Patent Description:
Conventionally, a robot arm is known to which a tool is interchangeably attached to perform processing or operation on an object. For example, in the robot arm disclosed in Patent Document <NUM>, one of multiple types of tools is attached to the robot arm depending on processing to be performed on the object. The robot arm can grasp the object by opening and closing the tool.

In order to appropriately perform operations such as processing by the robot arm, tool conditions need to be satisfied, such as the tool attached being of the proper type and in the proper state (e.g., open state or closed state), depending on processing to be performed. In this regard, Patent Document <NUM> does not disclose a specific configuration for accurately determining whether the tool satisfies the tool conditions. <CIT> discloses analyzing a tool image for inspecting a selected tool upon execution of a tool change command. <CIT> discloses a matching recognition for machining steps and the corresponding cutter tools. <CIT> discloses identifying a tool among a plurality of different kinds of tools, based on a safe signal corresponding to the tool to be identified. <CIT> discloses identifying a hand attached to a robot device based on the corresponding identification number uniquely set for the hand.

An object of the present disclosure is to provide a workpiece processing system comprising a tool checking device, and a method for processing a workpiece with the workpiece processing system also comprising a robot arm whereby it is possible to accurately determine whether a tool satisfies a tool condition.

According to the present invention, there are provided a workpiece processing system comprising a tool checking device and a method for processing a workpiece with the workpiece processing system as defined in the appended claims.

According to some embodiments, there is provided a workpiece processing system comprising a tool checking device, and a method for processing a workpiece with the workpiece processing system also comprisong a robot arm whereby it is possible to accurately determine whether a tool satisfies a tool condition.

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It is intended, however, that unless particularly identified, dimensions, materials, shapes, relative positions, and the like of components described in the embodiments shall be interpreted as illustrative only and not intended to limit the scope of the present invention.

A workpiece processing system <NUM> according to an embodiment will be described. The workpiece processing system <NUM> according to an embodiment is provided to process a workpiece <NUM> using a tool <NUM>. The workpiece <NUM> is an object to be processed by the tool <NUM>. Examples of the workpiece <NUM> include food products such as agricultural products, livestock products, and marine products. The food product may be a fresh food product or processed food product. The following describes the first, second and third embodiments in which the workpiece <NUM> is fresh meat.

A workpiece processing system 1a (<NUM>) according to the first embodiment illustrated in <FIG> includes a conveyance device <NUM> for conveying the workpiece <NUM>, a robot arm <NUM> for processing the workpiece <NUM>, an imaging device <NUM> for capturing an image of the tool <NUM>, an illumination unit <NUM> for illuminating an area captured by the imaging device <NUM>, and a tool checking device 50a (<NUM>) for a robot arm.

The conveyance device <NUM> according to an embodiment is a belt conveyor for conveying the workpiece <NUM> in the horizontal direction.

The imaging device <NUM> according to an embodiment is provided to capture an image of the tool <NUM> from above. In this embodiment, the captured image <NUM> of the imaging device <NUM> is a planar image. <FIG> illustrates a captured image <NUM> of a clamper <NUM> (described later), which is an example of the tool <NUM>.

In an embodiment, the robot arm <NUM> is equipped with the tool <NUM>. In an embodiment, the tool checking device <NUM> checks whether the tool <NUM> is proper or not using the captured image <NUM>. Details of the configurations of the robot arm <NUM>, the tool <NUM>, and the tool checking device 50a will be described later.

In another embodiment, the conveyance device <NUM> may grasp and convey the workpiece <NUM> in a suspended position. The imaging device <NUM> may be configured to capture an image of the tool <NUM> along the horizontal direction, or may be configured to capture an image of the tool <NUM> along a direction inclined with respect to the horizontal direction. Further, the workpiece processing system 1a may not include the illumination unit <NUM>. In this case, the function of the illumination unit <NUM> may be included in the imaging device <NUM>.

The configuration of the robot arm <NUM> will be described. The robot arm <NUM> according to an embodiment is an industrial robot. More specifically, for example, the robot arm <NUM> is an articulated robot. The robot arm <NUM> may be a vertical articulated robot, a horizontal articulated robot, or a combination thereof.

The robot arm <NUM> according to an embodiment includes robot arms 30a, 30b, 30c. In an embodiment, the tool <NUM> attached to the robot arm <NUM> is made of a metallic material. Further, the tool <NUM> according to an embodiment has a surface that reflects light more easily than the workpiece <NUM>, for example.

The tool <NUM> according to an embodiment includes a clamper <NUM> for gripping the workpiece <NUM>, a chuck <NUM> for chucking the workpiece <NUM>, and a knife <NUM> for cutting the workpiece <NUM>.

In an embodiment, the clamper <NUM> is attached to the robot arm 30a, and the chuck <NUM> and the knife <NUM> are attached to the robot arm 30b or the robot arm 30c.

In an embodiment, left-right symmetrical tools <NUM> are prepared to be used according to the type of the workpiece <NUM>. As a specific example, the chuck <NUM> includes chucks <NUM> and 42R, the knife <NUM> includes knives <NUM> and 43R, and these tools <NUM> are selectively attached to the robot arms 30b and 30c. For example, when the workpiece <NUM> conveyed by the conveyance device <NUM> is either a left limb or a right limb of livestock, the chuck <NUM> and the knife 43R are attached to the robot arms 30b and 30c, respectively. When the workpiece <NUM> is the other, the knife <NUM> and the chuck 42R are attached to the robot arms 30b and 30c, respectively. In an embodiment, the attachment work is performed by an operator. In another embodiment, the attachment work may be performed by separate robots.

The clamper <NUM> and the chuck <NUM> according to an embodiment obtain driving force from a driving source to perform opening and closing operations. In an embodiment, an air cylinder (not shown) is used as the driving source. In this case, the inlet and outlet provided in each of the clamper <NUM> and the chuck <NUM> are connected to the air cylinder via air pipes. A hydraulic cylinder or a motor may be used as the driving source.

In another embodiment, the workpiece processing system 1a may not include the left-right symmetrical tools <NUM>. For example, the chuck <NUM> may include only one of chucks <NUM> and 42R. Similarly, the knife <NUM> may include only one of them. In still another embodiment, each of the robot arms <NUM> may be equipped with only one tool <NUM>.

Further, the workpiece processing system 1a is not limited to having a plurality of robot arms <NUM>. A single robot arm <NUM> may be selectively equipped with multiple types of tools <NUM> or only one tool <NUM>.

The configuration of the tool checking device <NUM> for a robot arm (hereinafter also referred to as "tool checking device <NUM>") will be described. The tool checking device <NUM> uses a tool condition regarding the tool type or tool state that needs to be satisfied by the tool <NUM> as a criterion for checking. In an embodiment, the tool check is performed based on a processed image <NUM> (described below) obtained by image processing of the captured image <NUM>.

The tool type is the type of the tool <NUM> that should be attached to the robot arm <NUM>. The tool type according to an embodiment is the clamper <NUM>, the chuck <NUM>, or the knife <NUM>. For example, if the knife <NUM> is attached to the robot arm 30b even though the chuck <NUM> should be attached, the tool condition regarding the tool type is not satisfied. Such cases can occur, for example, if the operator inadequately replaces the tool <NUM>.

The tool state is the state that should be met by the tool <NUM> attached to the robot arm <NUM>. The tool state according to an embodiment includes the open state or closed state of the clamper <NUM> and the chuck <NUM>, and the normal state of the knife <NUM>. For example, if the tool <NUM> such as the clamper <NUM> or the chuck <NUM> should be in the closed state but is in the open state, the tool condition regarding the tool state is not satisfied. Such cases can occur, for example, if connection between the clamper <NUM> or the chuck <NUM> and the air cylinder through the air pipe is inadequate. On the other hand, if the knife <NUM> is missing even though it should be in the normal state, the tool condition regarding the tool state is not satisfied. Such cases can occur, for example, due to the continuous use of the knife <NUM>.

In an embodiment, the tool types and tool states are managed in associated with each other. Thus, the tool checking device <NUM> can check whether the type and state are both proper in a single check. As a specific example, the tool checking device <NUM> may determine in a single check whether the tool condition corresponding to the clamper <NUM> as the tool type and the open state as the tool state is satisfied. Alternatively, it may determine in a single check whether the tool condition corresponding to the knife <NUM> as the tool type and the normal state as the tool state is satisfied.

In another embodiment, the tool types and tool states do not have to be associated with each other. For example, the tool checking device <NUM> may separately determine whether the tool condition regarding the tool type and the tool condition regarding the tool state are satisfied.

In another embodiment, the tool condition may be a condition related only to the tool type. In other words, only whether the type of the tool <NUM> attached to the robot arm <NUM> is proper may be determined. Alternatively, the tool condition may be a condition related only to the tool state. For example, in an embodiment where the robot arm <NUM> is equipped with only one tool <NUM>, only whether the state of the tool <NUM> is proper is determined.

The configuration of the tool checking device 50a (<NUM>) will be described. The tool checking device 50a according to an embodiment includes a condition acquisition unit <NUM>, a tool movement control unit <NUM>, an imaging control unit <NUM>, an image processing unit 55a (<NUM>), a brightness value acquisition unit <NUM>, and a determination unit 59a, 59b (<NUM>). The functions of these components are implemented by a processor <NUM> (see <FIG>) as will be described later.

The condition acquisition unit <NUM> according to an embodiment is configured to acquire a tool condition according to a work schedule (operation schedule) of the robot arm <NUM> after the tool condition is determined to be satisfied. For example, if work with the clamper <NUM> in the open state is scheduled as the work after the tool condition is determined to be satisfied, the condition acquisition unit <NUM> acquires the tool condition where the tool type is the clamper <NUM> and the tool state is the open state.

The tool movement control unit <NUM> according to an embodiment is provided to control the robot arm <NUM> so as to move the tool <NUM> to a defined position included in the area captured by the imaging device <NUM>. The defined position according to an embodiment may be different for each of the robot arms 30a, 30b, and 30c. Alternatively, the same defined position may be set for all of the robot arms 30a, 30b, and 30c. Alternatively, the defined position may be set according to the tool condition.

The imaging control unit <NUM> according to an embodiment is provided to control the imaging device <NUM> so as to capture an image of the tool <NUM> moved to the defined position.

The image processing unit 55a (<NUM>) according to an embodiment is configured to perform, on the captured image <NUM> of the tool <NUM> attached to the robot arm <NUM>, image processing associated with the tool condition that needs to be satisfied by the tool <NUM>. In an embodiment, the image processing unit 55a performs, on the captured image <NUM>, image processing associated with the tool condition acquired by the condition acquisition unit <NUM> among a plurality of the tool conditions prepared in advance.

The image processing unit 55a according to an embodiment is configured to perform the image processing and generate a processed image 18a (<NUM>) in which a related area 17a (<NUM>) is extracted (see <FIG> and <FIG>). The related area 17a according to an embodiment is an area set such that there is a difference in the image between when the tool condition is satisfied and when it is not satisfied. The processed image 18a obtained by extracting this related area 17a is used to determine whether the tool condition is satisfied.

The related area 17a according to an embodiment is set in association with the tool condition. For example, the related area 17a associated with the tool condition regarding the tool state of the clamper <NUM> is set to be an area where at least a part of the movable portion of the clamper <NUM> enters or exits depending on the state of the clamper <NUM> (open or closed state). The related area 17a may be set at the time of determination by the determination unit 59a or may be set in advance before the determination.

The related area 17a according to an embodiment is an area along at least a part of the contour of the tool <NUM> that satisfies the tool condition and is an area to be trimmed. In an embodiment, the image processing unit 55a performs masking to extract the related area 17a.

The brightness value acquisition unit <NUM> according to an embodiment is configured to acquire a brightness value of the processed image 18a (<NUM>). In an embodiment, an RGB brightness value of each pixel of the processed image 18a is acquired.

The determination unit 59a, 59b (<NUM>) according to an embodiment is configured to determine whether the tool <NUM> attached to the robot arm <NUM> satisfies the tool condition on the basis of the processed image 18a (<NUM>). In an embodiment, the determination unit 59a, 59b determines whether the tool condition acquired by the condition acquisition unit <NUM> is satisfied on the basis of the brightness value acquired by the brightness value acquisition unit <NUM>. The determination method of the determination unit 59a, 59b will be described later.

In another embodiment, the condition acquisition unit <NUM> may not be provided. For example, if the tool condition is uniquely defined, then the image processing unit 55a may perform image processing associated with this tool condition to generate a processed image 18a, and the determination unit 59a, 59b may determine whether this tool condition is satisfied on the basis of the processed image 18a.

In another embodiment, the tool movement control unit <NUM> may not be provided. For example, if the tool checking device 50a is installed at a location that is remote to the robot arm <NUM>, the tool checking device 50a may not include the tool movement control unit <NUM>.

<FIG> is a diagram showing reference image data <NUM> which is data of a reference image <NUM> for executing image processing according to an embodiment.

The reference image <NUM> according to an embodiment is associated with the tool condition.

The image processing unit 55a according to an embodiment applies masking to the captured image <NUM> using the reference image <NUM> associated with the tool condition. As a result, an image in which the related area 17a associated with the tool condition is extracted is generated as the processed image 18a (see <FIG> and <FIG>).

In an embodiment, as an example, a total of eight types of reference images 14a to <NUM> are prepared corresponding to tool conditions.

The reference image <NUM> according to an embodiment may be an image of the same size as the captured image <NUM> generated by the imaging device <NUM>. Alternatively, it may be an image of a smaller size than the captured image <NUM>. In this case, a part of the captured image <NUM> is cropped and masked using the reference image <NUM>. For example, if the defined position of the tool <NUM> at the time of imaging varies according to the tool condition, the area to be cropped in the captured image <NUM> may vary according to the tool type.

<FIG> and <FIG> are each a diagram for describing a determination method by the determination unit 59a, 59b (<NUM>) according to an embodiment.

In the determination shown in <FIG> and <FIG>, the tool condition that needs to be satisfied is the clamper <NUM> in the open state. "Check A" in the figures shows the checking process of the clamper <NUM> in the open state, which satisfies the above tool condition. "Check B" in the figures shows the checking process of the clamper <NUM> in the closed state, which does not satisfy the above tool condition.

In an embodiment, in both checks A and B, the workpiece <NUM> is arranged below the tool <NUM> when imaged by the imaging device <NUM> (in <FIG> and <FIG>, the workpiece <NUM> is hatched for ease of reading the figures). However, the workpiece <NUM> may not be visible in the background of the tool <NUM> when imaging by the imaging device <NUM>.

In an embodiment, during checks A and B, the image processing unit 55a applies masking to the respective captured images <NUM> using the reference image 14a associated with the tool condition to generate the respective processed images 18a (<NUM>). Then, the brightness value acquisition unit 56a, 56b (<NUM>) acquires brightness values of the processed images 18a.

The brightness value acquisition unit 56a shown in <FIG> is configured to acquire the sum X<NUM> of brightness values of the processed image 18a.

For example, when the number of pixels in the x-direction (horizontal direction) of the processed image 18a is M, the number of pixels in the y-direction (vertical direction) is N, and the brightness value at any pixel is B, the sum X<NUM> of brightness values acquired by the brightness value acquisition unit 56a is defined by the equation (<NUM>). Here, i is any natural number equal to or less than the number of pixels in the horizontal direction of the processed image 18a, and j is any natural number equal to or less than the number of pixels in the vertical direction. (Expression <NUM>) <MAT>.

Since the brightness value in the masked area in the processed image 18a is <NUM>, equation (<NUM>) provides the brightness value in the related area 17a of the processed image 18a.

In another embodiment, a process of acquiring the brightness values of pixels only in the related area 17a may be performed. Even in this case, the same value as in equation (<NUM>) is obtained.

The determination unit 59a according to an embodiment is configured to determine whether the tool condition is satisfied on the basis of the sum X<NUM> of brightness values acquired.

In an embodiment, the determination unit 59a determines whether the tool condition is satisfied in checks A and B on the basis of the sum X<NUM> of brightness values acquired by the brightness value acquisition unit 56a in each of checks A and B. For example, in check A, the clamper <NUM> appears over almost the entire related area 17a of the processed image 18a, and objects (e.g., workpiece <NUM>) other than the clamper <NUM> hardly appear in the related area 17a. In this case, the sum X<NUM> of brightness values of the processed image 18a acquired by the brightness value acquisition unit 56a exceeds a threshold T<NUM>, which is the criterion, and the determination unit 59a determines that the tool condition is satisfied.

In contrast, in check B, the proportion occupied by the clamper <NUM> in the related area 17a of the processed image 18a is smaller (the movable portion of the clamper <NUM> is mostly out of the related area 17a). As a result, the proportion of other objects (e.g., workpiece <NUM>) in the related area 17a increases. Accordingly, the sum X<NUM> of brightness values of the processed image 18a falls below the threshold T<NUM>, and the determination unit 59a determines that the tool condition is not satisfied.

The brightness value acquisition unit 56b shown in <FIG> is configured to acquire the sum X<NUM> of differences between brightness values identified by the following equation (<NUM>) using Bij which is a brightness value of each pixel of the processed image 18a, and Bsij which is a brightness value set for each pixel according to the tool condition. (Expression <NUM>) <MAT>.

The brightness value acquisition unit 56b according to an embodiment acquires the sum X<NUM> of differences between the brightness value Bij of each pixel of the processed image 18a and the brightness value Bsij of each pixel of a normal image <NUM> corresponding to each pixel of the processed image <NUM> in each of checks A and B.

In an embodiment, as advance preparation, the image processing unit 55a applies masking to the captured image <NUM> of the tool <NUM> that is determined to satisfy the tool condition. As a result, a normal image <NUM>, which is a processed image obtained by extracting the related area 17a associated with the tool condition, is generated in advance. By acquiring the normal image <NUM>, the brightness value acquisition unit 56b acquires the brightness value Bsij.

In another embodiment, the image processing unit 55a may not generate the normal image <NUM>. For example, the brightness value Bsij set for each pixel of the processed image 18b may be stored in some memory in advance.

In another embodiment, Bsij may be the brightness value for each pixel in the related area 17a only, instead of the brightness value for each pixel in the processed image 18a. In this case, Bsij also represents the brightness value of each pixel corresponding to the related area 17a only.

The determination unit 59b according to an embodiment determines whether the tool condition is satisfied on the basis of the sum X<NUM> of differences between brightness values acquired.

The determination unit 59b according to an embodiment determines whether the tool condition is satisfied in checks A and B on the basis of the sum X<NUM> of differences between brightness values acquired by the brightness value acquisition unit 56b in each check. For example, in check A, since the difference between the processed image 18a and the normal image <NUM> is small, the sum X<NUM> of differences between brightness values falls below a threshold T<NUM>, which is the criterion, and the determination unit 59b determines that the tool condition is satisfied.

In contrast, in check B, since the difference between the processed image 18a and the normal image <NUM> is large, the sum X<NUM> of differences between brightness values is not less than the threshold T<NUM>. Thus, the determination unit 59b determines that the tool condition is not satisfied.

<FIG> and <FIG> show the example where the tool <NUM> that does not satisfy the tool condition is the clamper <NUM> in the closed state, but the same determination result can be obtained with the same determination method even if another tool <NUM> that does not satisfy the tool condition is judged.

Further, in <FIG> and <FIG>, the clamper <NUM> in the open state is shown as an example of the tool condition that needs to be satisfied, but the same determination result can be obtained with the same determination method even if the target to be judged is another tool condition.

<FIG> is a block diagram showing an electrical configuration of the workpiece processing system 1a according to an embodiment. The components of the aforementioned tool checking device 50a (<NUM>) are implemented by a processing control unit <NUM> shown in <FIG>. A specific implementation method will be described below with reference to <FIG>.

The workpiece processing system <NUM> is provided with a processing control unit <NUM> including a processor <NUM>.

The processor <NUM> reads out a processing control program (tool checking program) <NUM> stored in ROM <NUM> and loads it into RAM <NUM> to execute instructions included in the loaded processing control program <NUM>. The processor <NUM> is CPU, GPU, MPU, DSP, other various kinds of computation devices, or a combination thereof. The processor <NUM> may be implemented by an integrated circuit of PLD, ASIC, FPGA, MCU, etc. The ROM <NUM> is an example of the storage device.

A memory <NUM>, which is a component of the processing control unit <NUM>, is a non-volatile memory which stores reference image data <NUM>.

The processor <NUM> according to an embodiment is connected to an acceptance button <NUM>, the conveyance device <NUM>, the robot arm <NUM>, the imaging device <NUM>, and the alarm device <NUM> via an interface (not shown).

The acceptance button <NUM> according to an embodiment accepts a tool condition that needs to be satisfied by the tool <NUM>. The acceptance button <NUM> may be a button with a mechanical structure or a touch panel button.

In an embodiment, the operator may input the tool condition to the acceptance button <NUM> when attaching the tool <NUM> to the robot arm <NUM>. The input tool condition may be, for example, a plurality of conditions corresponding to the number of robot arms <NUM>. The acceptance button <NUM> outputs the accepted tool condition to the processor <NUM>. When the operator inputs the tool condition to the acceptance button <NUM>, the operator may also input the robot arm <NUM> corresponding to the tool condition.

The processor <NUM> acquires the tool condition by acquiring data output from the acceptance button <NUM>.

In another embodiment, the acceptance button <NUM> may not be provided. In this case, the processor <NUM> may acquire the tool condition indicated by data included in the processing control program <NUM>, for example.

The conveyance device <NUM>, the robot arm <NUM>, the imaging device <NUM>, and the alarm device <NUM> according to an embodiment operate in response to control signals received from the processor <NUM>. The robot arm <NUM> according to an embodiment moves the tool <NUM> to a defined position in response to a control signal received. In an embodiment, the robot arm <NUM> further performs processing on the workpiece <NUM> in response to a control signal received.

The imaging device <NUM> according to an embodiment captures an image in response to a control signal received and outputs the generated captured image <NUM> to the processor <NUM>. The processor <NUM> according to an embodiment outputs the image acquired from the imaging device <NUM> to the RAM <NUM>. The captured image <NUM> may be stored in the memory <NUM> instead of the RAM <NUM>.

The alarm device <NUM> according to an embodiment is a device for issuing an alarm in response to a control signal received when the processor <NUM> determines that the tool condition is not satisfied. The alarm device <NUM> according to an embodiment may be an image display device, a speaker, a light emitting device, or a combination thereof.

<FIG> is a flowchart of a processing control process according to an embodiment. In the processing control process, the processor <NUM> loads the processing control program <NUM> stored in the ROM <NUM> into the RAM <NUM> to execute the following steps. Information processed by the processor <NUM> in executing the process is stored in the RAM <NUM> or the memory <NUM>, as appropriate. In the following description, "step" is abbreviated as "S".

The processor <NUM> controls the conveyance device <NUM> so that the workpiece <NUM> is conveyed to the processing area (S11).

Then, the processor <NUM> acquires a tool condition that needs to be satisfied by the tool <NUM> (S13). For example, the processor <NUM> acquires a tool condition on the basis of data output from the acceptance button <NUM>. The processor <NUM> executing S11 functions as the condition acquisition unit <NUM>. In an embodiment where a plurality of robot arms <NUM> are provided, the processor <NUM> may acquire a tool condition corresponding to each robot arm <NUM>.

The processor <NUM> controls the robot arm <NUM> so as to move the tool <NUM> to a defined position according to the tool condition acquired in S13 (S15). For example, if the tool condition acquired in S11 includes "clamper <NUM> in the open state", the processor <NUM> performs control so that the clamper <NUM> attached to robot arm 30a moves to the defined position, and the chuck <NUM> and the knife <NUM> attached to the robot arms 30b and 30c retreat to other positions. The processor <NUM> executing S15 functions as the tool movement control unit <NUM>.

The processor <NUM> controls the imaging device <NUM> so as to capture an image of the tool <NUM> moved to the defined position by execution of S15 (S17). The processor <NUM> stores the captured image <NUM> generated by the imaging device <NUM> into the RAM <NUM>, for example. The processor <NUM> executing S17 functions as the imaging control unit <NUM>.

The processor <NUM> processes the captured image <NUM> generated in S17 (S19). In an embodiment, the processor <NUM> refers to the reference image data <NUM> stored in the memory <NUM> and acquires the reference image <NUM> according to the tool condition acquired in S13. Then, using the acquired reference image <NUM>, masking is applied to the captured image <NUM> acquired in S17. As a result, the processor <NUM> generates an image in which the related area 17a (<NUM>) associated with the tool condition is extracted as a processed image 18a (<NUM>). The processor <NUM> executing S19 functions as the image processing unit 55a (<NUM>).

The processor <NUM> acquires brightness values of the processed image 18a (<NUM>) on the basis of the processed image 18a generated (S21). In an embodiment, the processor <NUM> acquires the sum X<NUM> of differences between brightness values or the sum X<NUM> of brightness values, for example, on the basis of the equation (<NUM>) or equation (<NUM>).

When acquiring the sum X<NUM> of differences between brightness values, the processor <NUM> may refer to the normal image <NUM> stored in the memory <NUM> to acquire the brightness value Bsij of each pixel.

The processor <NUM> executing S21 functions as the brightness value acquisition unit 56a, 56b (<NUM>).

On the basis of the acquired brightness values, the processor <NUM> determines whether the tool condition acquired in S13 is satisfied (S23).

For example, the processor <NUM> determines whether the tool condition is satisfied by comparing the sum X<NUM> of differences between brightness values or the sum X<NUM> of brightness values with the threshold T<NUM> or the threshold T<NUM>. The processor <NUM> executing S23 functions as the determination unit 59a, 59b (<NUM>).

If it is determined that the tool condition is not satisfied (S23: NO), the processor <NUM> controls the alarm device <NUM> to issue an alarm (S25), and ends this control process.

In an embodiment, when the alarm is issued, the operator recognizes that the tool condition is not satisfied, and can replace the tool <NUM> or perform other operations on the robot arm <NUM> to satisfy the tool condition.

In an embodiment, if it is determined that the tool condition is satisfied (S23: YES), the processor <NUM> determines whether the tool check is completed (S27). For example, when there remains a tool condition that has not been determined to be satisfied or not among multiple tool conditions acquired in S13 (S27: NO), the processor <NUM> repeats S15 to S23. On the other hand, if the determination of all tool conditions is completed (S27: YES), the processor <NUM> proceeds to S29.

The processor <NUM> controls the robot arm <NUM> so that the tool <NUM> in the defined position retreats to a different position (S29). The processor <NUM> then controls the imaging device <NUM> to capture an image of the workpiece <NUM> (S31) and analyzes the image generated by the imaging device <NUM> (S33). In an embodiment, the processor <NUM> performs image analysis for suitable processing on the imaged workpiece <NUM>. As a specific example, if the workpiece <NUM> is a boned limb of livestock, image analysis is performed to identify the position of the bone in the workpiece <NUM>. The analysis may be performed, for example, by inputting the image taken in S31 to a previously machine-learned trained model. In this case, the processor <NUM> may be equipped with a GPU for performing arithmetic processing based on the machine-learned trained model. The processor <NUM> controls the robot arm <NUM> so that the workpiece <NUM> is processed on the basis of the result of image analysis (S35). After the processing of the workpiece <NUM> is completed, the processor <NUM> ends this control process.

In another embodiment, the execution timing of S11 may be after it is determined that the tool check is completed (S27: YES). In this case, the workpiece <NUM> does not appear in the captured image <NUM> in the imaging of S17.

In another embodiment, for example, when the tool condition to be judged is uniquely defined, neither S13 nor S27 may be executed. The uniquely defined tool condition means not only a single tool condition but also multiple tool conditions.

<FIG> is a diagram of a workpiece processing system 1b (<NUM>) according to the second embodiment. The same components as in the first embodiment are denoted by the same reference numerals in the drawings, and detailed description thereof will be omitted (the same applies to the third embodiment, which will be described later).

The workpiece processing system 1b includes a tool checking device 50b (<NUM>) instead of the tool checking device 50a (<NUM>).

The tool checking device 50b includes, instead of the brightness value acquisition unit <NUM> and the determination unit 59a (<NUM>), a storage unit <NUM>, an evaluation data acquisition unit <NUM>, and a determination unit 59c (<NUM>).

In an embodiment, a trained model <NUM> stored in the storage unit <NUM> is configured to output evaluation data regarding whether the tool <NUM> satisfies the tool condition in response to input of data regarding the processed images 18a (<NUM>) generated by the image processing unit 55a.

The trained model <NUM> according to an embodiment is a model obtained by deep learning. For example, the trained model <NUM> may be a GAN (Generative Adversarial Network). More precisely, the GAN is EGBAD (Efficient GAN-Based Anomaly Detection). In another embodiment, the trained model <NUM> may be a CNN (Convolution Neural Network) or RNN (Recurrent Neural Network).

The evaluation data acquisition unit <NUM> according to an embodiment is configured to acquire the evaluation data output from the trained model <NUM> into which the processed image 18a generated by the image processing unit 55a has been input. A dedicated GPU unit may be provided separately from the condition acquisition unit <NUM> and the tool movement control unit <NUM> as a processor unit that has a function of the evaluation data acquisition unit <NUM>.

The determination unit 59c (<NUM>) according to an embodiment is configured to determine whether the tool condition is satisfied on the basis of the evaluation data acquired. The determination method will be described in detail below.

<FIG> is a diagram showing trained models <NUM> corresponding to tool conditions according to an embodiment.

The trained model <NUM> according to an embodiment is stored in the storage unit <NUM> in association with the tool condition. For example, as shown in <FIG>, trained models 57a to 57f (<NUM>) according to an embodiment are stored in the storage unit <NUM> in association with tool conditions regarding the tool type and the tool state.

In another embodiment, trained models <NUM> may be stored in the storage unit <NUM> in association with tool conditions regarding either the tool type or the tool state. Alternatively, the storage unit <NUM> may store only a single trained model <NUM>.

<FIG> is a diagram showing the process of generating a trained model 57a (<NUM>) according to an embodiment.

For example, a before-trained model 67a (<NUM>) of the trained model 57a corresponding to the tool condition of the clamper <NUM> in the open state is prepared. Further, normal images <NUM> obtained by processing a plurality of captured images <NUM> that have been determined to satisfy this tool condition by the image processing unit 55a are input to the before-trained model 67a as teacher data <NUM>. Thereby, the before-trained model 67a implements machine learning to generate the trained model 57a.

The process of generating the other trained models 57b to <NUM> is the same, so the detailed description is omitted.

In another embodiment, the image used as the teacher data <NUM> may be the captured image <NUM> before image processing.

<FIG> is a diagram for describing a determination method by the determination unit 59c (<NUM>) according to an embodiment.

In <FIG>, the tool condition to be satisfied, the tool <NUM> to be judged and the captured image <NUM> to be processed in each of checks A and B are all the same as in <FIG> and <FIG>.

In the determination shown in <FIG>, through each of checks A and B, the image processing unit 55a (<NUM>) generates a processed image 18a (<NUM>) similar to those in <FIG> and <FIG>.

The evaluation data acquisition unit <NUM> which acquires the processed image 18a uses the trained model 57a corresponding to the tool state (clamper <NUM> in the open state). Specifically, the evaluation data acquisition unit <NUM> inputs the respective processed images 18a to the trained model 57a to acquires values X<NUM>, which is the respective evaluation data.

In an embodiment, the determination unit 59a determines whether the tool condition is satisfied by comparing each acquired value X<NUM> with a threshold T<NUM>, which is the criterion. For example, in an embodiment using EGBAD as the trained model <NUM>, the value X<NUM> output from the discriminator (not shown), which is a component of the trained model <NUM>, is less than the threshold T<NUM> in check A and not less than the threshold T<NUM> in check B. Thus, the determination unit 59c determines that the tool condition is satisfied in check A, and that the tool condition is not satisfied in check B.

Depending on the specific model of the trained model <NUM>, the value X<NUM> of the evaluation data may exceed the threshold T<NUM> in check A.

<FIG> is a diagram of a workpiece processing system 1c (<NUM>) according to the third embodiment. The workpiece processing system 1c includes, instead of the clamper <NUM> (tool <NUM>) and the tool checking device 50a (50a) of the workpiece processing system 1a, a clamper 41a (tool <NUM>) and a tool checking device 50c (<NUM>).

The clamper 41a includes a support portion <NUM> and a pair of movable portions <NUM> rotatably supported by the support portion <NUM>. In an embodiment, the pair of movable portions <NUM> are opened and closed by driving force supplied from an air cylinder (not shown). In another embodiment, one of the pair of movable portions <NUM> may be a fixed portion fixed to the support portion <NUM>.

The clamper 41a further includes an outer surface <NUM> with a mark <NUM>. In an embodiment, the outer surface <NUM> is included on the surface of each of the support portion <NUM> and the pair of movable portions <NUM>. The mark <NUM> according to an embodiment is formed on each of the support portion <NUM> and one of the movable portions <NUM>. The mark <NUM> is a character, figure, symbol, or a combination thereof. The mark <NUM> according to an embodiment is a character.

In an embodiment, the mark <NUM> is formed by electrolytic marking on the tool <NUM>. In this embodiment, the cleanliness of the tool <NUM> can be maintained compared to an embodiment where the mark <NUM> is applied by a seal attached to the tool <NUM>, and the cost increase can be reduced compared to an embodiment where the mark <NUM> is applied by laser engraving.

The tool checking device 50c includes, instead of the image processing unit 55a (<NUM>), the brightness value acquisition unit <NUM>, and the determination unit 59a (<NUM>), an image processing unit 55b (<NUM>), a storage device <NUM>, an identification processing unit <NUM>, and a determination unit 59d (<NUM>).

The image processing unit 55b according to an embodiment is configured to perform, on the captured image <NUM>, image processing associated with the tool condition of the tool <NUM> having the outer surface <NUM> with the mark <NUM>. The image processing unit 55b may apply masking using a reference image (not shown) to the captured image <NUM>, or cropping to the captured image <NUM>. The image processing on the captured image <NUM> generates a processed image 18b (<NUM>) in which a related area 17b is extracted.

The storage device <NUM> according to an embodiment stores related area data <NUM> in which the related area 17b extracted by the image processing unit 55b is associated with the tool condition. The related area 17b according to an embodiment is an area inside the contour of the tool <NUM> that satisfies the tool condition, or more specifically, an area containing the mark <NUM> of the tool <NUM> that satisfies the tool condition. The related area 17b according to an embodiment may or may not be an area along the contour of the tool <NUM>.

The identification processing unit <NUM> according to an embodiment is configured to execute a process of identifying the mark <NUM> on the processed image 18b (<NUM>) generated. For example, in an embodiment where the mark <NUM> is a character, the identification processing unit <NUM> is configured to execute a process of identifying a character as the mark <NUM> on the processed image 18b. The process of identifying a character is, for example, an optical character recognition process.

The determination unit 59d according to an embodiment is configured to determine whether the tool condition is satisfied on the basis of the result of the process by the identification processing unit <NUM>. For example, in an embodiment where the identification processing unit <NUM> performs an optical character recognition process, the determination unit 59d may determine whether the tool condition is satisfied according to whether the processed image 18b contains the mark <NUM>, which is a character.

In another embodiment, the determination unit 59d may determine whether the tool condition is satisfied according to a specific character recognized by the identification processing unit <NUM>.

In another embodiment, the mark <NUM> may be a figure such as a straight line or a circle instead of a character. Even in this case, by identifying the presence or absence of the mark <NUM> by the identification processing unit <NUM>, the determination unit 59d determines whether the tool condition is satisfied.

<FIG> is a diagram showing the related area data <NUM> according to an embodiment. In an embodiment, the related area data <NUM> includes related area data 21a referred to when determining the tool condition regarding the tool type, and related area data 21b referred to when determining the tool condition regarding the tool state.

In an embodiment, the data stored in the related area data 21a is assigned to each type of the tool <NUM> (clamper <NUM>, chucks <NUM>, 42R, knives <NUM>, 43R). For example, the related area 17b represented by data A1 assigned to the clamper <NUM> indicates an area that contains the mark <NUM> regardless of whether the clamper <NUM> is in the open or closed state. More precisely, as an example, data A1 is the related area 17b that contains the mark <NUM> applied to the support portion <NUM>.

In an embodiment, the data stored in the related area data 21b is assigned to each type of the tool <NUM> (clamper <NUM>, chucks <NUM>, 42R). For example, the related area 17b represented by data A2 assigned to the clamper <NUM> indicates an area in which the mark <NUM> is placed only when the clamper <NUM> is in the open state. The related area 17b represented by data A2 may be an area in which the mark <NUM> is placed only when the clamper <NUM> is in the closed state.

In another embodiment, in the related area data 21b, data may be assigned according to each of the states of the tool <NUM> (e.g., open and closed state of clamper <NUM>). In this case, the related area 17b represented by data assigned to each state of the tool <NUM> may all be an area in which the mark <NUM> is placed.

<FIG> is a diagram for describing a determination method by the determination unit 59d (<NUM>) according to an embodiment. In <FIG>, the tool condition to be satisfied, the tool <NUM> to be judged and the captured image <NUM> to be processed in each of checks A and B are all the same as in <FIG> and <FIG>.

In the determination shown in <FIG>, through each of checks A and B, the image processing unit 55b (<NUM>) generates a processed image 18b (<NUM>).

In checks A and B according to an embodiment, the image processing unit 55b applies masking to the captured image <NUM> using a reference image (not shown) corresponding to the tool condition that needs to be satisfied to acquire a processed image 18b in which the related area 17b is extracted. In <FIG>, the masked image area is not depicted. Then, the identification processing unit <NUM> executes a process (e.g., optical character recognition process) to identify the mark <NUM> in the respective related areas 17b represented by data A1 and A2 of the related area data <NUM> in the processed image 18b (of the captured image <NUM>) acquired from the image processing unit 55b.

For example, in check A, the mark <NUM> (specifically the letter "A") is recognized within the related area 17b for each of the tool type and tool state. The determination unit 59d determines that the tool condition is satisfied because the mark <NUM> can be recognized for each of the tool type and tool state.

In contrast, in check B, the identification processing unit <NUM> recognizes the mark <NUM> in the related area 17b for the tool type, but does not recognize the mark <NUM> in the related area 17b for the tool state. In this case, the determination unit 59d determines that the tool condition is not satisfied because the tool condition regarding the tool state is not satisfied. In check B, the determination unit <NUM> may determine that the tool condition regarding the tool type is satisfied, while the tool condition regarding the tool state is not satisfied.

In another embodiment, the image processing unit 55b may generate a processed image 18b by cropping the captured image <NUM> to extract the respective related areas 17b represented by data A1 and A2 of the related area data <NUM>. In this case, the related area 17b and the processed image 18b are the same image as shown in <FIG>. Even in this case, by executing a process to identify the mark <NUM> by the identification processing unit <NUM>, the determination unit 59d can obtain the same determination result as above.

Hereinafter, the tool checking device <NUM> for a robot arm, the tool checking program (processing control program <NUM>) for a robot arm, and the tool checking method for a robot arm according to some aspects of the present disclosure will be described.

With the above configuration (<NUM>), the related area <NUM> associated with the tool condition is extracted to generate the processed image <NUM>, and on the basis of the processed image <NUM> generated, the determination unit <NUM> determines whether the tool condition is satisfied. Thus, it is possible to accurately determine whether the tool <NUM> satisfies the tool condition.

Additionally, the imaging device <NUM> which generates the captured image <NUM> as the original of the processed image <NUM> can also generate another image to be used in the image analysis process (S31). That is, the imaging device <NUM> has both a function of generating an image for determining whether the tool condition is satisfied and a function of generating an image for the image analysis process. This avoids increasing the complexity of the configuration of the tool checking device <NUM>, reducing the cost of the workpiece processing system <NUM>.

Additionally, the above configuration eliminates the need for a dedicated sensor in the tool <NUM> to determine whether the tool condition is satisfied. For example, in an embodiment where the workpiece <NUM> is fresh meat, the space in which the workpiece <NUM> is processed tends to be wet. In this embodiment, with the above configuration, it is not necessary to apply waterproofing and anti-fouling measures to the tool <NUM> due to the sensor, which is an electronic component, installed in the tool <NUM>, and it is possible to easily determine whether the tool condition is satisfied.

As a method to determine whether the tool condition is satisfied, an engagement mechanism that allows only a specific tool <NUM> to be attached to the robot arm <NUM> could be provided on the robot arm <NUM> and the tool <NUM>. However, this method leads to increased complexity of the mechanism and also limits the type of the tool <NUM> attached to the robot arm <NUM>. Further, this method can determine the tool condition regarding the tool type, but it is difficult to determine the tool condition regarding the tool state (e.g., it is difficult to properly determine the open/closed state of the clamper <NUM>). In this regard, according to the embodiment of the above configuration, it is possible to determine not only the tool condition regarding the tool type but also the tool condition regarding the tool state, while avoiding complexity of the mechanism and reduction in the number of types of tools <NUM>.

(<NUM>) According to some aspects of the present disclosure, in the above configuration (<NUM>), the tool checking device 50a further includes a brightness value acquisition unit 56a, 56b (<NUM>) configured to acquire a brightness value of the processed image 18a (<NUM>). The determination unit 59a, 59b (<NUM>) is configured to determine whether the tool condition is satisfied on the basis of the brightness value acquired.

With the above configuration (<NUM>), the determination unit 59a, 59b can perform quantitative determination as to whether the tool condition is satisfied on the basis of the brightness value of the processed image 18a. Thus, it is possible to accurately determine whether the tool <NUM> satisfies the tool condition.

(<NUM>) According to some aspects of the present disclosure, in the above configuration (<NUM>), the brightness value acquisition unit 56a is configured to acquire the sum X<NUM> of brightness values of the processed image 18a (<NUM>). The determination unit 59a is configured to determine whether the tool condition is satisfied on the basis of the sum X<NUM> of brightness values acquired.

With the above configuration (<NUM>), the determination unit 59a determines whether the tool condition is satisfied on the basis of the sum of brightness values over the entire area of the processed image 18a. Therefore, even when the imaging conditions of the tool <NUM> change, it is possible to accurately determine whether the tool condition is satisfied.

The imaging conditions of the tool <NUM> include the position of the tool <NUM> at the time of imaging, the degree of reflection of objects (e.g., workpiece <NUM>) other than the tool <NUM>, small changes in the position of the imaging device <NUM>, or a combination thereof.

(<NUM>) According to some aspects of the present disclosure, in the above configuration (<NUM>), the brightness value acquisition unit 56b is configured to acquire a sum X<NUM> of differences between brightness values identified by the following equation (<NUM>) using Bij which is a brightness value of each pixel of the processed image 18a (<NUM>), where i is any natural number equal to or less than the number of pixels in a horizontal direction of the processed image <NUM> and j is any natural number equal to or less than the number of pixels in a vertical direction of the processed image <NUM>, and Bsij which is a brightness value set for each pixel according to the tool condition. The determination unit 59b is configured to determine whether the tool condition is satisfied on the basis of the sum X<NUM> of differences between brightness values acquired. (Expression <NUM>) <MAT>.

With the above configuration (<NUM>), since the sum X<NUM> of differences identified in equation (<NUM>) changes according to whether the tool condition is satisfied, it is possible to accurately determine whether the tool <NUM> satisfies the tool condition.

(<NUM>) According to some aspects of the present disclosure, in the above configuration (<NUM>), the tool checking device 50b further includes: a storage unit storing a trained model <NUM> configured to output evaluation data regarding whether the tool <NUM> satisfies the tool condition in response to input of data regarding the processed image <NUM>; and an evaluation data acquisition unit <NUM> configured to acquire the evaluation data output from the trained model <NUM> into which the processed image 18a (<NUM>) generated by the image processing unit 55a (<NUM>) has been input. The determination unit 59c (<NUM>) is configured to determine whether the tool condition is satisfied on the basis of the evaluation data acquired.

With the above configuration (<NUM>), the determination unit 59c determines whether the tool condition is satisfied on the basis of the evaluation data output from the trained model <NUM>. Thus, it is possible to accurately determine whether the tool <NUM> satisfies the tool condition.

(<NUM>) According to some aspects of the present disclosure, in the above configuration (<NUM>), the image processing unit <NUM> is configured to perform, on the captured image <NUM>, the image processing associated with the tool condition of the tool <NUM> having an outer surface <NUM> with a mark <NUM>. The tool checking device 50c (<NUM>) further includes an identification processing unit <NUM> configured to execute a process of identifying the mark <NUM> on the processed image 18b (<NUM>) generated. The determination unit 59d is configured to determine whether the tool condition is satisfied on the basis of a result of the process by the identification processing unit <NUM>.

With the above configuration (<NUM>), if the processed image 18b (<NUM>) associated with the tool condition is generated so that the identification result of the identification processing unit <NUM> changes according to whether the tool condition is satisfied, it is possible to accurately determine whether the tool <NUM> satisfies the tool condition.

(<NUM>) According to some aspects of the present disclosure, in the above configuration (<NUM>), the identification processing unit <NUM> is configured to execute a process of identifying a character as the mark <NUM> on the processed image 18b.

With the above configuration (<NUM>), the determination unit 59d determines whether the tool condition is satisfied on the basis of the result of the process of identifying a character as the mark <NUM> by the identification processing unit <NUM>. Thus, it is possible to accurately determine whether the tool <NUM> satisfies the tool condition.

(<NUM>) According to some aspects of the present disclosure, in any one of the above configurations (<NUM>) to (<NUM>), the tool checking device <NUM> further includes a condition acquisition unit <NUM> configured to acquire the tool condition according to a work schedule of the robot arm <NUM> after the determination unit 59a, 59b (<NUM>) determines that the tool condition is satisfied. The image processing unit 55a (<NUM>) is configured to perform, on the captured image <NUM>, the image processing associated with the tool condition acquired by the condition acquisition unit <NUM> among a plurality of the tool conditions prepared in advance. The determination unit 59a, 59b (<NUM>) is configured to determine whether the tool condition acquired by the condition acquisition unit <NUM> is satisfied.

With the above configuration (<NUM>), the determination unit 59a, 59b determines whether the tool condition corresponding to the work schedule of the robot arm <NUM> is satisfied. Therefore, the determination unit 59a, 59b can accurately determine whether the robot arm <NUM> should perform the scheduled work.

(<NUM>) According to some aspects of the present disclosure, in any one of the above configurations (<NUM>) to (<NUM>), the image processing unit 55a (<NUM>) is configured to apply masking to the captured image <NUM> using a reference image <NUM> associated with the tool condition, and generate an image in which the related area <NUM> associated with the tool condition is extracted as the processed image <NUM>.

With the above configuration (<NUM>), the determination unit 59a, 59b can accurately determine whether the tool <NUM> satisfies the tool condition on the basis of the processed image 18a (<NUM>).

(<NUM>) A tool checking program (processing control program <NUM>) for checking a tool <NUM> for a robot arm according to at least one aspect of the present invention is configured to cause a computer to execute: an image processing step (S19) of performing, on a captured image <NUM> of the tool <NUM> attached to the robot arm <NUM>, image processing associated with a tool condition regarding a tool type or tool state that needs to be satisfied by the tool <NUM>, and generating a processed image <NUM> in which a related area <NUM> associated with the tool condition is extracted; and a determination step (S23) of determining whether the tool <NUM> attached to the robot arm <NUM> satisfies the tool condition, on the basis of the processed image <NUM>.

With the above configuration (<NUM>), it is possible to accurately determine whether the tool <NUM> satisfies the tool condition for the same reason as the above (<NUM>).

(<NUM>) A method for checking a tool <NUM> for a robot arm according to at least one aspect of the present invention includes: an image processing step (S19) of performing, on a captured image <NUM> of the tool <NUM> attached to the robot arm <NUM>, image processing associated with a tool condition regarding a tool type or tool state that needs to be satisfied by the tool <NUM>, and generating a processed image <NUM> in which a related area <NUM> associated with the tool condition is extracted; and a determination step (S23) of determining whether the tool <NUM> attached to the robot arm <NUM> satisfies the tool condition, on the basis of the processed image <NUM>.

Embodiments of the present disclosure were described in detail above, but the present disclosure is not limited thereto, and various amendments and modifications may be implemented.

For example, an embodiment combining at least two of the first, second, and third embodiments described above may be employed.

As a specific example, whether the tool condition is satisfied may be determined on the basis of the acquisition result of the brightness value acquisition unit <NUM> and the output result of the trained model <NUM>. In this case, the determination unit <NUM> may determine that the tool condition is satisfied only when both the acquisition result of the brightness value acquisition unit <NUM> and the output result of the trained model <NUM> indicate that the tool condition is satisfied. Thereby, it is possible to prevent the determination unit <NUM> from erroneously determining that the tool condition is satisfied even though the actual tool <NUM> does not satisfy the tool condition.

Claim 1:
A workpiece processing system (<NUM>)comprising:
a robot arm (<NUM>) to which a tool (<NUM>) for processing a food product as a workpiece (<NUM>) is attached;
an imaging device (<NUM>) for capturing an image of the workpiece (<NUM>), the robot arm (<NUM>) being configured to process the workpiece (<NUM>) by the tool (<NUM>) based on results of image analysis of the captured image of the workpiece (<NUM>); and
a tool checking device (<NUM>) for checking the tool (<NUM>) attached to the robot arm (<NUM>), the tool checking device (<NUM>) comprising:
an image control unit (<NUM>) for controlling the imaging device (<NUM>) so as to capture an image of the tool (<NUM>) attached to the robot arm (<NUM>);
an image processing unit (<NUM>) configured to perform, on the captured image of the tool (<NUM>) attached to the robot arm (<NUM>), image processing associated with a tool condition regarding a tool type or tool state that needs to be satisfied by the tool (<NUM>), and generate a processed image in which a related area associated with the tool condition is extracted; and
a determination unit (<NUM>) configured to determine whether the tool (<NUM>) attached to the robot arm (<NUM>) satisfies the tool condition, on the basis of the processed image.