Information processing system, information processing program and information processing method

Abstract

To solve the problem that tool control condition data applied to a work tool cannot be generated from three-dimensional model data.SOLUTION: An information processing system performs: attribute data extraction processing S1 of extracting attribute data from three-dimensional model data of a work object; tool control condition generation processing S2 of determining tool control condition data corresponding to the attribute data by referring to a control condition table in which a relation between the attribute data and a control condition of a work tool is previously regulated; work deviation data calculation processing S5 of calculating work deviation data indicating a difference between work execution data obtained from a result of actual work having performed on the work object by applying the tool control condition data, and previously set reference data; and control condition table rewriting processing S6 of rewriting a control condition table so that an absolute value of the difference indicated by the work deviation data becomes a previously set value.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an information processing system, an information processing program, and an information processing method, and more particularly to an information processing system, an information processing program, and an information processing method for generating tool control condition data used for controlling a work tool. [Background technology]

[0002] In controlling a work robot that performs work such as welding, in addition to controlling the arm, tool control condition data is required to define the control method for controlling the work tool attached to the arm.Therefore, Patent Document 1 discloses a technology for setting ridge line data, which is the basis for the trajectory of the movement of the work tool, in the three-dimensional model data of the work object used in generating the tool control condition data, in the three-dimensional model data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-184278 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology described in Patent Document 1 only extracts edge line data, and does not disclose or suggest the generation of tool control condition data to be applied to the work tool being used from three-dimensional model data. [Means for solving the problem]

[0005] One aspect of the present invention is an information processing system including at least one arithmetic device configured to perform an attribute data extraction process that extracts attribute data from three-dimensional model data of a work object; a tool control condition generation process that determines tool control condition data corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of a work tool is predefined; a work deviation data calculation process that calculates work deviation data indicating a difference between work performance data obtained from a result of actual work performed on the work object by applying the tool control condition data and preset reference data; and a control condition table rewrite process that rewrites the control condition table so that the absolute value of the difference indicated by the work deviation data becomes a preset value.

[0006] One aspect of the present invention is an information processing program that causes a calculation device to execute an attribute data extraction process that extracts attribute data from three-dimensional model data of a work object; a tool control condition generation process that determines tool control condition data corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of a work tool is predefined; a work deviation data calculation process that calculates work deviation data indicating a difference between work performance data obtained from a result of actual work performed on the work object by applying the tool control condition data and preset reference data; and a control condition table rewrite process that rewrites the control condition table so that the absolute value of the difference indicated by the work deviation data becomes a preset value.

[0007] One aspect of the present invention is an information processing method for correcting tool control condition data to be applied to the control of a work tool using a computer based on data acquired in actual work, the information processing method comprising the steps of: extracting attribute data from three-dimensional model data of a work object; determining tool control condition data corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and the control conditions of the work tool is predefined; calculating work deviation data indicating the difference between work performance data obtained from the results of actual work performed on the work object by applying the tool control condition data and preset reference data; and rewriting the control condition table so that the absolute value of the difference indicated by the work deviation data becomes a preset value.

[0008] In one aspect of the present invention, the control conditions defined in the control condition table are rewritten based on preset rules so as to reduce the difference between work performance data obtained during actual work and preset reference data. Effect of the Invention

[0009] According to one aspect of the present invention, it is possible to generate tool control condition data to be applied to a work tool using three-dimensional model data, and further to improve the accuracy of the control conditions based on the results of actual work. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram of a working robot system according to a first embodiment. [Diagram 2] 4 is a flowchart illustrating an operation of the information processing system according to the first embodiment. [Diagram 3] 11 is a flowchart illustrating an operation of the information processing system according to the second embodiment. [Figure 4] 13 is a flowchart illustrating an operation of the information processing system according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] In order to clarify the description, the following description and drawings are omitted and simplified as appropriate. In addition, each element shown in the drawings as a functional block performing various processes can be configured in hardware with a CPU (Central Processing Unit), memory, and other circuits, and in software, can be realized by a program loaded into memory. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware alone, software alone, or a combination thereof, and are not limited to any one of them. In addition, the same elements are given the same symbols in each drawing, and duplicated explanations are omitted as necessary.

[0012] Moreover, the above-mentioned program includes a set of instructions (or software code) for making the computer perform one or more functions described in the embodiment when the program is read into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or the tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, the transitory computer-readable medium or the communication medium includes electrical, optical, acoustic, or other forms of propagating signals.

[0013] First embodiment Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a schematic diagram of a working robot system according to the first embodiment. As shown in Fig. 1, the working robot system 1 according to the first embodiment includes a computer 10 and a working robot 20. The working robot 20 has a robot arm 21 mounted on a base, and a work tool 22 and a working sensor 23 attached to the tip of the working robot 20.

[0014] The computer 10 receives three-dimensional model data generated elsewhere, or generates three-dimensional model data. The computer 10 also generates tool control condition data used in controlling the work robot 20 using the three-dimensional model data. Here, the generation of the tool control condition data involves a number of processes, but these processes may be performed using at least one computer 10, and the number of computers 10 included in the work robot system 1 is not limited to one. The computer 10 also transmits the generated tool control condition data to the work robot 20. In the work robot system 1 according to the first embodiment, the work robot 20 has a control unit (not shown) that controls the robot arm 21, and uses the tool control condition data received by the control unit to control the work tool 22 attached to the robot arm 21.

[0015] The work robot 20 is capable of performing at least one of the following tasks: welding, painting, coating, cutting, polishing, grinding, and turning. The robot arm 21 moves the work tool 22 attached to the tip of the robot arm 21 based on work information data. The work information data includes at least a tool path that defines the movement trajectory of the work tool 22, and tool posture information that defines the posture of the work tool 22.

[0016] The work tool 22 is a different tool depending on the work to be performed. For example, the work tool 22 is a welding torch, nozzle, welding rod, etc. when performing welding work, and a painting tool such as a painting gun when performing painting work. Other possible work tools include coating tools (e.g., coating spray), cutting tools (e.g., drills, end mills, milling cutters), polishing tools (e.g., polishing brushes), cutting tools (grindstones, cup brushes, diamond bars), turning tools (e.g., bits), etc. In the work robot system 1 according to the first embodiment, the work tool 22 is controlled based on tool control condition data that differs for each work tool. Also, even if the tool control condition data corresponds to the same work tool 22, there are cases where the control value has a different value depending on the material and thickness of the member to be worked on.

[0017] Working sensor 23 is a sensor that scans the shape of a work target. Possible sensors of this type include LiDAR (Light Detection and Ranging), a line scanner, a three-dimensional scanner, etc. In working robot system 1 according to the first embodiment, working sensor 23 is used to recognize the shape of the work target before work is performed and to recognize the shape of the work target after work is performed.

[0018] In the working robot system 1 according to the first embodiment, before production activities are performed, it is necessary to create tool control condition data to be applied to the control of the work tool 22 for each task performed on a work object. Then, in the working robot system 1 according to the first embodiment, the computer 10 creates the tool control condition data from the three-dimensional model data. In this way, by creating the tool control condition data from the three-dimensional model data, it becomes possible to create the tool control condition data using the working robot 20 without using an actual object such as a prototype.

[0019] Here, the three-dimensional model data includes three-dimensional CAD (Computer Aided Design) data and attribute data described later. The CAD data may be data that includes surface information indicating the shape of the work object. The data format of the CAD data is STEP (Standard for the Exchange of Product model data), IGES (Intial Graphics Exchange Specification), STL (STereoLithography), etc. The attribute data includes data such as part names, product numbers, materials, dimensions, work conditions, and contour shapes. As described later, the attribute data may include work object lines. The attribute data may be data included in the model data and configured in a computer-readable data format, or may be data of assemblies and parts described in drawings drawn on paper (e.g., ASSY (Assembly) data). The work information data includes shape data of the contour line of the work object, position data indicating the position of the contour line on the work object, and data related to work information such as dimensions of the work object, work position, work path, and material and plate thickness for each part of the work object. For example, in the case of welding work, the attribute data may include at least one of data on welding conditions such as welding current, welding speed, and torch angle.

[0020] In the working robot system 1 according to the first embodiment, a tool control condition data generation process is performed on the computer 10 to generate tool control condition data from three-dimensional model data without using an actual object. In addition, in the working robot system 1 according to the first embodiment, a control condition table update process is performed to rewrite a control condition table in which candidates for control values ​​of the tool control condition data are defined so as to reduce the absolute value of the difference between work performance data obtained from the results of actual work performed on a work object and preset reference data. The tool control condition data generation process and the control condition table update process are performed by executing an information processing program stored in a storage device mounted on the computer 10 with an arithmetic device such as a CPU.

[0021] The operation of the working robot system 1 including the tool control condition data generation process and the control condition table update process will be described in detail below. The tool control condition data generation process and the control condition table update process include a plurality of processes, which may be executed by one computer or a plurality of computers. Therefore, in the following description, the computer 10 is referred to as an information processing system. For the sake of simplicity, the tool control condition data generation process and the control condition table update process described below will be described using an example in which tool control condition data corresponding to welding work is generated and updated. However, the tool control condition data generation process and the control condition table update process according to the first embodiment can be applied to various works other than welding work.

[0022] FIG. 2 is a flowchart illustrating the operation of the information processing system according to the first embodiment.

[0023] As shown in FIG. 2, the information processing system according to the first embodiment includes at least one arithmetic device configured to perform an attribute data extraction process (step S1) for extracting attribute data from three-dimensional model data of a work object, a tool control condition generation process (step S2) for determining tool control condition data corresponding to the attribute data by referring to a control condition table in which the relationship between the attribute data and the control conditions of a work tool is predefined, a work deviation data calculation process (step S5) for calculating work deviation data indicating the difference between work execution data obtained from the results of actual work performed on the work object by applying the tool control condition data and preset reference data, and a control condition table rewrite process (step S6) for rewriting the control condition table so that the absolute value of the difference indicated by the work deviation data becomes a preset value.

[0024] The example shown in Fig. 2 explains a process flow when the information processing system according to the first embodiment performs work on a work object according to the type of work tool 22. In the work procedure according to the first embodiment, first, an attribute data extraction process is performed to extract attribute data from three-dimensional model data (step S1). The attribute data extracted in step S1 includes at least information on the work tool 22 performing work on the work object, the dimensions of the work object, the work position, and position information of the work object location defined by the work path. The attribute data may also include at least data on the plate thickness of each part of the work object.

[0025] Next, in the work procedure according to the first embodiment, a tool control condition generation process is performed to determine tool control condition data corresponding to the attribute data by referring to a control condition table in which the relationship between the attribute data and the control conditions of the work tool is predefined (step S2). The control condition table referred to in the tool control condition generation process in step S2 may be used in common for a plurality of work locations. In this way, by using the control condition table in common for a plurality of work locations, the control conditions rewritten in one work and improved in accuracy can be used in other works, so that it is possible to further reduce the computation load required to improve the machining accuracy.

[0026] Here, the control condition table includes a plurality of table data that differ for each type of the work tool 22. Then, in the tool control condition generation process, a control condition table from which the control conditions are read out is selected according to the work tool 22 indicated by the attribute data. Then, in the rule control condition generation process, the control conditions are generated from a control condition table in which at least one parameter indicated by the attribute data is selected as a key. For example, in the tool control condition generation process, when a first parameter and a second parameter are considered as keys for determining the control conditions, the control conditions are generated from a control condition table in which the first parameter and the second parameter are selected as keys. More specifically, when the work tool 22 is a welding torch and the control condition table corresponding to the welding torch specifies the material of the member at the work target location as the first parameter and the thickness of the work target location as the second parameter as keys, it is considered that the control condition table defines at least the tool feed speed and the current value to be passed through the welding torch for each combination of the material and thickness of the member. In this case, the tool control condition generation process uses the material and thickness of the member at the work site as keys, and generates the tool feed speed and current value to be passed through the welding torch corresponding to the keys as control conditions.

[0027] Next, in the work procedure according to the first embodiment, a predetermined work (e.g., welding work) is performed on a work target portion of the work object using the tool control condition data generated in step S2 (step S3). In addition, in the work procedure according to the first embodiment, after the work in step S3 is completed, a work performance data acquisition process is performed to acquire work performance data obtained from the results of the actual work performed on the work object by applying the tool control condition data (step S4). Then, in the work procedure according to the first embodiment, a work deviation data calculation process is performed to calculate work deviation data indicating the difference between the work performance data acquired in step S4 and preset reference data (step S5).

[0028] Here, the work execution data and the reference data will be described. The work execution data includes at least one of the measurement data acquired on the work tool 22 side and the shape data of the work object obtained by scanning the work object after the work is performed using the working part sensor 23. The measurement data is, for example, an operation parameter obtained by measuring the work tool 22 during the actual work. When the measurement data is the operation parameter of the work tool 22, the reference data is the initial value of the control condition set in the control condition table. Moreover, the shape data is obtained by measuring the work object after the actual work, and is actual point cloud data that expresses the shape of the work object with point information. The reference data corresponding to the shape data is master point cloud data that is generated from the three-dimensional model data and expresses the shape of the work object with point information.

[0029] In other words, the work performance data are operation parameters obtained by measuring the work tool during actual work, and the reference data are initial values ​​of the control conditions set in the control condition table. The work performance data is actual point cloud data obtained by measuring the work object after the actual work and expressing the shape of the work object with point information, and the reference data is master point cloud data generated from the three-dimensional model data and expressing the shape of the work object with point information.

[0030] Next, in the work procedure according to the first embodiment, a control condition table rewrite process is performed to rewrite the control condition table so that the absolute value of the difference indicated by the work deviation data calculated in step S5 becomes a preset value (step S6). In this control condition table rewrite process, for example, if there is a deviation between the initial value of the current value defined in the tool control condition data given to the work robot 20 and the current value measured on the work tool 22, the current value in the control condition table is updated in a direction to eliminate the deviation so as to eliminate the deviation. As another example, if a difference occurs in the shape of the actual point cloud data and the master point cloud data due to the bead formed by welding, and the difference is larger than the preset bead shape criteria such as the length, width, base angle, and surface irregularities of the bead, the current value or tool feed speed in the control condition table is updated to eliminate the deviation.

[0031] Here, the control condition table can be rewritten based on a preset rule. The preset rule is a rule for correcting factors of manufacturing variability related to a certain operation, and is defined by a predetermined formula or a condition change table, etc. Rewriting the control condition table according to such a rule allows high-speed processing even in a computing device with limited computing power.

[0032] As described above, the working robot system 1 according to the first embodiment can generate tool control condition data suitable for the work tool 22 and the work target location using attribute data contained in the three-dimensional model data and shape data generated from the three-dimensional model data. This makes it possible to use appropriate control condition data, for example, from the start of production activities or the start of a prototype process. In other words, the use of the working robot system 1 makes it possible to create tool control condition data without having to go to the factory where the working robot 20 is installed to perform work, thereby improving production efficiency in the factory.

[0033] The control condition table is rewritten based on preset rules, based on the actual variation (or offset to the control value) of the work tool 22 and the actual state of the work tool 22. In this way, updating the control condition table based on preset rules can be performed even by a computing device with very low computing power, and this is highly effective in reducing the computing power required for rewriting.

[0034] Furthermore, with the working robot system 1 according to the first embodiment, the control condition table that is used in common by a plurality of work target locations can be updated to improve work accuracy. With the working robot system 1 according to the first embodiment, the control condition table can be updated to improve work accuracy even when the same work tool 22 is used to work on other work target locations. As a result, with the working robot system 1 according to the first embodiment, the calculation load required to improve work accuracy can be reduced.

[0035] Furthermore, in the work robot system 1 according to the first embodiment, the effect of improving the processing accuracy using the work performance on one work target area can be obtained on other work target areas, thereby making it possible to increase the efficiency of improving the work accuracy of the entire process.

[0036] Embodiment 2 In the second embodiment, a different form of the operation procedure according to the first embodiment will be described. In the description of the second embodiment, the contents described in the first embodiment will be denoted by the same reference numerals as in the first embodiment, and the description thereof will be omitted.

[0037] Fig. 3 is a flowchart explaining the operation of the information processing system according to the embodiment 2. As shown in Fig. 4, in the information processing system according to the embodiment 3, when the absolute value of the difference is less than a preset threshold value, the control condition table rewriting process is skipped (step S10).

[0038] 3, the procedure according to the second embodiment is obtained by adding step S10 to the procedure according to the first embodiment. Step S10 is a skip process for skipping the control condition table rewriting process when the absolute value of the difference is less than a preset threshold value.

[0039] In this way, when the absolute value of the difference is small, the tool control condition table is not updated, thereby suppressing updates to the tool control condition table caused by small fluctuations in the work execution data, and it is possible to stabilize the tool control condition data and work accuracy. Also, by preventing updates to the tool control condition data when the absolute value of the difference is small, it is possible to reduce the amount of calculation and time required to update the tool control condition data.

[0040] Third embodiment In the third embodiment, a different form of the operation procedure according to the first embodiment will be described. In the description of the third embodiment, the contents described in the first embodiment will be denoted by the same reference numerals as in the first embodiment, and the description thereof will be omitted.

[0041] Fig. 4 is a flowchart for explaining the operation of the information processing system according to the third embodiment. As shown in Fig. 4, the information processing system according to the third embodiment has a difference statistical value calculation process (steps S20 to S22) for calculating a difference statistical value by performing statistical processing on the accumulated operation deviation data when the accumulated amount of the operation deviation data becomes equal to or exceeds a predetermined number, and in a control condition table rewriting process (step S23), the absolute value of the difference statistical value is applied instead of the absolute value of the difference, and the control condition table is rewritten so that the absolute value of the difference statistical value becomes a preset value.

[0042] As shown in FIG. 4, the procedure according to the third embodiment is obtained by adding steps S20, S21, and S22 to the procedure according to the first embodiment, and by replacing step S6 with step S23.

[0043] In step S20, the operation deviation data calculated in step S5 is accumulated. Then, in step S21, the process from performing the operation in step S3 to accumulating the operation deviation data in step S20 is repeated until the amount of accumulated operation deviation data in step S20 becomes equal to or greater than a specified number. Then, after the amount of accumulated operation deviation data becomes equal to or greater than the specified number, in step S22, a difference statistical value calculation process is performed in which statistical processing is performed on the accumulated operation deviation data to calculate a difference statistical value. Then, in the operation procedure according to the third embodiment, in the control condition table rewriting process (step S23) that replaces step S6, the absolute value of the difference statistical value is applied instead of the absolute value of the difference, and the control condition table is rewritten so that the absolute value of the difference statistical value becomes a preset value.

[0044] Here, the specified number in step S21 may be, for example, the number of products included in one lot in a mass production process, or an arbitrarily set number. Also, the statistical processing in step S22 may be, for example, the average value, weighted average, or filter processing for suppressing value fluctuations of the operational deviation data.

[0045] From the above explanation, according to the operation procedure of the third embodiment, the control condition table is rewritten so that the difference statistical value obtained by performing statistical processing on the accumulated operation deviation data becomes a preset value. As a result, the operation procedure of the third embodiment enables the stable operation of the control condition table with reduced influence of fluctuations in the operation deviation data that are considered to be noise components.

[0046] The present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit and scope of the present invention. For example, a person skilled in the art can easily conceive of implementing the present invention by appropriately combining the features described in each embodiment.

[0047] Finally, the embodiment of the present invention will be summarized with reference to the drawings etc. As shown in Figs. 1 to 7, the embodiment of the present invention will be described as follows.

[0048] (Appendix 1) An attribute data extraction process (S1) for extracting attribute data from three-dimensional model data of a work object; a tool control condition generation process (S2) for determining tool control condition data corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of a work tool is predefined; a work deviation data calculation process (S5) for calculating work execution data indicating a difference between work execution data obtained from a result of an actual work performed on the work object by applying the tool control condition data and preset reference data; a control condition table rewriting process (S6) for rewriting the control condition table so that the absolute value of the difference indicated by the work deviation data becomes a preset value; An information processing system comprising at least one computing device configured to perform the steps of:

[0049] (Appendix 2) 2. The information processing system according to claim 1, wherein the control condition table is used in common for a plurality of work locations.

[0050] (Appendix 3) The information processing system according to claim 1, wherein, when an absolute value of the difference is less than a preset threshold value, the control condition table rewriting process is skipped.

[0051] (Appendix 4) A difference statistical value calculation process (S20 to S22) is provided to perform statistical processing on the accumulated operation deviation data to calculate a difference statistical value in response to an accumulation amount of the operation deviation data becoming equal to or greater than a predetermined number, The information processing system according to claim 1, wherein in the control condition table rewriting process (S23), the absolute value of the difference statistical value is applied instead of the absolute value of the difference, and the control condition table is rewritten so that the absolute value of the difference statistical value becomes a preset value.

[0052] (Appendix 5) The work execution data is an operation parameter obtained by measuring the work tool during an actual work, 5. The information processing system according to claim 1, wherein the reference data is an initial value of a control condition set in the control condition table.

[0053] (Appendix 6) The work execution data is actual point cloud data obtained by measuring the work object after an actual work, and expressing a shape of the work object using point information; 6. The information processing system according to claim 1, wherein the reference data is master point cloud data generated from the three-dimensional model data and expressing the shape of the work object using point information.

[0054] (Appendix 7) An attribute data extraction process (S1) for extracting attribute data from three-dimensional model data of a work object; a tool control condition generation process (S2) for determining tool control condition data corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of a work tool is predefined; a work deviation data calculation process (S5) for calculating work execution data indicating a difference between work execution data obtained from a result of an actual work performed on the work object by applying the tool control condition data and preset reference data; a control condition table rewriting process (S6) for rewriting the control condition table so that the absolute value of the difference indicated by the work deviation data becomes a preset value; An information processing program that causes a computing device to execute the above.

[0055] (Appendix 8) 1. An information processing method for correcting tool control condition data applied to control of a work tool using a computer based on data acquired during actual work, comprising: Attribute data is extracted from the three-dimensional model data of the work object (S1); determining tool control condition data corresponding to the attribute data by referring to a control condition table in which the relationship between the attribute data and the control conditions of the work tool is predefined (S2); Calculating work deviation data indicating a difference between work execution data obtained from the result of the actual work performed on the work object by applying the tool control condition data and preset reference data (S5); The control condition table is rewritten so that the absolute value of the difference indicated by the operational deviation data becomes a preset value (S6). Information processing methods. [Explanation of symbols]

[0056] 1. Working robot system 10. Computers 20 Working Robot 21 Robot Arm 22 Work Tools 23 Working part sensor

Claims

1. An attribute data extraction process for extracting attribute data from the three-dimensional model data of the work object; a tool control condition generation process for determining tool control condition data corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of a work tool is predefined; a work deviation data calculation process for calculating work execution data indicating a difference between work execution data obtained from a result of an actual work performed on the work object by applying the tool control condition data and preset reference data; a control condition table rewriting process for rewriting the control condition table so that the absolute value of the difference indicated by the operation deviation data becomes a preset value; An information processing system comprising at least one computing device configured to perform the steps of:

2. The information processing system according to claim 1 , wherein the control condition table is used in common for a plurality of work locations.

3. 2. The information processing system according to claim 1, wherein the control condition table rewriting process is skipped when the absolute value of the difference is less than a preset threshold value.

4. a difference statistical value calculation process for calculating a difference statistical value by performing statistical processing on the accumulated operation deviation data in response to an accumulation amount of the operation deviation data becoming equal to or greater than a predetermined number; 2. The information processing system according to claim 1, wherein in the control condition table rewriting process, an absolute value of the difference statistical value is applied in place of the absolute value of the difference, and the control condition table is rewritten so that the absolute value of the difference statistical value becomes a preset value.

5. The work execution data is an operation parameter obtained by measuring the work tool during an actual work, The information processing system according to claim 1 , wherein the reference data is an initial value of the control condition set in the control condition table.

6. The work execution data is obtained by measuring the work object after an actual work, and is actual object point cloud data in which a shape of the work object is expressed by point information; 2. The information processing system according to claim 1, wherein the reference data is master point cloud data that is generated from the three-dimensional model data and that expresses the shape of the work object with point information.

7. An attribute data extraction process for extracting attribute data from the three-dimensional model data of the work object; a tool control condition generation process for determining tool control condition data corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of a work tool is predefined; a work deviation data calculation process for calculating work execution data indicating a difference between work execution data obtained from a result of an actual work performed on the work object by applying the tool control condition data and preset reference data; a control condition table rewriting process for rewriting the control condition table so that the absolute value of the difference indicated by the operation deviation data becomes a preset value; An information processing program that causes a computing device to execute the above.

8. 1. An information processing method for correcting tool control condition data applied to control of a work tool using a computer based on data acquired during actual work, comprising: Extracting attribute data from the 3D model data of the work object; determining tool control condition data corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of the work tool is predefined; calculating work deviation data indicating a difference between work execution data obtained from a result of an actual work performed on the work object by applying the tool control condition data and preset reference data; rewriting the control condition table so that the absolute value of the difference indicated by the operation deviation data becomes a preset value; Information processing methods.

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