US 12,377,507 B2
Control device, industrial machine, and control method
Kenichi Bandoh, Tokyo (JP); and Mohammad Munzir, Tokyo (JP)
Assigned to KOMATSU LTD., Tokyo (JP)
Appl. No. 18/042,418
Filed by KOMATSU LTD., Tokyo (JP)
PCT Filed Sep. 10, 2021, PCT No. PCT/JP2021/033327
§ 371(c)(1), (2) Date Feb. 21, 2023,
PCT Pub. No. WO2022/059616, PCT Pub. Date Mar. 24, 2022.
Claims priority of application No. 2020-155792 (JP), filed on Sep. 16, 2020.
Prior Publication US 2023/0347463 A1, Nov. 2, 2023
Int. Cl. B23Q 15/12 (2006.01); B23Q 1/25 (2006.01); G05B 19/402 (2006.01)
CPC B23Q 15/12 (2013.01) [B23Q 1/25 (2013.01); G05B 19/402 (2013.01); G05B 2219/37383 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A control device of a machine having a jig which supports a workpiece and a tool which machines the workpiece, the control device comprising:
a relative displacement specification unit configured to specify a relative displacement between the jig and the tool based on measurement values of displacements of the jig and the tool;
a position determination unit configured to determine whether the jig and the tool are respectively positioned at a jig calibration point and a tool calibration point based on the measurement values of the displacements of the jig and the tool;
a displacement correction unit configured to correct the measurement values of the displacements of the jig and the tool based on a captured image of the jig calibration point and a captured image of the tool calibration point when the jig and the tool are determined as being respectively positioned at the jig calibration point and the tool calibration point;
a contact determination unit configured to determine whether the tool has come into contact with the workpiece based on a measurement value related to a deflection of the tool;
a tool length correction unit configured to correct tool length data indicating a length of the tool based on the relative displacement when the tool is determined to have come into contact with the workpiece; and
a control unit configured to generate a control command for controlling the jig or the tool based on the relative displacement, a shape of the workpiece, and the tool length data.