion where the workpiece after cut is subjected to finish cutting. The unit control part 604 controls the cutting unit 10 so as to move along the target shape set in a cutting area. The unit control part 604 controls the cutting unit 10 so as to cut the finishing object portion specified by the specification part 606.SELECTED DRAWING: Figure 2

Description

The present disclosure generally relates to a cutting system, a cutting method, a program, and a control system, and more particularly relates to a cutting system, a cutting method, a program, and a control system for cutting an object.

BACKGROUND ART Conventionally, a deburring device that can improve the accuracy of deburring is known (see Patent Document 1). The deburring device of Patent Document 1 includes a deburring tool that removes burrs from an object, a robot that moves the object or the tool, a force sensor that detects the force acting on the tool, and a deburring portion of the object. It is equipped with a visual sensor that detects the position. In the deburring device, information regarding the shape data of the deburring site and the posture of the tool is acquired in advance based on the three-dimensional data of the object.

Japanese Patent Application Publication No. 2015-9324

Since burrs (locations to be finished) have various shapes, the deburring device (cutting system) of Patent Document 1 needs to acquire data on various shapes. Furthermore, it is not possible to remove burrs from shapes that have not been obtained in advance.

The present disclosure has been made in view of the above-mentioned problems, and aims to provide a cutting system, a cutting method, a program, and a control system that make it possible to identify finishing target parts of various shapes and perform cutting.

A cutting system according to one aspect of the present disclosure includes a cutting unit, a detection unit, and a control device. The cutting unit includes a cutting tool that cuts the object, and uses the cutting tool to cut the object under control by the control device. Under the control of the control device, the detection unit detects a post-cutting state that is a post-cutting state of the object after cutting by the cutting unit. The control device includes a unit control section, an edge detection section, and a identification section. The unit control section controls operations of the cutting unit and the detection unit. The edge line detection section detects an edge line representing a shape of a workpiece to be processed by cutting the object, based on the post-cutting state of the object detected by the detection unit. The specifying unit compares the target shape of the workpiece with the shape of the workpiece represented by the ridgeline, and specifies a finishing target location on which finishing cutting is to be performed on the cut workpiece. The unit control section controls the cutting unit to move along the target shape set within a cutting area of the object that can be cut before being cut by the cutting unit. The specifying section controls the cutting unit to perform cutting on the finishing target location specified by the specifying section.

A cutting method according to one aspect of the present disclosure is used in a cutting system including a cutting unit, a detection unit, and a control device. The cutting unit includes a cutting tool that cuts the object, and uses the cutting tool to cut the object under control by the control device. Under the control of the control device, the detection unit detects a post-cutting state that is a post-cutting state of the object after cutting by the cutting unit. The cutting method includes a unit control step, an edge line detection step, and a specification step. The unit control step controls respective operations of the cutting unit and the detection unit. The edge line detection step detects an edge line representing the shape of a workpiece to be processed by cutting the object, based on the post-cutting state of the object detected by the detection unit. In the identifying step, the target shape of the workpiece is compared with the shape of the workpiece represented by the ridgeline, and a finishing target location on which finishing cutting is to be performed on the workpiece after cutting is identified. The unit control step includes a first step and a second step. In the first step, the cutting unit is controlled to move along the target shape set within a cutting area of the target object that can be cut before being cut by the cutting unit. In the second step, the cutting unit is controlled to perform cutting on the finishing target location specified in the specifying step.

A program according to one aspect of the present disclosure is a program for causing a computer to execute the cutting method.

A control system according to one aspect of the present disclosure controls a cutting unit and a detection unit. The cutting unit includes a cutting tool that cuts the object, and uses the cutting tool to cut the object. The detection unit detects a post-cutting state that is a post-cutting state of the object after cutting by the cutting unit. The control system includes a unit control section, an edge detection section, and a identification section. The unit control section controls operations of the cutting unit and the detection unit. The edge line detection section detects an edge line representing a shape of a workpiece to be processed by cutting the object, based on the post-cutting state of the object detected by the detection unit. The specifying unit compares the target shape of the workpiece with the shape of the workpiece represented by the ridgeline, and specifies a finishing target location on which finishing cutting is to be performed on the cut workpiece. The unit control section controls the cutting unit to move along the target shape set within a cutting area of the object that can be cut before being cut by the cutting unit. The unit control section controls the cutting unit to perform cutting on the finishing target location specified by the specifying section.

According to the present disclosure, it is possible to specify finishing target locations of various shapes and perform cutting.

FIG. 1 is a system configuration diagram showing a cutting system according to an embodiment. FIG. 2 is a block diagram showing the configuration of the cutting system as described above. FIG. 3 is a sequence diagram showing the operation of the cutting system. FIG. 4 is a flowchart showing the operation of a control device as a control system included in the cutting system. FIG. 5 is a diagram illustrating the relationship between the shape represented by the ridgeline detected by the above control device, the target shape, the minimum ridgeline, and the maximum ridgeline. FIGS. 6A to 6D are diagrams illustrating the relationship between a part of the shape represented by the ridgeline detected by the control device and the minimum ridgeline and the maximum ridgeline. FIG. 7 is a diagram showing the configuration of a detection unit according to modification 1. FIG. 8 is a block diagram showing the configuration of a detection unit according to modification 2. FIG. 9 is a diagram showing the configuration of a rotating brush according to modification 4.

The embodiments and modified examples described below are merely examples of the present disclosure, and the present disclosure is not limited to the following embodiments and modified examples. Even other than the following embodiments and modifications, various changes can be made according to the design etc. as long as they do not deviate from the technical idea of the present disclosure.

(Embodiment)
The cutting system 1 according to the embodiment will be described below with reference to FIGS. 1 to 6D.

(1) Overview The cutting system 1 according to the present embodiment includes a cutting unit 10, a detection unit 20, and a control device 60 as the control system 2, as shown in FIGS. 1 and 2. The cutting unit 10 includes a cutting tool 11 that cuts an object 3 (see FIG. 1) that is the object of cutting work. The cutting unit 10 cuts the object 3 using the cutting tool 11 under the control of the control device 60 . Under the control of the control device 60, the detection unit 20 detects a post-cutting state that is a post-cutting state of the target object 3 after being cut by the cutting unit 10. As shown in FIG. 2, the control device 60 includes a unit control section 604, an edge detection section 605, and a specification section 606. The unit control section 604 controls the respective operations of the cutting unit 10 and the detection unit 20. The edge line detection unit 605 detects an edge line representing the shape of a workpiece to be processed by cutting the object 3 based on the post-cutting state of the object 3 detected by the detection unit 20. The specifying unit 606 compares the target shape of the workpiece with the shape of the workpiece represented by the ridgeline, and specifies a finishing target location for performing finishing cutting on the cut workpiece. The unit control unit 604 controls the cutting unit to move along a target shape set within a cutting area of the target object 3 that can be cut before being cut by the cutting unit 10. The unit control section 604 controls the cutting unit to perform cutting on the finishing target location specified by the specifying section 606.

According to this configuration, the identification unit 606 compares the target shape with the shape represented by the ridgeline (the shape of the workpiece), and identifies the finishing target location where finishing cutting is to be performed on the workpiece after cutting. Therefore, there is no need to obtain data of various shapes in advance. Therefore, it is possible to specify finishing targets of various shapes and perform cutting.

In the following, as shown in FIG. 1, the front-rear direction, left-right direction, and up-down direction are defined. The left-right direction is a direction in which a pair of first members 31, which will be described later, are lined up. The up-down direction is the thickness direction of the object 3. The front-rear direction is a direction perpendicular to both the left-right direction and the up-down direction. Although Figure 1 shows arrows representing these directions (up, down, left, right, front, back), these arrows are only shown for the purpose of assisting the explanation and are not accompanied by any substance. do not have. Moreover, the above-mentioned direction regulation is not intended to limit the usage pattern of the cutting system 1 of this embodiment.

(2) Configuration The detailed configuration of the cutting system 1 according to this embodiment will be described below.

The cutting system 1 includes the cutting unit 10, the detection unit 20, and the control device 60 as the control system 2, as described above. The cutting system 1 further includes a cutting waste removal unit 40. Furthermore, the cutting system 1 includes a robot unit 30 and a pedestal 50.

(2.1) Robot Unit As shown in FIG. 1, the robot unit 30 includes a pair of first members 31, a pair of second members 32, and a third member 33.

The pair of first members 31 are arranged so as to sandwich the pedestal 50 therebetween. Each first member 31 extends along the front-rear direction. The pair of first members 31 are in one-to-one correspondence with the pair of second members 32, and support the second members 32 so that the corresponding second members 32 can move in the front-rear direction.

The pair of second members 32 are supported by the corresponding first members 31 so as to be movable in the front-back direction. The pair of second members 32 extend along the up-down direction. That is, the pair of second members 32 are supported by the corresponding first members 31 so that one end in the vertical direction is movable in the front-back direction.

The third member 33 extends along the left-right direction. The third member 33 is supported by the pair of second members 32 so as to be movable in the vertical direction. Specifically, the left end (one end) of both ends of the third member 33 in the left-right direction is supported by the left (one) second member 32 of the pair of second members 32 . The right end (the other end) of both ends of the third member 33 is supported by the right (other) second member 32 of the pair of second members 32 .

The movement of the pair of second members 32 in the front-rear direction and the movement of the third member 33 in the left-right direction are controlled by the control device 60.

(2.2) Cutting Unit As shown in FIGS. 1 and 2, the cutting unit 10 includes a cutting tool 11 that cuts the object 3 that is the target of cutting work. The cutting unit 10 has a main body portion 12 . The cutting tool 11 is attached to the main body part 12. The cutting unit 10 cuts the object 3 using the cutting tool 11 under the control of the control device 60 . Here, the object 3 is, for example, wood.

The cutting unit 10 is configured to allow a cutting tool 11 to be attached and detached. That is, in the cutting unit 10, an appropriate cutting tool 11 is attached depending on the material of the object 3, the shape of the part to be cut, etc.

The cutting unit 10 is attached to the third member 33 of the robot unit 30 so as to be movable in the left-right direction. The cutting unit 10 moves in the left-right direction in the third member 33 under the control of the control device 60 .

(2.3) Cutting waste removal unit The cutting waste removal unit 40 removes cutting waste generated when the cutting unit 10 cuts the object 3 under the control of the control device 60. The cutting waste removal unit 40 is attached to the cutting unit 10. Specifically, it is attached between the cutting tool 11 and the main body part 12.

As shown in FIG. 2, the cutting waste removal unit 40 includes a suction section 41, a rotating brush section 42, sandpaper 43, and a spray section 44.

The suction section 41 sucks cutting waste. Specifically, the suction unit 41 sucks cutting waste under the control of the control device 60.

The rotating brush section 42 removes cutting debris adhering to the cut surface of the object 3 after the cutting has been performed. The rotating brush part 42 is formed in a cylindrical shape having an axis along the vertical direction as the central axis, and a brush is provided on the side surface. The rotating brush portion 42 is rotated about the central axis as a rotation axis under the control of the control device 60, thereby removing cutting debris attached to the cutting surface from the cutting surface.

Sandpaper 43 polishes the cut surface. The sandpaper 43 is formed in a cylindrical shape with the central axis as its axis, and is disposed so as to be sandwiched between the rotating brush portions 42 . As the rotating brush portion 42 rotates under the control of the control device 60, the sandpaper 43 rotates and polishes the cutting surface. Note that the sandpaper 43 is not an essential component.

The cutting waste removal unit 40 removes cutting waste generated by the cutting of the cutting unit 10 as well as cutting waste generated by polishing the sandpaper 43 . Specifically, in the cutting waste removal unit 40, the rotating brush part 42 removes cutting waste generated by polishing the sandpaper 43 from the cutting surface, and the suction part 41 sucks the removed cutting waste.

The spray unit 44 sprays air onto a processed portion (processed portion) of the object 3 . Thereby, the cutting waste (cutting waste generated by cutting and cutting waste generated by polishing the sandpaper 43) accumulated in the processing area can be raised into the air, and the cutting waste can be sucked by the suction part 41.

Note that the rotating brush 42 and the sandpaper 43 do not need to be integrally attached to the cutting waste removal unit 40, and the brush tool and the sandpaper tool may be changed as appropriate when changing tools.

(2.4) Detection Unit Under the control of the control device 60, the detection unit 20 detects a post-cutting state that is a post-cutting state of the target object 3 after being cut by the cutting unit 10. Furthermore, under the control of the control device 60, the detection unit 20 detects a pre-cutting state, which is the state of the object 3 before being cut by the cutting unit 10. The detection unit 20 is attached to the third member 33 of the robot unit 30 so as to be movable in the left-right direction. The detection unit 20 moves in the left-right direction on the third member 33 under the control of the control device 60 . Here, the post-cutting state is a state in which the workpiece processed by cutting is not completely separated from the object 3, that is, a state in which a part of the workpiece is connected to the object.

The detection unit 20 includes an imaging device 21, as shown in FIG. The imaging device 21 images at least a portion of the object 3. The imaging device 21 detects the pre-cutting state by capturing an image of the pre-cutting state of the object 3 under the control of the control device 60 . The imaging device 21 detects the post-cutting state by capturing an image of the post-cutting state of the object 3 under the control of the control device 60 . More specifically, the detection unit (the imaging device 21) detects the post-cutting state of the object 3 after the cutting unit 10 has performed cutting and the cutting waste removal unit 40 has removed cutting waste. .

(2.5) Pedestal The pedestal 50 is arranged so as to be sandwiched between the pair of first members 31. As shown in FIG. 1, the pedestal 50 includes a plate portion 51, a plurality of (four in the illustrated example) positioning units 52, and a tool holding unit 53. The object 3 is placed on the plate portion 51 . Two of the four positioning units 52 are lined up along the left-right direction, and the remaining two positioning units 52 are lined up along the front-back direction. By bringing one side of the object 3 into contact with two positioning units 52 aligned along the left-right direction, and bringing another side intersecting that one side into contact with two positioning units 52 aligned along the front-rear direction. , the placement position of the object 3 is determined. The tool holding unit 53 holds one or more cutting tools 11 (in the illustrated example, cutting tools 11a and 11b) attached to the main body 12 of the cutting unit 10.

(2.6) Control Device The control device 60 has a communication section 61, a storage section 62, and a control section 63, as shown in FIG.

The control device 60 includes, for example, a computer system having a processor and memory. The computer system functions as the control unit 63 by the processor executing the program stored in the memory. Although the program executed by the processor is pre-recorded in the memory of the computer system here, it may also be provided recorded on a non-temporary recording medium such as a memory card, or provided via a telecommunications line such as the Internet. may be done.

The communication unit 61 is a communication interface for communicating with each of the cutting unit 10, the detection unit 20, the robot unit 30, and the cutting waste removal unit 40. The communication unit 61 communicates with each of the cutting unit 10, the detection unit 20, the robot unit 30, and the cutting waste removal unit 40 via the cable 70.

The storage unit 62 is configured of a device selected from ROM (Read Only Memory), RAM (Random Access Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), and the like.

The storage unit 62 stores programs necessary for cutting. For example, the storage unit 62 stores a tool control program, a cutting waste removal program, and a detection control program. The tool control program is a program in which the cutting unit 10 (cutting tool 11) is set to move along the target shape of the object 3. The cutting waste removal program is a program set to remove cutting waste. The detection control program is a program set to control the operation of the detection unit 20. The detection control program includes, for example, an imaging path (imaging order) for the target object 3.

The storage unit 62 stores processing drawings and workpiece information of a workpiece to be processed from the object 3. The processing drawing may be a 2D drawing or a 3D drawing. The fabrication drawings include the dimensions of the workpiece. The processed product information includes information regarding the processed product. Information regarding the workpiece includes, for example, information on whether or not to perform 3D machining, the maximum depth for machining, the minimum gap between workpieces when cutting multiple workpieces, and the presence or absence of holes in the workpiece. including. An example of the processed product information is shown in Table 1 below. Table 1 shows workpiece information that can be cut (processed) by tool A, which is the cutting tool 11. Table 1 shows that workpiece A, workpiece B, and workpiece C can be cut (processed) by tool A. In Table 1, for each of workpiece A, workpiece B, and workpiece C, information on whether to perform 3D machining, the maximum depth when machining, and the distance between workpieces when cutting multiple workpieces is shown. The minimum gap in the workpiece, the presence or absence of holes in the workpiece, etc. are associated with each other.

The storage unit 62 stores attribute information of the object 3 in association with processing drawings. The attribute information includes, for example, the type of material of the object 3, size, thickness, etc. An example of attribute information is shown in Table 2 below.

Note that the attribute information includes process information representing the machining process for the object 3, entry position information representing the entry position of the tool (cutting tool 11), and retraction position (position where the tool leaves the object 3) of the tool (cutting tool 11). It may also include evacuation position information representing.

The process information is, for example, information representing contour processing for processing the contour of a workpiece that can be processed from the object 3.

The storage unit 62 stores processing conditions for cutting the object 3. The machining conditions include information for specifying a location on the object 3 that requires finishing cutting. A portion of the object 3 that requires finishing cutting is, for example, a burr-shaped portion, that is, a portion that protrudes from the target shape. The machining conditions include, for example, a first condition for determining a first protruding portion, which is a portion protruding from the target shape, in order to regard the workpiece to be machined from the target object 3 as a burr shape in the left-right direction and the front-back direction. Further, the machining conditions include a second condition for determining a second protruding portion, which is a portion protruding from the target shape, in order to consider the workpiece to be machined from the target object 3 as a burr shape in the vertical direction.

The first condition is, for example, a first minimum shape representing the minimum shape in the left-right direction and front-rear direction that is allowed based on the shape of the workpiece (target shape), and a first minimum shape that is allowed based on the shape of the workpiece (target shape). a first maximum shape representing the maximum shape in the left-right direction and the front-back direction. The second condition is, for example, a second minimum shape that represents the minimum shape in the vertical direction that is allowed based on the shape of the workpiece (target shape), and a second minimum shape that is allowed in the vertical direction based on the shape of the workpiece (target shape). and a second maximum shape representing the maximum shape in the direction. Hereinafter, the ridgeline forming the first minimum shape will be referred to as the first minimum ridgeline, and the ridgeline forming the first maximum shape will be referred to as the first maximum ridgeline. Further, the ridgeline forming the second minimum shape is referred to as a second minimum ridgeline, and the ridgeline forming the second maximum shape is referred to as a second maximum ridgeline.

Further, the machining conditions include the type of processing machine used for machining and the type of tool used for machining as a tool list. Furthermore, the processing conditions include workpiece placement rules. The arrangement rule includes, for example, content specifying the direction in which wood grain (wood fibers) flows in the workpiece. An example of the tool list is shown in Table 3 below. Here, tool A, tool B, and tool C are cutting tools 11, and removal tool D is a tool used for removing cutting waste.

The tool type represents the type of tool that can be used for operations such as cutting when processing a workpiece from the object 3. The anisotropic pattern represents a pattern suitable for work such as cutting performed by a corresponding tool among a plurality of patterns representing the direction in which fibers of the object 3 (wood) flow. The rotation speed represents the rotation speed of the corresponding tool. The number of teeth feed represents the number of teeth feed of the corresponding tool. The finishing allowance represents the finishing allowance for a workpiece processed by performing work such as cutting on the object 3 using a corresponding tool. The material type represents the type of material of the object 3 that is suitable for the work of the corresponding tool.

The control unit 63 includes an acquisition unit 601, a tool identification unit 602, a region setting unit 603, a unit control unit 604, an edge detection unit 605, and a identification unit 606, as shown in FIG.

The acquisition unit 601 acquires a processing drawing, attribute information of the object 3 corresponding to the processing drawing, and processing conditions for cutting the object 3. Specifically, the acquisition unit 601 acquires the processing drawing, the attribute information of the object 3 corresponding to the processing drawing, and the processing conditions from the storage unit 62. Note that the acquisition unit 601 is not limited to a configuration that acquires the processing drawing, the attribute information of the object 3 corresponding to the processing drawing, and the processing conditions from the storage unit 62. The acquisition unit 601 may acquire a machining drawing, attribute information of the object 3 corresponding to the machining drawing, and machining conditions through an input operation by an operator.

The tool identifying unit 602 identifies the cutting tool 11 used for cutting the object 3 based on the machining conditions acquired by the acquiring unit 601. For example, the tool specifying unit 602 performs cutting of the object 3 based on parameters (tools to be used) set in the process control program shown in Table 4, which will be described later, and is created using a tool list included in the machining conditions. Specify the cutting tool 11 to be used. The operator attaches the cutting tool 11 identified by the tool identifying section 602 to the main body section 12 of the cutting unit 10.

The area setting unit 603 sets a cutting area on the object 3 based on the pre-cutting state of the object 3 detected by the detection unit 20. For example, the area setting unit 603 sets a cutting area in the target object 3 based on an image in a pre-cutting state (pre-cutting image) captured by the imaging device 21 of the detection unit 20 . More specifically, the area setting unit 603 detects the knot included in the object 3 (wood) and the location where the wood screw is attached from the pre-cutting image as a non-cutting target area. The area setting unit 603 sets an area other than the area detected in the target object 3 that is not to be cut as a cutting area.

Further, the area setting unit 603 detects the anisotropy of the target object 3. Specifically, the area setting unit 603 detects the direction in which the fibers of the object 3 (wood) flow.

Furthermore, the area setting unit 603 determines the shape of the workpiece within the cutting area based on the shape (target shape) and the dimensions of the workpiece included in the machining drawing corresponding to the target shape to be cut, and the arrangement rules included in the machining conditions. Set the target shape to be cut (the shape to be machined in the machining process). The area setting unit 603 sets the direction of the target shape to be cut based on the pre-cutting state of the object 3 detected by the detection unit 20 and according to the detected anisotropy (fiber direction). Furthermore, when processing a plurality of workpieces by cutting them from the target object 3, the area setting unit 603 sets a target shape for a workpiece having a large area among the plurality of workpieces. The region setting unit 603 generates NC (Numerical Control) data according to the set target shape.

The unit control section 604 controls the respective operations of the cutting unit 10 and the detection unit 20. Further, the unit control section 604 controls the operation of the cutting waste removal unit 40.

Unit control section 604 controls cutting unit 10 based on a tool control program. The unit control unit 604 controls the cutting unit to move along a target shape set within a cutting area of the target object 3 that can be cut before being cut by the cutting unit 10. Based on the NC data, the unit control unit 604 causes the cutting unit 10 to move along a target shape set within a region (cutting region) of the object 3 that can be cut (cutting region) before being cut by the cutting unit 10. Generate a tool control program to move. Specifically, the unit control unit 604 moves the tool (cutting tool 11) into the cutting area based on the approach position information of the tool (cutting tool 11) included in the attribute information and the withdrawal position information of the tool (cutting tool 11) included in the attribute information. A movement path of the cutting unit 10 for cutting the set target shape is generated. The unit control unit 604 generates a tool control program that causes the cutting unit 10 to move along the target shape by setting parameters according to the target shape for the tool control program stored in the storage unit 62. The parameters according to the target shape include, for example, the generated movement route, tool entry position information included in the attribute information, and tool retreat position information included in the attribute information. The unit control section 604 controls the cutting unit 10 to move along the target shape set within the cutting region based on a tool control program in which parameters corresponding to the target shape are set. An example of parameters (tools to be used) set in the process control program is shown in Table 4 below.

The unit control unit 604 obtains attribute information of the object 3, which is the work target, from Table 2. The unit control unit 604 extracts one or more tools corresponding to the type of material included in the acquired attribute information from the tool list (see Table 3) included in the machining conditions acquired by the acquisition unit 601. Based on the extracted one or more tools, the unit control unit 604 selects a tool that can be used in each process of machining the workpiece from the object 3 from the workpiece information shown in Table 1, and performs the processing shown in Table 4. Set parameters for each item.

The unit control section 604 controls the cutting unit 10 to perform cutting on the finishing target location specified by the specifying section 606. For example, the unit control unit 604 causes the cutting unit 10 to perform cutting on a portion (extrusion portion) that protrudes from the target shape specified by the identification portion 606 based on a first condition and a second condition included in the machining conditions. control. Here, the protruding portion includes a portion that is protruding from the target shape and a portion that is recessed from the target shape.

The unit control section 604 controls the detection unit 20 based on the detection control program. For example, the unit control section 604 controls the operation of the detection unit 20 to detect the pre-cutting state of the object 3. Further, the unit control section 604 controls the operation of the detection unit 20 to detect the state of the object 3 after cutting. The unit control unit 604 moves the pair of second members 32 of the robot unit 30 in the front-back direction and moves the detection unit 20 in the left-right direction in order to detect the pre-cutting state and the post-cutting state of the target object 3. , to perform imaging. The unit control unit 604 generates a composite image including the entire object 3 by combining (synthesizing) a plurality of images captured by the imaging device 21 of the detection unit 20. In two images that are continuous in the left-right direction and the front-back direction, a partial area of the object 3 included in one of the two images overlaps with a partial area of the object 3 included in the other image. . A composite image obtained from a plurality of images taken before cutting corresponds to the above-mentioned pre-cutting image. Furthermore, in the following description, a composite image obtained from a plurality of images taken after cutting will be referred to as a post-cutting image.

The unit control section 604 controls the cutting waste removal unit 40 based on the cutting waste removal program. The unit control section 604 controls the operation of the cutting unit 10 and also controls the operation of the cutting waste removal unit 40. For example, when causing the cutting unit 10 to perform cutting, the unit control unit 604 controls the cutting waste removal unit 40 so that the suction unit 41 of the cutting waste removal unit 40 sucks.

The edge line detection unit 605 detects an edge line representing the shape of a workpiece to be processed by cutting the object 3 based on the post-cutting state of the object 3 detected by the detection unit 20. The edge line detection unit 605 detects an edge line representing the shape of the workpiece based on an image representing the state of the target object 3 after cutting, which is imaged by the imaging device 21 of the detection unit 20 . More specifically, the ridge line detection unit 605 detects the target object based on a composite image (post-cutting image) generated by the unit control unit 604 from a plurality of images taken by the imaging device 21 of the detection unit 20 after cutting the target object 3. Edge lines representing the shape of the workpiece obtained after cutting the object 3 are detected. That is, the edge line detection unit 605 detects an edge line that represents the three-dimensional shape of the workpiece obtained after cutting the target object 3.

The identification unit 606 compares the target shape of the workpiece with the shape of the workpiece represented by the ridgeline detected by the ridgeline detection unit 605, and performs finishing cutting on the workpiece in the target object 3 after cutting. Identify the area to be finished. The identification unit 606 identifies parts of the workpiece that protrude in directions (left-right and front-back directions) intersecting the thickness direction (up-down direction) of the object 3 when the target shape is taken as a reference, and a part that protrudes from the workpiece when the target shape is taken as a reference. At least one of the parts of the workpiece that protrudes in the thickness direction of the workpiece 3 at this time is specified as a finishing target part. Specifically, the identification unit 606 compares the target shape of the object 3 after cutting with the shape of the object 3 after cutting (the shape of the workpiece) represented by the ridgeline detected by the ridgeline detection unit 605. Then, based on the first condition and the second condition, a portion having a large protruding portion with respect to the target shape is specified as a finishing target portion. The specifying unit 606 generates NC data regarding the finishing specific location based on the shape of the workpiece (target shape) and the dimensions of the workpiece included in the processing drawing, and the arrangement rule included in the processing conditions.

(3) Operation Hereinafter, the operation of the cutting system 1 and the operation of the control device 60 as the control system 2 according to the present embodiment will be explained.

(3.1) Operation of the cutting system Here, the operation of the cutting system 1 will be explained using FIG. 3.

An object 3 to be worked on, such as cutting, is placed on the plate part 51 in a state where it is positioned by a positioning unit 52 of a pedestal 50.

When the object 3 is placed on the pedestal 50, the unit control section 604 of the control device 60 starts an imaging operation in order to cause the detection unit 20 to detect the pre-cutting state of the object 3, that is, to image the object 3. An instruction is sent to the detection unit 20 (step S1).

Upon receiving the imaging instruction, the detection unit 20 detects the pre-cutting state of the object 3, that is, starts imaging the object 3 (step S2). At this time, the detection unit 20 images the object 3 while changing the imaging position under the control of the control device 60, and acquires a plurality of images. The detection unit 20 transmits the plurality of acquired images to the control device 60 (step S3).

When the unit control unit 604 receives a plurality of images from the detection unit 20, it performs a first acquisition process (step S4). Specifically, the unit control unit 604 generates a composite image including the entire object 3 by combining (synthesizing) a plurality of images. The unit control unit 604 obtains a pre-cutting image by generating a composite image.

The area setting unit 603 performs setting processing (step S5). Specifically, the area setting unit 603 sets an area (cutting area) of the target object 3 where a cutting operation can be performed, that is, a cutting area where the workpiece can be processed. For example, the area setting unit 603 detects knots included in the object 3 (wood) and locations where wood screws are attached as areas not to be cut from the pre-cutting image, and the area excluding the detected areas not to be cut. Set as the cutting area. Further, the area setting unit 603 detects anisotropy in the target object 3. Further, the region setting unit 603 sets the direction of the target shape to be cut based on the pre-cutting state of the object 3 detected by the detection unit 20 and according to the detected anisotropy (fiber direction). The area setting unit 603 generates NC data according to the set target shape.

The unit control unit 604 generates a tool control program based on the NC data generated by the area setting unit 603 so that the cutting unit 10 moves along the target shape set within the cutting area. The unit control unit 604 transmits a cutting instruction representing a cutting instruction to the cutting unit 10 based on the generated tool control program (step S6). Further, the unit control section 604 transmits a removal instruction representing an instruction to remove cutting waste to the cutting waste removal unit 40 based on the generated tool control program (step S7).

When the cutting unit 10 receives the cutting instruction from the control device 60, it cuts the object 3 (step S8). At this time, the unit control section 604 controls the cutting of the cutting unit 10 while moving the pair of second and third members 32 and 33 by controlling the robot unit 30 .

When the cutting waste removal unit 40 receives the removal instruction from the control device 60, it removes the cutting waste (step S9). For example, the suction section 41 of the cutting waste removal unit 40 sucks cutting waste. The rotating brush section 42 removes cutting debris adhering to the cut surface of the object 3 after the cutting has been performed. Sandpaper 43 polishes the cut surface. The spraying unit 44 sprays air onto the processed portion of the object 3 .

The unit control section 604 transmits an imaging instruction to the detection unit 20 in order to cause the detection unit 20 to detect the state of the object 3 after cutting, that is, to image the object 3 after cutting (step S10).

Upon receiving the imaging instruction, the detection unit 20 detects the state of the object 3 after cutting, that is, starts imaging the object 3 after cutting (step S11). At this time, similarly to the imaging in step S2, the detection unit 20 images the object 3 while changing the imaging position under the control of the control device 60, and acquires a plurality of images. The detection unit 20 transmits the plurality of acquired images to the control device 60 (step S12).

Upon receiving the plurality of images from the detection unit 20, the unit control section 604 performs a second acquisition process (step S13). Specifically, the unit control unit 604 generates a composite image including the entire object 3 after cutting by combining (synthesizing) a plurality of images. The unit control unit 604 obtains a post-cutting image by generating a composite image.

The ridgeline detection unit 605 determines the shape of the workpiece to be processed by cutting the object 3 based on the post-cutting state of the object 3 detected by the detection unit 20, that is, the post-cutting image obtained by combining a plurality of images. Detects the ridgeline representing (step S14). Specifically, the edge line detection unit 605 detects the shape of the workpiece obtained after cutting the object 3, that is, the edge line representing the three-dimensional shape of the workpiece, based on the post-cutting image.

The specifying unit 606 performs specifying processing (step S15). Specifically, the specifying unit 606 compares the target shape of the object 3 after cutting and the workpiece represented by the ridgeline detected by the ridgeline detection unit 605, and determines the finish for the workpiece after cutting. Identify the finishing target area for cutting. The identification unit 606 compares the target shape of the object 3 after cutting with the shape of the workpiece represented by the ridgeline detected by the ridgeline detection unit 605, and determines the target shape based on the first condition and the second condition. The part of the workpiece with a large protrusion is identified as the part to be finished. The specifying unit 606 generates NC data regarding the finishing specific location based on the shape of the workpiece (target shape) and the dimensions of the workpiece included in the processing drawing, and the arrangement rule included in the processing conditions.

The unit control section 604 transmits a cutting instruction to the cutting unit 10 based on the NC data and tool control program generated by the specifying section 606 (step S16). Further, the unit control section 604 transmits a removal instruction to the cutting waste removal unit 40 based on the NC data and tool control program generated by the identification section 606 (step S17).

When the cutting unit 10 receives the cutting instruction from the control device 60, the cutting unit 10 performs cutting on the specific finishing portion of the object 3 (step S18). At this time, the unit control section 604 controls the cutting of the cutting unit 10 while moving the pair of second and third members 32 and 33 by controlling the robot unit 30 .

When the cutting waste removal unit 40 receives the removal instruction from the control device 60, it removes the cutting waste (step S19).

(3.2) Operation of control device Here, the operation of the cutting system 1 will be explained using FIG. 4.

An object 3 to be worked on, such as cutting, is placed on the plate part 51 in a state where it is positioned by a positioning unit 52 of a pedestal 50.

The unit control unit 604 of the control device 60 acquires the pre-cutting state of the target object 3 (step S101). Specifically, the unit control unit 604 transmits an imaging instruction to the detection unit 20 and acquires from the detection unit 20 a plurality of images captured by the detection unit 20 of the object 3 . Upon receiving the plurality of images from the detection unit 20, the unit control section 604 acquires a pre-cutting image by combining (synthesizing) the plurality of images.

The region setting unit 603 detects anisotropy in the target object 3 (step S102). The area setting unit 603 performs cutting area setting processing (step S103). The area setting unit 603 sets a cutting area of the target object 3 in which the workpiece can be machined. The region setting unit 603 sets the direction of the target shape to be cut based on the pre-cutting state of the object 3 and according to the detected anisotropy (fiber direction). The region setting unit 603 generates NC data according to the set target shape (step S104). Here, the setting process performed in step S5 shown in FIG. 3 includes steps S102, S103, and S104 shown in FIG. 4.

The unit control section 604 performs cutting control processing (step S105). Specifically, the unit control unit 604 generates a tool control program based on the NC data generated by the area setting unit 603 so that the cutting unit 10 moves along the target shape set within the cutting area. Based on the generated tool control program, the unit control unit 604 sends a cutting instruction to the cutting unit 10 and a removal instruction to the cutting waste removing unit 40, respectively, so that the cutting unit 10 performs the cutting operation, and the cutting waste removing unit 40 to carry out the removal work. The unit control unit 604 controls cutting by the cutting unit 10 while moving the pair of second and third members 32 and 33 by controlling the robot unit 30 .

The unit control unit 604 acquires the post-cutting state of the target object 3 (step S106). Specifically, the unit control unit 604 transmits an imaging instruction to the detection unit 20 and acquires from the detection unit 20 a plurality of images that the detection unit 20 captures of the object 3 after cutting. Upon receiving the plurality of images from the detection unit 20, the unit control section 604 acquires a post-cutting image by combining (synthesizing) the plurality of images.

The ridge line detection unit 605 detects the shape of the workpiece to be processed by cutting the object 3 based on the post-cutting state of the object 3 detected by the detection unit 20, that is, the post-cutting image obtained by combining a plurality of images. Detects the ridgeline representing (step S107). Step S107 corresponds to step S14 shown in FIG.

The specifying unit 606 performs comparison processing (step S108). Specifically, the identification unit 606 compares the target shape of the object 3 after cutting with the shape of the workpiece represented by the ridgeline detected by the ridgeline detection unit 605.

The specifying unit 606 determines whether a protruding part (finishing candidate part) of the workpiece based on the target shape is detected by the comparison process, that is, whether there is a finishing candidate part (step S109).

If it is determined that there is no finishing candidate location (“No” in step S109), the identification unit 606 determines that the workpiece is a good product (finished product), and the unit control unit 604 assigns the workpiece to the workpiece 3. instruct them to separate it from the Upon receiving the instruction, the unit control section 604 controls the cutting unit 10 and the cutting waste removal unit 40 to separate the workpiece from the object 3.

If it is determined that there is a finishing candidate location (“Yes” in step S109), the specifying unit 606 determines whether the protruding portion that is the finishing candidate location is inside the minimum edge line (step S110). The specifying unit 606 determines whether the protrusion of the finishing candidate location in the left-right direction and the front-back direction is inside the first minimum ridge line. The specifying unit 606 determines whether the protruding portion, which is a finishing candidate portion in the vertical direction, is inside the second minimum ridge line. Here, at least one of the following holds true: the protrusion of the finishing candidate location in the left-right direction and front-rear direction is inside the first minimum ridgeline, and the protrusion of the finishing candidate location in the vertical direction is inside the second minimum ridgeline. In this case, the specifying unit 606 determines that the protrusion of the finishing candidate portion is inside the minimum edge line. If both of the following conditions do not hold true: the protrusion of the finishing candidate location in the left-right direction and front-back direction is inside the first minimum ridgeline, and the protrusion of the finishing candidate location in the vertical direction is inside the second minimum ridgeline, the specified The unit 606 determines that there is no protrusion of the finishing candidate location inside the minimum edge line.

When determining that the protrusion of the finishing candidate portion is inside the minimum edge line (“Yes” in step S110), the identifying unit 606 determines that the workpiece is a defective product (step S116). In this case, the control device 60 stops the work on the processed product determined to be defective.

If it is determined that the protrusion of the finishing candidate part is not inside the minimum edge line ("No" in step S110), the specifying unit 606 determines whether the protrusion of the finishing candidate part is outside the maximum edge line (step S110). S111). The specifying unit 606 determines whether the protrusion of the finishing candidate location in the left-right direction and the front-back direction is inside the first maximum ridge line. The specifying unit 606 determines whether the protrusion of the finishing candidate location in the vertical direction is inside the second maximum ridge line. Here, at least one of the following holds true: the protrusion of the finishing candidate location in the left-right direction and front-back direction is outside the first maximum ridgeline, and the protrusion of the finishing candidate location in the vertical direction is outside the second maximum ridgeline. In this case, the specifying unit 606 determines that the protrusion of the finishing candidate portion is outside the maximum edge line. If both of the following conditions do not hold true: the protrusion of the finishing candidate location in the left-right direction and the front-back direction is outside the first maximum ridgeline, and the protrusion of the finishing candidate location in the vertical direction is outside the second maximum ridgeline, the specified The unit 606 determines that there is no protrusion of the finishing candidate location outside the maximum edge line.

If the specifying unit 606 determines that the protrusion of the finishing candidate location is not outside the maximum edge line (“No” in step S111), the process moves to step S115. That is, when the specifying unit 606 determines that the protrusion of the finishing candidate location is not outside the maximum edge line, the specifying unit 606 determines that the workpiece is a good product (finished product), and requests the unit control unit 604 to process the workpiece. Instruct to separate the object from object 3.

If it is determined that the protrusion of the finishing candidate location is outside the maximum edge line (“Yes” in step S111), the identifying unit 606 specifies the finishing candidate location as the finishing target location and detects the amount of protrusion (step S112). ). The identification unit 606 determines the finishing target area by cutting the detected protrusion amount based on the shape (target shape) and the dimensions of the workpiece included in the processing drawing, and the arrangement rule included in the processing conditions. NC data regarding the finishing specific location is generated so as to be located between the maximum edge line and the minimum edge line (step S113). Here, the processing related to steps S108 to S113 is included in the specifying processing performed in step S15 shown in FIG. Here, the amount of protrusion is the longest distance between the protrusion portion and the target shape.

The unit control section 604 performs cutting control processing based on the NC data generated in step S113 (step S114). Specifically, the unit control section 604 sends a cutting instruction to the cutting unit 10 and a removal instruction to the cutting waste removal unit 40, respectively, based on the NC data and the tool control program generated by the area setting section 603. , the cutting unit 10 performs cutting work, and the cutting waste removal unit 40 performs removal work. The unit control unit 604 controls cutting by the cutting unit 10 while moving the pair of second and third members 32 and 33 by controlling the robot unit 30 .

When the cutting control process in step S114 ends, the process moves to step S115. That is, the identification unit 606 determines that the workpiece is a good product (finished product), and instructs the unit control unit 604 to separate the workpiece from the target object 3.

Hereinafter, identification of the finishing target location will be explained using a specific example.

In step S109, the edge line detection unit 605 detects the edge line 310, as shown in FIG. In addition, in FIG. 5, the ridgeline 310 in the left-right direction and the front-back direction is described.

The identifying unit 606 compares the shape formed by the detected ridgeline 310 and the target shape 300 in step S108. In step S109, the specifying unit 606 determines whether there is a finishing candidate location that protrudes from the shape represented by the ridgeline 310 (the shape of the workpiece) based on the target shape 300. If the target shape 300 and the shape represented by the ridgeline 310 match, the identifying unit 606 determines that there is no finishing candidate location. If the identifying unit 606 determines that there are no finishing candidate locations, the identifying unit 606 determines that the workpiece having the shape represented by the ridge line 310 is a good product (finished product).

When determining that there is a finishing candidate location, the specifying unit 606 determines in step S110 whether the protrusion of the finishing candidate location is inside the minimum edge line. For example, the specifying unit 606 determines whether a part of the edge line 310 representing a point (finishing candidate point) where the target shape 300 and the shape represented by the edge line 310 do not match is closer to the minimum edge line 321 (here, the first minimum edge line). Determine whether it exists inside.

If it is determined that the protrusion of the finishing candidate location is inside the minimum edge line, the identifying unit 606 determines that the workpiece is a defective product in step S116.

When determining that the protrusion of the finishing candidate location is not inside the minimum edge line, the specifying unit 606 determines in step S111 whether the protrusion of the finishing candidate location is outside the maximum edge line. For example, the specifying unit 606 determines whether a part of the ridgeline 310 representing a location (finishing candidate location) where the target shape 300 and the shape represented by the ridgeline 310 do not match is closer than the maximum ridgeline 322 (here, the first maximum ridgeline). Determine whether it exists outside.

If it is determined that the protrusion of the finishing candidate location is not outside the maximum edge line, the identifying unit 606 determines that the workpiece is a non-defective product in step S115.

When determining that the protrusion of the finishing candidate portion is outside the maximum edge line, the specifying unit 606 executes steps S112 to S114. That is, the identifying unit 606 identifies the finishing candidate location as the finishing target location, detects the amount of protrusion, and generates NC data regarding the finishing specific location so that the finishing target location is located between the maximum ridgeline and the minimum ridgeline. do. In step S114, the unit control section 604 performs cutting control processing based on the NC data generated in step S113.

Normally, when a cutting operation is performed on the object 3, burrs may be generated corresponding to the candidate parts, but the direction in which the burrs are generated differs depending on the material of the object 3 and the type of cutting tool 11 used for cutting. For example, burrs may occur on the outside or inside of the target shape in the left-right and front-back directions. Furthermore, burrs may occur on the outside or inside of the target shape in the vertical direction. In addition, there are cases in which burrs do not occur.

FIG. 6A shows the relationship between the edge line 310 detected by the edge line detection unit 605, the minimum edge line 321, and the maximum edge line 322 when no burrs are generated. In this case, since the shape represented by the ridgeline 310 matches the target shape 300 (see FIG. 5), the identification unit 606 determines that the workpiece having the shape represented by the ridgeline 310 is a good product.

FIGS. 6B to 6D show the relationship between the minimum ridgeline 321 and the maximum ridgeline 322 when the ridgeline is generated inside the target shape in the left-right direction and the front-back direction. In FIG. 6B, a part (burr) of the edge line 310 exists inside the minimum edge line 321, so the identification unit 606 determines that the workpiece having the shape represented by the edge line 310 is a defective product. In FIG. 6C, since a part (burr) on the ridgeline 310 exists outside the maximum ridgeline 322, the identification unit 606 identifies the part that is the burr as a finishing target location. In FIG. 6D, since a part (burr) of the ridgeline 310 exists between the minimum ridgeline 321 and the maximum ridgeline 322, the identification unit 606 determines that the burr is within the allowable error range and is not represented by the ridgeline 310. A workpiece with a shape that

(4) Effects As explained above, the cutting system 1 according to the present embodiment includes the cutting unit 10, the detection unit 20, and the control device 60. The cutting unit 10 has a cutting tool 11 that cuts the object 3, and under the control of the control device 60, cuts the object 3 using the cutting tool 11. Under the control of the control device 60, the detection unit 20 detects a post-cutting state that is a post-cutting state of the target object 3 after being cut by the cutting unit 10. The control device 60 includes a unit control section 604, an edge detection section 605, and a specification section 606. The unit control section 604 controls the respective operations of the cutting unit 10 and the detection unit 20. The edge line detection unit 605 detects an edge line representing the shape of a workpiece to be processed by cutting the object 3 based on the post-cutting state of the object 3 detected by the detection unit 20. The specifying unit 606 compares the target shape of the workpiece with the shape of the workpiece represented by the ridgeline, and specifies a finishing target location for performing finishing cutting on the cut workpiece. The unit control unit 604 controls the cutting unit 10 to move along a target shape set within a cutting area of the target object 3 that can be cut before being cut by the cutting unit 10. The unit control section 604 controls the cutting unit 10 to perform cutting on the finishing target location specified by the specifying section 606.

According to this configuration, the identification unit 606 compares the target shape with the shape represented by the ridgeline (the shape of the workpiece), and identifies the finishing target location where finishing cutting is to be performed on the workpiece after cutting. Therefore, there is no need to obtain data of various shapes in advance. Therefore, it is possible to specify finishing targets of various shapes and perform cutting.

Furthermore, the control system 2 according to this embodiment controls the cutting unit 10 and the detection unit 20. The cutting unit 10 includes a cutting tool 11 that cuts the object 3, and uses the cutting tool 11 to cut the object 3. The detection unit 20 detects a post-cutting state that is a post-cutting state of the target object 3 after being cut by the cutting unit 10 . The control system 2 includes a unit control section 604, an edge detection section 605, and a specification section 606. The unit control section 604 controls the respective operations of the cutting unit 10 and the detection unit 20. The edge line detection unit 605 detects an edge line representing the shape of a workpiece to be processed by cutting the object 3 based on the post-cutting state of the object 3 detected by the detection unit 20. The specifying unit 606 compares the target shape of the workpiece with the shape of the workpiece represented by the ridgeline, and specifies a finishing target location for performing finishing cutting on the cut workpiece. The unit control unit 604 controls the cutting unit 10 to move along a target shape set within a cutting area of the target object 3 that can be cut before being cut by the cutting unit 10. The unit control section 604 controls the cutting unit 10 to perform cutting on the finishing target location specified by the specifying section 606.

According to this configuration, it is possible to specify finishing target locations of various shapes and perform cutting.

(5) Modification Examples Modification examples are listed below. Note that the modified examples described below can be applied in combination with the above embodiment as appropriate.

(5.1) Modification example 1
The detection unit 20 may include a rotation mechanism 22, as shown in FIG. The rotation mechanism 22 rotates the imaging device 21. Specifically, the rotation mechanism 22 rotates the imaging device 21 so as to change the imaging direction of the imaging device 21 under the control of the control device 60. In other words, the unit control section 604 controls the rotation mechanism 22 so that the imaging device 21 rotates, and changes the imaging direction of the imaging device 21.

If the rotating mechanism 22 is not provided, it is difficult to image the shape of the object 3 in the vertical direction (thickness direction). On the other hand, by having the rotation mechanism 22, it becomes possible to change the imaging direction of the imaging device 21, and it becomes easy to image the shape of the object 3 in the vertical direction (thickness direction). Therefore, it becomes easy to detect burrs (finishing candidate locations) that occur in the vertical direction.

(5.2) Modification 2
As shown in FIG. 8, the detection unit 20a of Modification 2 differs from the detection unit 20 of the embodiment in that it includes a laser displacement meter 23 instead of the imaging device 21.

The laser displacement meter 23 detects the post-cutting state by scanning the object 3 along a direction intersecting the thickness direction (vertical direction) of the object 3 under the control of the control device 60 . As a result, the cutting system 1 (control device 60 of the cutting system 1) scans the object 3 with the laser displacement meter 23, thereby determining the shape of the object 3 in the left-right direction and front-rear direction, and the shape of the object 3 in the up-down direction. can be detected. That is, the cutting system 1 (the identifying unit 606 included in the control device 60 of the cutting system 1) scans the laser displacement meter 23 to determine the finishing target location in the left-right direction and front-back direction of the workpiece to be processed by cutting the object 3; It is possible to specify the finishing target location in the vertical direction of the workpiece.

Alternatively, the detection unit 20a may include both the laser displacement meter 23 and the imaging device 21. Further, the detection unit 20a may include the laser displacement meter 23, the imaging device 21, and the rotation mechanism 22 described in the first modification.

(5.3) Modification 3
In the embodiment, the imaging device 21 is configured to capture a plurality of images while changing the imaging position, but the configuration is not limited to this.

The imaging device 21 may image the entire object 3 in one imaging operation. In this case, the unit control unit 604 acquires one image captured by the imaging device 21 before cutting as a pre-cutting image. The unit control unit 604 acquires one image captured by the imaging device 21 after cutting as a post-cutting image.

(5.4) Modification 4
The cutting waste removing unit 40a according to the fourth modification differs from the cutting waste removing unit 40 of the embodiment in the position where the rotating brush portion 42a is provided.

As shown in FIG. 9, the cutting waste removal unit 40a according to the fourth modification includes a rotating brush portion 42a at the lower end of the cutting waste removal unit 40a. The rotating brush portion 42a is formed in a cylindrical shape having an axis along the vertical direction as the central axis. The brushes of the rotating brush portion 42a are provided on the circumference along the circular edge and extend in the vertical direction. That is, the brush of the rotating brush portion 42a is a broom-shaped brush.

With this configuration, the rotating brush portion 42a can adjust the length of the brush of the rotating brush portion 42a according to the length of the cutting tool 11 in the vertical direction. In addition, when the suction part of the suction part 41 (see FIG. 2) is provided inside the brush of the rotating brush part 42a, the brush of the rotary brush part 42a is form a wall in the space to be used. Therefore, the brush of the rotating brush portion 42a can increase the suction force when the suction portion 41 suctions cutting waste.

(Other variations)
The above embodiment is only one of various embodiments of the present disclosure. The embodiments described above can be modified in various ways depending on the design, etc., as long as the objective of the present disclosure can be achieved.

Furthermore, the same functions as those of the cutting system 1 may be realized by a cutting method, a computer program, a non-temporary recording medium on which the program is recorded, or the like. The cutting method according to one embodiment is used in a cutting system 1 including a cutting unit 10, a detection unit 20, and a control device 60. The cutting unit 10 has a cutting tool 11 that cuts the object 3, and under the control of the control device 60, cuts the object 3 using the cutting tool 11. Under the control of the control device 60, the detection unit 20 detects a post-cutting state that is a post-cutting state of the target object 3 after being cut by the cutting unit 10. The cutting method includes a unit control step, an edge line detection step, and a identification step. The unit control step controls the respective operations of the cutting unit 10 and the detection unit 20. The edge line detection step detects an edge line representing the shape of a workpiece to be processed by cutting the object 3 based on the post-cutting state of the object 3 detected by the detection unit 20 . In the identifying step, the target shape of the workpiece is compared with the shape of the workpiece represented by the ridgeline to identify a finishing target location on which finishing cutting is to be performed on the workpiece after cutting. The unit control step includes a first step and a second step. In the first step, the cutting unit 10 is controlled to move along a target shape set within a cutting area of the object 3 that can be cut before being cut by the cutting unit 10. In the second step, the cutting unit is controlled to perform cutting on the finishing target location specified in the specific step. A program according to one embodiment is a program for causing a computer system to function as the cutting method described above.

The cutting system 1 in the present disclosure includes a computer system. A computer system mainly consists of a processor and a memory as hardware. The functions of the cutting system 1 in the present disclosure are realized by a processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, or may be recorded on a non-transitory storage medium readable by the computer system, such as a memory card, optical disc, hard disk drive, etc. may be provided. A processor in a computer system is comprised of one or more electronic circuits including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). The integrated circuits such as IC or LSI referred to herein have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, an FPGA (Field-Programmable Gate Array), which is programmed after the LSI is manufactured, or a logic device that can reconfigure the connections inside the LSI or reconfigure the circuit sections inside the LSI, may also be used as a processor. I can do it. The plurality of electronic circuits may be integrated into one chip, or may be provided in a distributed manner over a plurality of chips. A plurality of chips may be integrated into one device, or may be distributed and provided in a plurality of devices. The computer system herein includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

Furthermore, it is not an essential configuration for the cutting system 1 that multiple functions of the cutting system 1 are integrated into one housing, and the constituent elements of the cutting system 1 are distributed among multiple housings. may be provided. Furthermore, at least some of the functions of the cutting system 1 may be realized by a cloud (cloud computing) or the like.

Further, functions similar to those of the control system 2 may be realized by a control method, a computer program, a non-temporary recording medium on which the program is recorded, or the like. A control method according to one embodiment is used in a control system 2 that controls the cutting unit 10 and the detection unit. The cutting unit 10 includes a cutting tool 11 that cuts the object 3, and uses the cutting tool 11 to cut the object 3. The detection unit 20 detects a post-cutting state that is a post-cutting state of the target object 3 after being cut by the cutting unit 10 . The control method includes a unit control step, an edge line detection step, and a identification step. The unit control step controls the respective operations of the cutting unit 10 and the detection unit 20. The edge line detection step detects an edge line representing the shape of a workpiece to be processed by cutting the object 3 based on the post-cutting state of the object 3 detected by the detection unit 20 . In the identifying step, the target shape of the workpiece is compared with the shape of the workpiece represented by the ridgeline to identify a finishing target location on which finishing cutting is to be performed on the workpiece after cutting. The unit control step includes a first step and a second step. In the first step, the cutting unit 10 is controlled to move along a target shape set within a cutting area of the object 3 that can be cut before being cut by the cutting unit 10. In the second step, the cutting unit 10 is controlled to perform cutting on the finishing target location specified in the specific step. A program according to one embodiment is a program for causing a computer system to function as the control method described above.

The control system 2 in the present disclosure includes a computer system. A computer system mainly consists of a processor and a memory as hardware. The functions of the control system 2 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, or may be recorded on a non-transitory storage medium readable by the computer system, such as a memory card, optical disc, hard disk drive, etc. may be provided. A processor in a computer system is comprised of one or more electronic circuits including semiconductor integrated circuits or large scale integrated circuits. The integrated circuits such as IC or LSI referred to herein have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI, or ULSI. Further, an FPGA, which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connection relationships within the LSI or reconfiguring the circuit sections within the LSI can also be employed as the processor. The plurality of electronic circuits may be integrated into one chip, or may be provided in a distributed manner over a plurality of chips. A plurality of chips may be integrated into one device, or may be distributed and provided in a plurality of devices. The computer system herein includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

Furthermore, it is not an essential configuration for the control system 2 that multiple functions of the control system 2 are integrated into one housing, and the components of the control system 2 are distributed and provided in multiple housings. You can leave it there. Furthermore, at least some functions of the control system 2, for example, some functions of the control device 60, may be realized by cloud (cloud computing) or the like.

(summary)
As explained above, the cutting system (1) of the first aspect includes a cutting unit (10), a detection unit (20, 20a), and a control device (60). The cutting unit (10) has a cutting tool (11) that cuts the object (3), and under the control of the control device (60), uses the cutting tool (11) to cut the object (3). Cutting is performed on the target. The detection unit (20, 20a) detects a post-cutting state, which is a post-cutting state of the object (3) after being cut by the cutting unit (10), under the control of the control device (60). The control device (60) includes a unit control section (604), an edge detection section (605), and a specification section (606). The unit control section (604) controls the respective operations of the cutting unit (10) and the detection unit (20, 20a). The ridgeline detection unit (605) detects the ridgeline representing the shape of the workpiece to be processed by cutting the object (3) based on the post-cutting state of the object (3) detected by the detection unit (20, 20a). To detect. The specifying unit (606) compares the target shape of the workpiece with the shape of the workpiece represented by the ridgeline, and specifies a finishing target location on which finishing cutting is to be performed on the cut workpiece. The unit control section (604) causes the cutting unit (10) to move along a target shape set within a cutting area of the target (3) that can be cut before being cut by the cutting unit (10). ). The unit control section (604) controls the cutting unit (10) to perform cutting on the finishing target location specified by the specifying section (606).

According to this configuration, the identification unit (606) of the control device (60) included in the cutting system (1) compares the target shape and the shape represented by the ridgeline (the shape of the workpiece), and Since the finishing target location for performing finishing cutting on the object (3) is specified, there is no need to acquire data of various shapes in advance. Therefore, it is possible to specify finishing targets of various shapes and perform cutting.

In the cutting system (1) of the second aspect, in the first aspect, the specific portion (606) intersects the thickness direction (vertical direction) of the object (3) when the target shape is used as a reference. At least one of a portion that protrudes in the direction and a portion that protrudes in the thickness direction of the object (3) when using the target shape as a reference is specified as a finishing target portion.

According to this configuration, a portion protruding from the object (3), that is, a burr generated during cutting, is specified as a finishing target portion, so that the burr generated during cutting can be removed.

In the cutting system (1) of the third aspect, in the first or second aspect, the detection unit (20) includes an imaging device (21). The imaging device (21) detects the post-cutting state by capturing an image of the post-cutting state of the object (3) under the control of the control device (60).

According to this configuration, it is possible to specify the finishing target location based on the captured image.

In the cutting system (1) of the fourth aspect, in the third aspect, the detection unit (20) includes a rotation mechanism (22) that rotates the imaging device (21). The unit control section (604) controls the rotation mechanism (22) to rotate the imaging device (21) and changes the imaging direction of the imaging device (21).

According to this configuration, by changing the imaging direction of the imaging device (21) by rotating the imaging device (21), it is easy to image the shape of the object (3) in the vertical direction (thickness direction). become. Therefore, it becomes easy to specify finishing target locations that occur in the vertical direction.

In the cutting system (1) of the fifth aspect, in any one of the first to fourth aspects, the detection unit (20a) includes a laser displacement meter (23). The laser displacement meter (23) scans the object (3) along a direction intersecting the thickness direction (vertical direction) of the object (3) under the control of the control device (60). (3) Detect the post-cutting state.

According to this configuration, by scanning the laser displacement meter (23), it is possible to specify finishing target locations in the left-right direction and front-back direction of the object (3), and finishing target locations in the vertical direction of the target object (3). .

The cutting system (1) of the sixth aspect further includes a cutting waste removal unit (40, 40a) in any one of the first to fifth aspects. The cutting waste removal unit (40, 40a) removes cutting waste generated when the cutting unit (10) cuts the object (3) under the control of the control device (60). The detection unit (20) detects the post-cutting state of the object (3) after the cutting unit (10) has performed cutting and the cutting waste removal unit (40, 40a) has removed cutting waste. .

According to this configuration, the chips adhering to the surface cut by the cutting waste removal unit (40, 40a) can be removed, so the finishing target area can be specified with high accuracy.

In the cutting system (1) of the seventh aspect, in the sixth aspect, the cutting waste removal unit (40, 40a) includes a suction part (41) and a rotating brush part (42, 42a). The suction part (41) sucks cutting waste. The rotating brush portion (42, 42a) removes cutting debris adhering to the cutting surface of the object (3) after cutting is performed on the cutting surface.

According to this configuration, the cutting debris removal unit (40, 40a) can more reliably remove debris attached to the cutting surface.

In the cutting system (1) of the eighth aspect, in the seventh aspect, the cutting waste removal unit (40, 40a) further includes sandpaper (43) for polishing the cutting surface.

According to this configuration, the rotating brush portion (42, 42a) removes the cutting waste generated by polishing the sandpaper (43) from the cut surface, and the suction unit (41) sucks the removed cutting waste, so that the cutting Debris attached to the surface can be removed more reliably.

In the cutting system (1) of the ninth aspect, in any one of the sixth to eighth aspects, the unit control section (604) performs the following operations based on the cutting waste removal program set to remove cutting waste: Controls the cutting waste removal unit (40, 40a).

According to this configuration, it is possible to remove debris generated by cutting using the cutting debris removal program.

In the cutting system (1) of the tenth aspect, in any one of the first to ninth aspects, the detection unit (20, 20a) detects the cutting by the cutting unit (10) under the control of the control device (60). The pre-cutting state, which is the state of the object (3) before cutting is performed, is detected. The control device (60) further includes a region setting section (603). The area setting section (603) sets a cutting area on the object (3) based on the pre-cutting state of the object (3) detected by the detection unit (20).

According to this configuration, the cutting area can be set based on the pre-cutting state of the object (3).

In the cutting system (1) of the eleventh aspect, in any one of the first to tenth aspects, the unit control section (604) causes the cutting unit (10) to move the object (3) along the target shape. The cutting unit (10) is controlled based on a tool control program set to move.

According to this configuration, cutting can be performed by controlling the cutting unit (10) using the tool control program.

In the cutting system (1) of the twelfth aspect, in the eleventh aspect, the unit control unit (604) controls the cutting process of the target object (3) that can be cut before being cut by the cutting unit (10). A tool control program is generated so that the cutting unit (10) moves along the target shape set within the area.

According to this configuration, cutting can be performed along the target shape by controlling the cutting unit (10) using the tool control program.

In the cutting system (1) of the thirteenth aspect, in any one of the first to twelfth aspects, the unit control section (604) is configured to control the detection unit (20, 20a). The detection unit (20, 20a) is controlled based on the control program.

According to this configuration, the target object (3) can be detected by controlling the detection unit (20, 20a) using the detection control program.

In the cutting system (1) of the fourteenth aspect, in any one of the first to thirteenth aspects, the control device (60) further includes an acquisition section (601) and a tool identification section (602). . The acquisition unit (601) acquires attribute information of the object (3) and processing conditions for cutting the object (3). The tool identification unit (602) identifies the cutting tool (11) used to cut the object (3) based on the attribute information and processing conditions.

According to this configuration, an appropriate cutting tool (11) can be specified.

The cutting method of the fifteenth aspect is used in a cutting system (1) including a cutting unit (10), a detection unit (20, 20a), and a control device (60). The cutting unit (10) has a cutting tool (11) that cuts the object (3), and under the control of the control device (60), uses the cutting tool (11) to cut the object (3). Cutting is performed on the target. The detection unit (20, 20a) detects a post-cutting state, which is a post-cutting state of the object (3) after being cut by the cutting unit (10), under the control of the control device (60). The cutting method includes a unit control step, an edge line detection step, and a identification step. The unit control step controls the respective operations of the cutting unit (10) and the detection unit (20, 20a). The edge line detection step detects an edge line representing the shape of a workpiece to be processed by cutting the object (3) based on the post-cutting state of the object (3) detected by the detection unit (20, 20a). In the identifying step, the target shape of the workpiece is compared with the shape of the workpiece represented by the ridgeline to identify a finishing target location on which finishing cutting is to be performed on the workpiece after cutting. The unit control step includes a first step and a second step. The first step is to control the cutting unit (10) to move along a target shape set within a cutting area of the object (3) that can be cut before being cut by the cutting unit (10). do. In the second step, the cutting unit (10) is controlled to perform cutting on the finishing target location specified in the specific step.

According to this cutting method, it is possible to specify finishing target parts of various shapes and perform cutting.

The program of the 16th aspect is a program for causing a computer to execute the cutting method of the 15th aspect.

According to this program, it is possible to specify finishing targets of various shapes and perform cutting.

The control system (2) of the seventeenth aspect controls the cutting unit (10) and the detection unit (20, 20a). The cutting unit (10) includes a cutting tool (11) that cuts the object (3), and uses the cutting tool (11) to cut the object (3). The detection unit (20, 20a) detects a post-cutting state that is a post-cutting state of the object (3) after being cut by the cutting unit (10). The control system (2) includes a unit control section (604), an edge detection section (605), and a specification section (606). The unit control section (604) controls the respective operations of the cutting unit (10) and the detection unit (20, 20a). Based on the post-cutting state of the object (3) detected by the detection unit (20, 20a), a ridge line representing the shape of the workpiece to be processed by cutting the object (3) is detected. The specifying unit (606) compares the target shape of the workpiece with the shape of the workpiece represented by the ridgeline, and specifies a finishing target location for performing finishing cutting on the cut workpiece. The unit control section (604) causes the cutting unit (10) to move along a target shape set within a cutting area of the target (3) that can be cut before being cut by the cutting unit (10). ). The unit control section (604) controls the cutting unit (10) to perform cutting on the finishing target location specified by the specifying section (606).

According to this configuration, it is possible to specify finishing target locations of various shapes and perform cutting.

1 Cutting system 2 Control system 3 Target object 10 Cutting unit 11, 11a, 11b Cutting tool 20, 20a Detection unit 21 Imaging device 22 Rotation mechanism 23 Laser displacement meter 40, 40a Cutting waste removal unit 41 Suction part 42, 42a Rotating brush Section 43 Sandpaper 60 Control device 601 Acquisition section 602 Tool identification section 603 Area setting section 604 Unit control section 605 Edge line detection section 606 Specification section

Claims (17)

A cutting system comprising a cutting unit, a detection unit, and a control device,
The cutting unit includes a cutting tool that cuts the object, and under the control of the control device, cuts the object using the cutting tool,
The detection unit detects a post-cutting state that is a post-cutting state of the object after cutting by the cutting unit under the control of the control device,
The control device includes:
a unit control section that controls respective operations of the cutting unit and the detection unit;
an edge line detection unit that detects an edge line representing a shape of a workpiece to be processed by cutting the object, based on the post-cutting state of the object detected by the detection unit;
a specifying unit that compares the target shape of the workpiece and the shape of the workpiece represented by the ridgeline to identify a finishing target location for performing finishing cutting on the workpiece after cutting; death,
The unit control section includes:
controlling the cutting unit to move along the target shape set within a cutting area of the object that can be cut before being cut by the cutting unit;
controlling the cutting unit to perform cutting on the finishing target location identified by the identifying unit;
Cutting system. The specific portion includes a portion of the workpiece that protrudes in a direction intersecting the thickness direction of the object when the target shape is used as a reference, and a portion that projects in the thickness direction of the object when the target shape is used as a reference. identifying at least one of the parts of the workpiece that protrudes in the horizontal direction as the finishing target part;
The cutting system according to claim 1. The detection unit includes an imaging device,
The imaging device detects the post-cutting state by capturing an image of the post-cutting state of the target object under the control of the control device.
The cutting system according to claim 1 or 2. The detection unit includes a rotation mechanism that rotates the imaging device,
The unit control section controls the rotation mechanism so that the imaging device rotates, and changes the imaging direction of the imaging device.
The cutting system according to claim 3. The detection unit includes a laser displacement meter,
The laser displacement meter detects the post-cutting state of the object by scanning the object along a direction intersecting the thickness direction of the object under the control of the control device.
The cutting system according to any one of claims 1 to 4. further comprising a cutting waste removal unit that removes cutting waste generated when the cutting unit cuts the target object under the control of the control device,
The detection unit detects the post-cutting state of the object after the cutting unit has performed cutting and the cutting waste has been removed by the cutting waste removal unit.
The cutting system according to any one of claims 1 to 5. The cutting waste removal unit includes:
a suction unit that sucks the cutting waste;
a rotating brush portion that removes the cutting debris attached to the cutting surface after cutting the object from the cutting surface;
The cutting system according to claim 6. The cutting waste removal unit further includes sandpaper for polishing the cutting surface.
The cutting system according to claim 7. The unit control section controls the cutting waste removal unit based on a cutting waste removal program set to remove the cutting waste.
The cutting system according to any one of claims 6 to 8. The detection unit detects a pre-cutting state that is a state of the object before cutting by the cutting unit under the control of the control device,
The control device includes:
further comprising an area setting unit that sets the cutting area of the target object based on the pre-cutting state of the target object detected by the detection unit;
The cutting system according to any one of claims 1 to 9. The unit control section controls the cutting unit based on a tool control program set so that the cutting unit moves along the target shape in the target object.
The cutting system according to any one of claims 1 to 10. The unit control section generates the tool control program so that the cutting unit moves along the target shape set within a cuttable area of the object before cutting by the cutting unit. The cutting system according to claim 11. The unit control section controls the detection unit based on a detection control program set to control the operation of the detection unit.
The cutting system according to any one of claims 1 to 12. The control device includes:
an acquisition unit that acquires attribute information of the object and processing conditions for cutting the object;
further comprising a tool identifying unit that identifies the cutting tool used for cutting the object based on the attribute information and the processing conditions;
The cutting system according to any one of claims 1 to 13. A cutting method used in a cutting system including a cutting unit, a detection unit, and a control device,
The cutting unit includes a cutting tool that cuts the object, and under the control of the control device, cuts the object using the cutting tool,
The detection unit detects a post-cutting state that is a post-cutting state of the object after cutting by the cutting unit under the control of the control device,
The cutting method includes:
a unit control step for controlling respective operations of the cutting unit and the detection unit;
an edge line detection step of detecting an edge line representing a shape of a workpiece to be processed by cutting the object, based on the post-cutting state of the object detected by the detection unit;
a specifying step of comparing the target shape of the workpiece and the shape of the workpiece represented by the ridgeline to identify a finishing target location for performing finishing cutting on the workpiece after cutting; ,
The unit control step includes:
A first step of controlling the cutting unit to move along the target shape set within a cutting area of the target object that can be cut before being cut by the cutting unit;
a second step of controlling the cutting unit to perform cutting on the finishing target location specified in the specifying step;
Cutting method. A program for causing a computer to execute the cutting method according to claim 15. A cutting unit having a cutting tool that cuts a target object, and cutting the target object using the cutting tool, and after cutting the target object after cutting by the cutting unit. A control system that controls a detection unit that detects a post-cutting state that is a state of
a unit control section that controls respective operations of the cutting unit and the detection unit;
an edge line detection unit that detects an edge line representing a shape of a workpiece to be processed by cutting the object, based on the post-cutting state of the object detected by the detection unit;
a specifying unit that compares the target shape of the workpiece and the shape of the workpiece represented by the ridgeline to identify a finishing target location for performing finishing cutting on the workpiece after cutting; ,
The unit control section includes:
controlling the cutting unit to move along the target shape set within a cutting area of the object that can be cut before being cut by the cutting unit;
controlling the cutting unit to perform cutting on the finishing target location identified by the identifying unit;
control system.

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