Processing machine, control device for processing machine and control method for processing machine

A control device for a processing machine including a tool configured to perform machine processing on a workpiece, a depth camera configured to be installed such that the workpiece lies within an imaging range and to capture a depth of a subject, and an actuator configured to drive the tool, the control device comprising:

• one or more processors configured to:
• calculate a depth of a surface of the workpiece based on a depth image captured by the depth camera;
• calculate, based on three-dimensional data representing a target shape of the workpiece and a three-dimensional position of the workpiece, a three-dimensional position of the target shape in a case in which the workpiece and the target shape are superimposed;
• calculate a depth of a surface of the target shape with respect to the depth camera based on the three-dimensional position of the target shape;
• determine a cutting amount at each of a plurality of points on the surface of the workpiece based on a depth difference in a line-of-sight direction between the depth of the surface of the workpiece and the depth of the surface of the target shape in a case in which the workpiece is viewed from a predetermined viewpoint;
• match a processing direction of the tool with an imaging direction of the depth camera;
• and
• control the actuator based on the determined cutting amount.

A control method for a processing machine including a tool configured to perform machine processing on a workpiece, a depth camera configured to be installed such that the workpiece lies within an imaging range and to capture a depth of a subject, and an actuator configured to drive the tool, the control method comprising:

• calculating a depth of a surface of the workpiece based on a depth image captured by the depth camera;
• calculating, based on three-dimensional data representing a target shape of the workpiece and a three-dimensional position of the workpiece, a three-dimensional position of the target shape in a case in which the workpiece and the target shape are superimposed;
• calculating a depth of a surface of the target shape with respect to the depth camera based on the three-dimensional position of the target shape;
• determining a cutting amount at each of a plurality of points on the surface of the workpiece based on a depth difference in a line-of-sight direction between the depth of the surface of the workpiece and the depth of the surface of the target shape in a case in which the workpiece is viewed from a predetermined viewpoint;
• matching a processing direction of the tool with an imaging direction of the depth camera;
• and
• controlling the actuator based on the determined cutting amount.