US 12,032,354 B2
Program restart assisting apparatus
Daisaku Souma, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on Nov. 12, 2020, as Appl. No. 17/095,753.
Claims priority of application No. 2019-212367 (JP), filed on Nov. 25, 2019.
Prior Publication US 2021/0157298 A1, May 27, 2021
Int. Cl. G05B 19/4067 (2006.01); G05B 19/4155 (2006.01); G06T 7/00 (2017.01)
CPC G05B 19/4067 (2013.01) [G05B 19/4155 (2013.01); G06T 7/0004 (2013.01); G05B 2219/34365 (2013.01); G06T 2207/30164 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A program restart assisting apparatus for assisting selection of a restart execution point indicating a position, on which machining is restarted after interruption of the machining, in a machining program, in a controller for controlling an industrial machine, the industrial machine machining a workpiece, based on the machining program, the program restart assisting apparatus comprising:
a data acquisition unit configured to acquire time series data of a physical amount relating to the machining of the workpiece detected during continuing the machining;
a machining state change point detection unit configured to detect a change point on which a machining state of the machining is changed, based on data acquired by the data acquisition unit;
a restartable point recording unit configured to record the change point of the machining state, the change point being detected by the machining state change point detection unit, as a restartable point; and
a restart execution point selection unit configured to select a restart execution point from among restartable points recorded by the restartable point recording unit; wherein the physical amount includes at least one of:
(1) torque data, vibration data or sound data,
(2) a motor temperature,
(3) an amount, a shape or a color of chips,
(4) laser output, or
(5) biological information of an operator; and
the machining state change point detection unit is configured to, based on the data acquired by the data acquisition unit, detect the change point by at least one of
(a) performing a frequency analysis of the torque data, the vibration data, or the sound data which are detected in a predetermined machining period during the machining of the workpiece, and
detecting time, at which a predetermined difference appears in frequency components, as the change point,
(b) detecting time, at which a change rate of the motor temperature detected in a predetermined machining period during the machining of the workpiece is changed by a predetermined threshold value or greater, as the change point,
(c) detecting time, at which the amount, the shape or the color of the chips is changed by a predetermined threshold value or greater based on image data which are detected in a predetermined machining period during the machining of the workpiece, as the change point,
(d) detecting time, at which the laser output detected in a predetermined machining period during laser machining in the machining of the workpiece is changed by a predetermined threshold value or greater, as the change point, or
(e) detecting a change in the biological information of the operator performing the machining with the industrial machine as the change point.