# US 2019/0317475 A1 · Controller and control system

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- Number: US 2019/0317475 A1
- Document ID: US20190317475A1
- Status: Published application
- Kind: A1
- Application number: 16/382,882
- Filed: 2019-04-12
- Published: 2019-10-17
- Earliest claimed: 2018-04-16
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Dapeng Li; Toshinori Matsukawa
- Web page: https://patentgrep.com/patent/US20190317475A1

## CPC

- G05B 19/4099: Surface or curve machining, making three-dimensional [3D] objects, e.g. desktop manufacturing
- G06T 7/001: {using an image reference approach}
- G05B 19/4069: Simulating machining process on screen (G05B19/4068 takes precedence)
- G06T 7/0008: {checking presence/absence}
- G05B 2219/35134: 3-D cad-cam
- G05B 2219/37558: Optical sensor, scanner
- G05B 2219/50062: Measure deviation of workpiece under working conditions, machine correction
- G06T 2207/10004: Still image; Photographic image
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/30164: Workpiece; Machine component
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A control system includes a controller that controls machining of a workpiece, and a photographing device that photographs an image of the workpiece under machining operation. The controller generates a three-dimensional model of the workpiece under machining operation based on the acquired image, compares the generated three-dimensional model and a three-dimensional model generated by a machining simulation with each other, and determines a presence or absence of a machining defect based on a result of the comparison. When the machining defect is present and re-machining is possible, a setting is modified depending on a cause of the machining defect and additional machining is executed based on the modified setting.

## Claims

### Claim 1

A control system, comprising:
a controller that controls machining of a workpiece; and
a photographing device that photographs an image of the workpiece under machining operation, wherein
the controller includes an image acquisition unit that acquires the image,
a three-dimensional model generation unit that generates a three-dimensional model of the workpiece under machining operation based on the image,
a checking unit that compares the three-dimensional model of the workpiece under machining operation and a three-dimensional model generated by a machining simulation with each other,
a calculation unit that determines a presence or absence of a machining defect based on a result of the comparison and modifies a setting depending on a cause of the machining defect when it is determined that the machining defect is present and re-machining is possible, and
an instruction distribution processing unit that executes additional machining based on the modified setting.

### Claim 2 (depends on 1)

The control system according to claim 1, wherein when it is determined that the machining defect is present and the re-machining is not possible, the calculation unit presents the cause of the machining defect or a countermeasure for the machining defect.

### Claim 3

A control system, comprising:
a controller that controls machining of a workpiece; and
a photographing device that photographs the workpiece under machining operation and outputs a three-dimensional model of the workpiece under machining operation, wherein
the controller includes an image acquisition unit that acquires the three-dimensional model of the workpiece under machining operation,
a checking unit that compares the three-dimensional model of the workpiece under machining operation and a three-dimensional model generated by a machining simulation with each other,
a calculation unit that determines a presence or absence of a machining defect based on a result of the comparison and modifies a setting depending on a cause of the machining defect when it is determined that the machining defect is present and re-machining is possible, and
an instruction distribution processing unit that executes additional machining based on the modified setting.

### Claim 4

A controller, comprising:
a checking unit that acquires a three-dimensional model of a workpiece under machining operation and compares the three-dimensional model of the workpiece under machining operation and a three-dimensional model generated by a machining simulation with each other;
a calculation unit that determines a presence or absence of a machining defect based on a result of the comparison and modifies a setting depending on a cause of the machining defect when it is determined that the machining defect is present and re-machining is possible; and
an instruction distribution processing unit that executes additional machining based on the modified setting.