Information processing method, computer program, recording medium, information processing device, and processing device

Abstract

This information processing method includes: acquiring a difference model indicating a difference between an object model obtained by measuring a three-dimensional shape of an object and a target model indicating a target shape after processing of the object generated on the basis of the object model; measuring a processed object having been subjected to the processing on the basis of the difference model to acquire a post-processing model indicating a three-dimensional shape of at least a part of the processed object; and generating difference information on a difference between the difference model and the post-processing model.

Description

Information processing method, computer program, recording medium, information processing device and processing device

[0001] The present invention relates to the technical fields of an information processing method, a computer program, a recording medium, an information processing device, and a processing device.

[0002] An example of a processing device that processes an object is described in Patent Document 1. One of the technical challenges of such a processing device is to appropriately generate processing control information for controlling the processing of the object.

[0003] US Patent Application Publication No. 2018 / 0029298

[0004] According to a first aspect, an information processing method is provided, which includes: obtaining a differential model indicating the difference between an object model obtained by measuring the three-dimensional shape of an object and a target model generated based on the object model and indicating the target shape of the object after processing; measuring the object that has been processed based on the differential model as a processed object to obtain a processed model indicating the three-dimensional shape of at least a part of the processed object; and generating differential information regarding the difference between the differential model and the processed model.

[0005] According to a second aspect, there is provided a computer program that causes a computer to execute the information processing method provided by the first aspect described above.

[0006] According to a third aspect, there is provided a recording medium storing a computer program for causing a computer to execute the information processing method provided by the first aspect described above.

[0007] According to a fourth aspect, there is provided an information processing device that generates the display data using the information processing method provided by the first aspect described above.

[0008] According to the fifth aspect, a processing device is provided that performs at least one of removal processing and additional processing on the processed object based on the difference information generated by the information processing method provided by the first aspect described above.

[0009] According to a sixth aspect, there is provided an information processing method including: obtaining a differential model indicating the difference between an object model obtained by measuring the three-dimensional shape of an object and a target model indicating the target shape of the object after processing; measuring the object that has been processed based on the differential model as a processed object to obtain a processed model indicating the three-dimensional shape of at least a part of the processed object; and generating differential information regarding the difference between the differential model and the processed model.

[0010] According to a seventh aspect, there is provided an information processing method including: obtaining a target model indicating a target shape of an object after processing, the target model being generated based on an object model obtained by measuring the three-dimensional shape of the object; measuring the object that has been processed based on the object model and the target model as a processed object to obtain a processed model indicating the three-dimensional shape of at least a part of the processed object; and generating difference information regarding the difference between the target model and the processed model.

[0011] According to an eighth aspect, there is provided an information processing method including: acquiring a target model indicating a target shape of an object after processing; measuring the object that has been processed based on the object model and the target model as a processed object to obtain a processed model indicating the three-dimensional shape of at least a part of the processed object; and generating difference information regarding the difference between the target model and the processed model.

[0012] The functions and other advantages of the present invention will become apparent from the following detailed description of the preferred embodiments.

[0013] FIG. 1 is a block diagram showing the overall configuration of a processing system according to an embodiment. FIG. 2 is a block diagram showing the configuration of a processing apparatus according to an embodiment. FIG. 3 is a cross-sectional view showing the configuration of a processing apparatus according to an embodiment. FIG. 4 is a block diagram showing the configuration of a measurement system according to an embodiment. FIG. 5 is a block diagram showing the configuration of a control information generating device according to an embodiment. FIGS. 6(a) to 6(e) are cross-sectional views showing a state in which a certain area on a workpiece is irradiated with modeling light and a modeling material is supplied. FIGS. 7(a) to 7(c) are cross-sectional views showing a process of modeling a three-dimensional structure. FIG. 8(a) is a diagram schematically showing a reference model, and FIG. 8(b) is a diagram schematically showing an object model. FIG. 9(a) is a diagram schematically showing a reference model, FIG. 9(b) is a diagram schematically showing an object model, and FIG. 9(c) is a diagram schematically showing a differential model generated based on the reference model shown in FIG. 9(a) and the object model shown in FIG. 9(b). FIG. 10(a) is a diagram schematically showing a reference model when a workpiece is deformed as the workpiece is used, and FIG. 10(b) is a diagram schematically showing an object model when the workpiece is deformed as the workpiece is used. FIG. 11(a) is a diagram schematically showing a reference model when a workpiece is deformed as the workpiece is used, and FIG. 11(b) is a diagram schematically showing an object model when the workpiece is deformed as the workpiece is used. FIG. 11(c) is a diagram schematically showing a differential model generated based on the reference model shown in FIG. 11(a) and the object model shown in FIG. 11(b). FIG. 12 is a flowchart showing the flow of a control information generation operation according to an embodiment. FIG. 13 is a diagram schematically showing an undeformed reference model and a deformed reference model. FIG. 14 is a diagram schematically showing an undeformed reference model and a deformed reference model. FIG. 15(a) is a diagram schematically showing an undeformed reference model, and FIG. 15(b) is a diagram schematically showing a deformed reference model.FIG. 16( a) is a diagram schematically showing a reference model when a workpiece is deformed as the workpiece is used, FIG. 16( b) is a diagram schematically showing an object model when the workpiece is deformed as the workpiece is used, and FIG. 16( c) is a diagram schematically showing a differential model generated based on the reference model shown in FIG. 16( a) and the object model shown in FIG. 16( b). FIG. 17 is a flowchart showing the flow of a specific example of the operation of generating a deformed model by deforming the reference model in step S4 of FIG. 12. FIG. 18 is a diagram schematically showing an example of alignment between the reference model and the object model. FIG. 19 is a diagram schematically showing an example of a reference model in which each vertex is designated as one of a fixed vertex, a control vertex, and a dependent vertex. FIG. 20 is a diagram schematically showing an undeformed reference model and a deformed reference model. FIG. 21( a) is a diagram schematically showing an object model, and FIG. 21( b) is a diagram schematically showing a deformed object model. FIG. 22(a) is a diagram schematically showing a deformed object model, FIG. 22(b) is a diagram schematically showing an object model, and FIG. 22(c) is a diagram schematically showing a differential model generated based on the deformed object model shown in FIG. 22(a) and the object model shown in FIG. 22(b). FIG. 23 is a flowchart showing the flow of operations of the machining system according to the embodiment. FIG. 24(a) is a diagram showing an example of a reference model, FIG. 24(b) is a diagram showing an example of a machined model, and FIG. 24(c) is a diagram showing an example of a machined divided model. FIG. 25(a) is a diagram showing an example of a reference model, FIG. 25(b) is a diagram showing an example of a machined divided model, and FIG. 25(c) is a diagram showing an example of an object model. FIG. 26 is a diagram showing an example of an aligned machined divided model and object model. Fig. 27(a) is a diagram schematically showing a processed division model, Fig. 27(b) is a diagram schematically showing an object model, and Fig. 27(c) is a diagram schematically showing a processed portion model generated based on the processed division model shown in Fig. 27(a) and the object model shown in Fig. 27(b). Fig. 28 is a diagram showing an example of a difference point display image. Fig. 29 is a diagram showing an example of a point cloud cluster display image.FIG. 30(a) is a diagram schematically showing a machined portion model, FIG. 30(b) is a diagram schematically showing a differential model, and FIG. 30(c) is a diagram schematically showing a post-machining differential model generated based on the machined portion model shown in FIG. 30(a) and the differential model shown in FIG. 30(b). FIG. 30 is a diagram showing an example of a contour image. It is a conceptual diagram showing an example of how to calculate a difference amount. FIG. 33 is a diagram showing an example of an inspection information image showing information related to inspection. FIG. 34(a) is a diagram showing another example of a post-machining model, FIG. 34(b) is a diagram showing a portion of the post-machining model shown in FIG. 34(a), and FIG. 34(c) is a diagram showing an example of a jig model. FIG. 35(a) is a perspective view showing the structure of a holder not holding a workpiece, and FIG. 35(b) is a perspective view showing the structure of a holder actually holding a workpiece. FIG. 36 is a flowchart showing the flow of a calibration operation. FIG. 37 is a cross-sectional view showing an example of a base plate. FIG. 38(a) is a cross-sectional view showing a base plate machined by a processing device, and FIG. 38(b) is a top view showing a base plate machined by the processing device. FIG. 39(a) is a top view showing an example of a base plate, and FIG. 39(b) is a cross-sectional view showing an example of a base plate. FIGS. 40(a) and 40(c) are cross-sectional views showing a base plate on which multiple guide beams are irradiated, and FIGS. 40(b) and 40(d) are top views showing a base plate on which multiple guide beams are irradiated. FIG. 41 is a top view showing the positional relationship between the processing marks on the base plate and the reference portion of the holder. FIG. 42 is a cross-sectional view showing the positional relationship between the processing marks on the base plate and the reference portion of the holder. FIG. 43 is a flowchart showing the flow of a processing path generation operation. FIG. 44 shows a measurement model, a target model, and a processing model. FIG. 45 shows a measurement model, a target model, and a processing model.

[0014] Hereinafter, embodiments of an information processing method, a computer program, a recording medium, an information processing device, and a processing device will be described with reference to the drawings. Hereinafter, the embodiments of the information processing method, the computer program, a recording medium, an information processing device, and a processing device will be described using a processing system SYS capable of processing a workpiece W, which is an example of an object.

[0015] In the following description, a turbine blade constituting a turbine will be given as a specific example of at least one of the workpiece W and the shaped object. Examples of turbines include at least one of a power generation turbine and an aircraft engine turbine. At least one of the workpiece W and the shaped object may be at least one of (i) a propeller-shaped part, (ii) a body part for a vehicle such as an automobile, motorcycle, electric vehicle, or railcar, (iii) an engine part for an automobile engine, motorcycle engine, or aerospace engine, and (iv) a battery part for an electric vehicle.

[0016] (1) Configuration of Machining System SYS (1-1) Overall Configuration of Machining System SYS First, the overall configuration of the machining system SYS will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the overall configuration of the machining system SYS.

[0017] As shown in FIG. 1 , the processing system SYS includes a processing device 1, a measurement system 2, and a conveyance device 3. In the example shown in FIG. 1 , the processing system SYS includes a single processing device 1, but may include multiple processing devices 1. In this case, the number of measurement systems 2 may be fewer than the number of processing devices 1. The processing system SYS includes a single measurement system 2, but may include multiple measurement systems 2. In this case, the number of processing devices 1 may be fewer than the number of measurement systems 2. The processing system SYS includes a single conveyance device 3, but may include multiple conveyance devices 3. The conveyance device 3 may be, for example, an automatic guided vehicle (AGV), a robot, a belt conveyor, or the like. The conveyance device 3 may include an arm, a platform, a belt, a chain, or the like as a conveyance tool for conveying the workpiece W. The processing system SYS does not necessarily have to include the conveyance device 3.

[0018] The processing device 1 is capable of processing a workpiece W. In this embodiment, an example will be described in which the processing device 1 is a processing device that can process the workpiece W by irradiating the workpiece W with processing light EL (i.e., an energy beam in the form of light). However, the processing device 1 may also process the workpiece W without using the processing light EL.

[0019] The processing apparatus 1 is capable of performing additive processing on the workpiece W. In other words, the processing apparatus 1 is capable of forming a structure on the workpiece W by performing additive processing on the workpiece W. In this case, the processing apparatus 1 may form a structure that is integrated with or separable from the workpiece W by performing additive processing on the workpiece W. The structure formed by the processing apparatus 1 may refer to any object formed by the processing apparatus 1. For example, the processing apparatus 1 may form a three-dimensional structure ST (that is, a three-dimensional structure that has a size in all three-dimensional directions, a solid object, in other words, a structure that has a size in the X-axis direction, Y-axis direction, and Z-axis direction) as an example of a structure.

[0020] The processing apparatus 1 may perform additive processing using any additive processing method (i.e., a manufacturing method) capable of manufacturing a shaped object. Examples of additive processing methods include at least one of laser metal deposition (LMD), powder bed fusion (PBF) methods such as selective laser sintering (SLS), binder jetting, material jetting, stereolithography, and laser metal fusion (LMF). The laser build-up welding method may also be referred to as directed energy deposition (DED).

[0021] The workpiece W may be an item that has a missing portion and needs to be repaired. In this case, the processing device 1 may perform repair processing to repair (in other words, restore) the item that needs to be repaired by performing additional processing to form a shaped object to fill the missing portion. In other words, the additional processing performed by the processing device 1 may include additional processing to add a three-dimensional structure ST corresponding to the shaped object to fill the missing portion to the workpiece W. An example of an item that has a missing portion and needs to be repaired is a worn turbine blade.

[0022] The workpiece W may be a base for forming a three-dimensional structure ST. In this case, the processing device 1 may manufacture the three-dimensional structure ST from scratch by performing additional processing to form the three-dimensional structure ST on the workpiece W. As an example, the processing device 1 may manufacture a turbine blade from scratch by performing additional processing to form a three-dimensional structure ST corresponding to a turbine blade on the workpiece W.

[0023] The workpiece W may be an intermediate product produced in the process of forming a three-dimensional structure ST. In this case, the processing device 1 may perform additional processing on the workpiece W, which is an intermediate product of the three-dimensional structure ST, to complete the three-dimensional structure ST, thereby producing the three-dimensional structure ST from the intermediate product. As an example, the processing device 1 may perform additional processing on the workpiece W, which is an intermediate product of a turbine blade, to complete the turbine blade, thereby producing a finished turbine blade from the intermediate product of the turbine blade.

[0024] The processing device 1 may be capable of performing removal processing on the workpiece W in addition to or instead of performing additional processing. That is, the processing device 1 may be capable of performing removal processing to remove a part of the workpiece W. Note that, in addition to or instead of performing removal processing on the workpiece W, the processing device 1 may perform removal processing on a shaped object formed on the workpiece W by the processing device 1. Furthermore, an item requiring repair may be repaired by performing removal processing. This repair by removal processing may be combined with repair by additional processing.

[0025] The measurement system 2 measures the workpiece W before the processing device 1 actually starts processing the workpiece W. In this embodiment, the measurement system 2 measures the three-dimensional shape of the workpiece W. Once the three-dimensional shape of the workpiece W is determined, the position of the workpiece W in three-dimensional space in the measurement coordinate system of the measurement system 2 (for example, the position of the surface of the workpiece W) can be determined. For this reason, measuring the three-dimensional shape of the workpiece W is essentially equivalent to measuring the position of the workpiece W.

[0026] The measurement system 2 further generates processing control information. The processing control information is control information used to control the processing device 1 to process the workpiece W. For example, the processing control information may include processing path information. The processing path information may indicate a target irradiation position to which the processing light EL should be irradiated in order to process the workpiece W. Specifically, the processing path information may indicate a target movement path, which is a path to a target irradiation position to which the processing light EL should be irradiated in order to process the workpiece W. This target movement path may be referred to as a processing path or a tool path. In this case, the measurement system 2 may generate a G-code indicating the processing path or tool path as the processing control information. The measurement system 2 may generate a file with an extension ".gcode" or ".gco" as the processing control information. The processing control information generated by the measurement system 2 is transmitted from the measurement system 2 to the processing device 1 via a communication network (not shown).

[0027] The processing device 1 receives (i.e., acquires) processing control information transmitted from the measurement system 2. The processing device 1, which has received the processing path information, processes the workpiece W based on the received processing control information. Therefore, after the measurement system 2 measures the three-dimensional shape of the workpiece W, the workpiece W is transported from the measurement system 2 to the processing device 1. Specifically, the workpiece W is removed from the measurement system 2, and the removed workpiece W is transported to the processing device 1. For example, the workpiece W may be transported from the measurement system 2 to the processing device 1 by the transport device 3. Note that the workpiece W may be transported from the measurement system 2 to the processing device 1 by a user of the processing system SYS (in other words, by means other than the transport device 3). The workpiece W transported to the processing device 1 is installed (in other words, placed or attached) on the processing device 1. As a result, the processing device 1 can process the workpiece W.

[0028] 1, the processing system SYS includes a processing device 1 and a measurement system 2, which are separate devices. However, the processing system SYS may include a device in which the processing device 1 and the measurement system 2 are integrated. In other words, the processing device 1 and the measurement system 2 may be integrated.

[0029] The machining system SYS may further include a control server 4. However, the machining system SYS does not necessarily have to include the control server 4.

[0030] The control server 4 may control the operation of the entire processing system SYS. For example, the control server 4 may control the operation of the processing device 1. For example, the control server 4 may control the operation of the measurement system 2. For example, the control server 4 may control the operation of the transport device 3.

[0031] The control server 4 may function as a cloud server. In this case, the control server 4 may be able to communicate with at least one of the processing apparatus 1, the measurement system 2, and the transport apparatus 3 via a communication network including the Internet. Alternatively, the control server 4 may function as an edge server. In this case, the control server 4 may be able to communicate with at least one of the processing apparatus 1, the measurement system 2, and the transport apparatus 3 via a communication network including an intranet or a local area network.

[0032] The machining system SYS may include a first computer that controls the machining apparatus 1 as part of the machining apparatus 1, in addition to or instead of the control server 4 that controls the machining apparatus 1. That is, the machining apparatus 1 may include the first computer. The first computer may be a laptop computer or another type of computer such as a desktop computer. The first computer may function as a control device 17 (see FIG. 2 ) described later. The machining system SYS may include a second computer that controls the measurement system 2 as part of the measurement system 2, in addition to or instead of the control server 4 that controls the measurement system 2. That is, the measurement system 2 may include the second computer. The second computer may be a laptop computer or another type of computer such as a desktop computer. The second computer may function as a control information generating device 22 (see FIG. 4 ) described later. The machining system SYS may include a third computer that controls the transport apparatus 3 as part of the transport apparatus 3, in addition to or instead of the control server 4 that controls the transport apparatus 3. That is, the transport apparatus 3 may include the third computer. The third computer may be a laptop computer or another type of computer such as a desktop computer.

[0033] (1-2) Configuration of Processing Apparatus 1 Next, the configuration of the processing apparatus 1 will be described with reference to Fig. 2 and Fig. 3. Fig. 2 is a block diagram showing the system configuration of the processing apparatus 1. Fig. 3 is a cross-sectional view showing the configuration of the processing apparatus 1.

[0034] In the following description, the positional relationships of the various components constituting the processing apparatus 1 will be described using an XYZ Cartesian coordinate system defined by mutually orthogonal X, Y, and Z axes as the processing coordinate system. For ease of explanation, the X-axis and Y-axis directions are each assumed to be horizontal (i.e., a predetermined direction within a horizontal plane), and the Z-axis direction is assumed to be vertical (i.e., a direction perpendicular to the horizontal plane, essentially an up-down direction). Furthermore, the rotation directions around the X-axis, Y-axis, and Z-axis (in other words, tilt directions) are referred to as the θX direction, θY direction, and θZ direction, respectively. Here, the Z-axis direction may be the direction of gravity. Furthermore, the XY plane may be assumed to be horizontal.

[0035] In addition, in the following description, for convenience of explanation, a configuration of a processing device 1 that performs additional processing will be described as an example of the configuration of the processing device 1. In particular, in the following description, a configuration of a processing device 1 that performs additional processing using a laser build-up welding method will be described as an example of the configuration of the processing device 1.

[0036] The processing device 1, which performs additive processing using the laser build-up welding method, performs additive processing by processing a modeling material M using processing light EL. The modeling material M is a material that can be melted by irradiation with processing light EL of a predetermined intensity or higher. For example, at least one of a metallic material and a resinous material can be used as the modeling material M. However, materials other than metallic materials and resinous materials may also be used as the modeling material M. The modeling material M is a powdered or granular material. In other words, the modeling material M is a powdered or granular material. However, the modeling material M does not have to be a powdered or granular material. For example, at least one of a wire-shaped modeling material and a gaseous modeling material may be used as the modeling material M.

[0037] A processing apparatus 1 that performs additive processing using laser build-up welding sequentially forms multiple structural layers SL (see FIG. 7 , which will be described later) to form a three-dimensional structure ST in which multiple structural layers SL are stacked. In this case, the processing apparatus 1 first sets the surface of the workpiece W as a printing surface MS on which the object will actually be printed, and prints the first structural layer SL on the printing surface MS. The processing apparatus 1 then sets the surface of the first structural layer SL as a new printing surface MS, and prints the second structural layer SL on the printing surface MS. Thereafter, the processing apparatus 1 repeats the same operations to form a three-dimensional structure ST in which multiple structural layers SL are stacked.

[0038] 2 and 3 , the processing apparatus 1 includes a material supply source 11, a processing unit 12, a stage unit 13, a light source 15, a gas supply source 16, and a control device 17. The processing unit 12 and the stage unit 13 may be housed in a chamber space 183IN inside a housing 18. Note that at least one of the processing unit 12 and the stage unit 13 does not have to be housed in the chamber space 183IN inside the housing 18.

[0039] The material supply source 11 supplies the molding material M to the processing unit 12. The material supply source 11 supplies a desired amount of the molding material M according to the required amount so that the amount of the molding material M required per unit time for performing additive processing is supplied to the processing unit 12.

[0040] The processing unit 12 processes the modeling material M supplied from the material supply source 11 to form a model. To form the model, the processing unit 12 includes a processing head 121 and a head drive system 122. The processing head 121 further includes an irradiation optical system 1211 and a material nozzle 1212. In the example shown in FIGS. 2 and 3 , the processing head 121 includes a single irradiation optical system 1211, but the processing head 121 may include multiple irradiation optical systems 1211. In the example shown in FIGS. 2 and 3 , the processing head 121 includes a single material nozzle 1212, but the processing head 121 may include multiple material nozzles 1212.

[0041] The irradiation optical system 1211 is an optical system (e.g., a focusing optical system) for emitting the processing light EL. Specifically, the irradiation optical system 1211 is optically connected to the light source 15 that emits the processing light EL via an optical transmission member 151 such as an optical fiber or a light pipe. The irradiation optical system 1211 emits the processing light EL propagated from the light source 15 via the optical transmission member 151. The irradiation optical system 1211 irradiates the processing light EL downward (i.e., toward the -Z side) from the irradiation optical system 1211. A stage 131 is disposed below the irradiation optical system 1211. When a workpiece W is placed on the stage 131, the irradiation optical system 1211 irradiates the emitted processing light EL onto the workpiece W. In this case, the irradiation optical system 1211 irradiates the processing light EL from above the workpiece W toward the workpiece W. Specifically, the irradiation optical system 1211 can irradiate the processing light EL onto a target irradiation area EA that is set on or near the workpiece W as an area to be irradiated (typically, focused) with the processing light EL. Furthermore, under the control of the control device 17, the state of the irradiation optical system 1211 can be switched between a state in which the processing light EL is irradiated onto the target irradiation area EA and a state in which the processing light EL is not irradiated onto the target irradiation area EA.

[0042] The material nozzle 1212 supplies (e.g., injects, jets, spouts, or sprays) the modeling material M. The material nozzle 1212 is physically connected to the material supply source 11, which is a supply source of the modeling material M, via the supply pipe 111 and the mixer 112. The material nozzle 1212 supplies the modeling material M supplied from the material supply source 11 via the supply pipe 111 and the mixer 112. The material nozzle 1212 may pressure-feed the modeling material M supplied from the material supply source 11 via the supply pipe 111. That is, the modeling material M from the material supply source 11 and a conveying gas (i.e., a pressure-feed gas, for example, an inert gas such as nitrogen or argon) may be mixed in the mixer 112 and then pressure-feed to the material nozzle 1212 via the supply pipe 111. As a result, the material nozzle 1212 supplies the modeling material M together with the conveying gas. For example, a purge gas supplied from the gas supply source 16 is used as the conveying gas. However, the transport gas may be a gas supplied from a gas supply source different from the gas supply source 16. The material nozzle 1212 supplies the modeling material M downward (i.e., toward the -Z side) from the material nozzle 1212. A stage 131 is disposed below the material nozzle 1212. When a workpiece W is mounted on the stage 131, the material nozzle 1212 supplies the modeling material M toward the workpiece W or the vicinity of the workpiece W.

[0043] In this embodiment, the material nozzle 1212 supplies the modeling material M to the irradiation position of the processing light EL (i.e., the target irradiation area EA onto which the processing light EL from the irradiation optical system 1211 is irradiated). For this reason, the material nozzle 1212 and the irradiation optical system 1211 are aligned so that a target supply area MA, which is set on or near the workpiece W as the area onto which the material nozzle 1212 supplies the modeling material M, coincides with (or at least partially overlaps with) the target irradiation area EA. In this case, the modeling material M supplied from the material nozzle 1212 is irradiated with the processing light EL emitted by the irradiation optical system 1211. As a result, the modeling material M melts. That is, a molten pool MP containing the molten modeling material M is formed on the workpiece W.

[0044] The material nozzle 1212 may supply the forming material M to a molten pool MP formed by the processing light EL emitted from the irradiation optical system 1211. For example, the processing device 1 may melt the forming material M from the material nozzle 1212 using the irradiation optical system 1211 before the forming material M reaches the workpiece W, and then adhere the molten forming material M to the workpiece W.

[0045] The head drive system 122 moves the machining head 121 under the control of the control device 17. That is, the head drive system 122 moves the irradiation optical system 1211 and the material nozzle 1212 under the control of the control device 17. The head drive system 122 moves the machining head 121, for example, along at least one of the X-axis, Y-axis, Z-axis, θX direction, θY direction, and θZ direction. When the head drive system 122 moves the machining head 121, the relative positions of the machining head 121, the stage 131, and the workpiece W placed on the stage 131 change. As a result, the target irradiation area EA and the target supply area MA (and further, the molten pool MP) move relative to the workpiece W.

[0046] The stage unit 13 includes a stage 131 and a stage drive system 132 .

[0047] A workpiece W is placed on the stage 131. The stage 131 is capable of supporting the workpiece W placed on the stage 131. The stage 131 may be capable of holding the workpiece W placed on the stage 131. In this case, the stage 131 may be equipped with at least one of a mechanical chuck, an electrostatic chuck, a vacuum chuck, etc. to hold the workpiece W. Alternatively, the stage 131 may not be capable of holding the workpiece W placed on the stage 131. In this case, the workpiece W may be placed on the stage 131 in a clampless manner. Furthermore, the workpiece W may be attached to a holder such as a jig, or the holder to which the workpiece W is attached may be placed, supported, or held by the stage 131. The workpiece W does not have to be placed on the stage 131, and may be placed on the floor, for example.

[0048] The stage drive system 132 moves the stage 131 under the control of the control device 17. The stage drive system 132 moves the stage 131, for example, along at least one of the X-axis, Y-axis, Z-axis, θX direction, θY direction, and θZ direction. When the stage drive system 132 moves the stage 131, the relative positions of the stage 131 and the workpiece W placed on the stage 131, and the machining head 121 change. As a result, the target irradiation area EA and the target supply area MA (and further, the molten pool MP) move relative to the workpiece W.

[0049] The light source 15 emits, for example, at least one of infrared light, visible light, and ultraviolet light as the processing light EL. However, other types of light may be used as the processing light EL. The processing light EL may include multiple pulsed lights (i.e., multiple pulse beams). The processing light EL may include continuous light (CW: Continuous Wave). The processing light EL may be laser light. In this case, the light source 15 may include a laser light source (for example, a semiconductor laser such as a laser diode (LD: Laser Diode)). The laser light source may be a fiber laser, a CO ２ The light source 15 may include at least one of a laser, a YAG laser, an excimer laser, etc. However, the processing light EL does not have to be laser light. The light source 15 may include any light source (for example, at least one of an LED (Light Emitting Diode), a discharge lamp, etc.).

[0050] The gas supply source 16 is a supply source of purge gas for purging the chamber space 183IN inside the housing 18. The purge gas includes an inert gas. Examples of the inert gas include nitrogen gas and argon gas. The gas supply source 16 is connected to the chamber space 183IN via a supply port 182 formed in a partition member 181 of the housing 18 and a supply pipe 161 connecting the gas supply source 16 and the supply port 182. The gas supply source 16 supplies purge gas to the chamber space 183IN via the supply pipe 161 and the supply port 182. As a result, the chamber space 183IN becomes a space purged with the purge gas. The purge gas supplied to the chamber space 183IN may be exhausted from an exhaust port (not shown) formed in the partition member 181. The gas supply source 16 may be a cylinder containing an inert gas. When the inert gas is nitrogen gas, the gas supply source 16 may be a nitrogen gas generator that generates nitrogen gas using air as a raw material.

[0051] When the material nozzle 1212 supplies the modeling material M together with a purge gas, the gas supply source 16 may supply the purge gas to the mixer 112 to which the modeling material M is supplied from the material supply source 11. Specifically, the gas supply source 16 may be connected to the mixer 112 via a supply pipe 162 connecting the gas supply source 16 and the mixer 112. As a result, the gas supply source 16 supplies the purge gas to the mixer 112 via the supply pipe 162. In this case, the modeling material M from the material supply source 11 may be supplied (specifically, pressure-fed) through the supply pipe 111 toward the material nozzle 1212 by the purge gas supplied from the gas supply source 16 via the supply pipe 162. In other words, the gas supply source 16 may be connected to the material nozzle 1212 via the supply pipe 162, the mixer 112, and the supply pipe 111. In this case, the material nozzle 1212 supplies the modeling material M together with a purge gas for pumping the modeling material M.

[0052] The control device 17 controls the operation of the processing device 1. For example, the control device 17 may control the processing unit 12 (for example, at least one of the processing head 121 and the head drive system 122) provided in the processing device 1 so as to process the workpiece W. For example, the control device 17 may control the stage unit 13 (for example, the stage drive system 132) provided in the processing device 1 so as to process the workpiece W.

[0053] The control device 17 may include, for example, an arithmetic device and a storage device. The arithmetic device may include, for example, at least one of a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The storage device may include, for example, a memory. The control device 17 functions as a device that controls the operation of the machining device 1 by the arithmetic device executing a computer program. This computer program is a computer program for causing the arithmetic device to perform (i.e., execute) the operations to be performed by the control device 17, which will be described later. In other words, this computer program is a computer program for causing the control device 17 to function so as to cause the machining device 1 to perform the operations to be performed later. The computer program executed by the arithmetic device may be recorded in a storage device (i.e., a recording medium) included in the control device 17, or may be recorded in any storage medium (e.g., a hard disk or semiconductor memory) built into or externally attachable to the control device 17. Alternatively, the arithmetic device may download the computer program to be executed from a device external to the control device 17 via a network interface.

[0054] The control device 17 may control the emission mode of the processing light EL by the irradiation optical system 1211. The emission mode may include, for example, at least one of the intensity of the processing light EL and the emission timing of the processing light EL. When the processing light EL includes multiple pulsed lights, the emission mode may include, for example, at least one of the emission duration of the pulsed light, the emission cycle of the pulsed light, and the ratio between the emission duration of the pulsed light and the emission cycle of the pulsed light (so-called duty ratio). Furthermore, the control device 17 may control the movement mode of the processing head 121 by the head drive system 122. The control device 17 may control the movement mode of the stage 131 by the stage drive system 132. The movement mode may include, for example, at least one of the movement amount, movement speed, movement direction, and movement timing (movement time). Furthermore, the control device 17 may control the supply mode of the modeling material M by the material nozzle 1212. The supply mode may include, for example, at least one of the supply amount (particularly, the supply amount per unit time) and the supply timing (supply time).

[0055] The control device 17 does not have to be provided inside the processing apparatus 1. For example, the control device 17 may be provided as a server or the like outside the processing apparatus 1. In this case, the control device 17 and the processing apparatus 1 may be connected via a wired and / or wireless network (or a data bus and / or a communication line). The wired network may be a network using a serial bus interface, such as at least one of IEEE1394, RS-232x, RS-422, RS-423, RS-485, and USB. The wired network may be a network using a parallel bus interface. The wired network may be a network using an Ethernet (registered trademark) interface, such as at least one of 10BASE-T, 100BASE-TX, and 1000BASE-T. The wireless network may be a network using radio waves. An example of a network using radio waves is a network compliant with IEEE 802.1x (e.g., at least one of a wireless LAN and Bluetooth (registered trademark)). A network using infrared rays may be used as the wireless network. A network using optical communication may be used as the wireless network. In this case, the control device 17 and the processing device 1 may be configured to be able to transmit and receive various information via the network. The control device 17 may also be able to transmit information such as commands and control parameters to the processing device 1 via the network. The processing device 1 may include a receiving device that receives information such as commands and control parameters from the control device 17 via the network. The processing device 1 may also include a transmitting device (i.e., an output device that outputs information to the control device 17) that transmits information such as commands and control parameters to the control device 17 via the network. Alternatively, a first control device that performs part of the processing performed by the control device 17 may be provided inside the processing device 1, while a second control device that performs another part of the processing performed by the control device 17 may be provided outside the processing device 1.

[0056] A computational model that can be constructed by machine learning may be implemented in the control device 17 by the computation device executing a computer program. An example of a computational model that can be constructed by machine learning is a computational model including a neural network (so-called artificial intelligence (AI)). In this case, learning of the computational model may include learning of parameters of the neural network (e.g., at least one of a weight and a bias). The control device 17 may control the operation of the processing device 1 using the computational model. That is, the operation of controlling the operation of the processing device 1 may include the operation of controlling the operation of the processing device 1 using the computational model. Note that a computational model that has been constructed by offline machine learning using teacher data may be implemented in the control device 17. Furthermore, the computational model implemented in the control device 17 may be updated by online machine learning on the control device 17. Alternatively, the control device 17 may control the operation of the processing device 1 using a computational model implemented in a device external to the control device 17 (i.e., a device provided outside the processing device 1) in addition to or instead of the computational model implemented in the control device 17.

[0057] The recording medium for recording the computer program executed by the control device 17 may be at least one of the following: a CD-ROM, CD-R, CD-RW, a flexible disk, an MO, a DVD-ROM, a DVD-RAM, a DVD-R, a DVD+R, a DVD-RW, a DVD+RW, and an optical disk such as Blu-ray (registered trademark), a magnetic medium such as a magnetic tape, a magneto-optical disk, a semiconductor memory such as a USB memory, and any other medium capable of storing a program. The recording medium may also include a device capable of recording a computer program (for example, a general-purpose device or a dedicated device in which a computer program is implemented in an executable state in at least one form such as software or firmware). Furthermore, each process or function included in the computer program may be realized by a logical processing block realized within the control device 17 (i.e., the computer) when the control device 17 executes the computer program, or may be realized by hardware such as a predetermined gate array (FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit)) provided in the control device 17, or may be realized in a form that combines logical processing blocks and partial hardware modules that realize some elements of the hardware.

[0058] (1-3) Structure of Measurement System 2 Next, the configuration of the measurement system 2 will be described with reference to FIG. 4. FIG. 4 is a block diagram showing the configuration of the measurement system 2. As shown in FIG. 4, the measurement system 2 includes a shape measurement device 21 and a control information generation device 22. The shape measurement device 21 and the control information generation device 22 may operate under the control of a control device 17. The control device 17 shown in FIG. 4 may be a device different from the control device 17 of the machining system SYS shown in FIG. 2. Even if the control device 17 shown in FIG. 4 is a device different from the control device 17 shown in FIG. 2, the configuration of the control device 17 shown in FIG. 4 may be the same as the configuration of the control device 17 shown in FIG. 2.

[0059] The shape measuring device 21 is capable of measuring the three-dimensional shape of a measurement object. In this embodiment, as described above, the measurement system 2 measures the workpiece W before the processing device 1 actually starts processing the workpiece W. Therefore, the measurement object of the shape measuring device 21 may include the workpiece W. Note that the measurement system 2 may measure the holder that actually holds the workpiece W before the processing device 1 actually starts processing the workpiece W. Therefore, the measurement object of the shape measuring device 21 may include the holder that actually holds the workpiece W. In other words, the measurement object of the shape measuring device 21 may include the holder that actually holds the workpiece W and the workpiece W held by the holder.

[0060] The shape measurement device 21 may have any configuration as long as it can measure the three-dimensional shape of the measurement object. For example, the shape measurement device 21 may measure the three-dimensional shape of the measurement object using a pattern projection method or a light section method, in which a measurement light is irradiated onto the surface of the measurement object to project a light pattern onto the surface, and the shape of the projected pattern is measured. For example, the shape measurement device 21 may measure the three-dimensional shape of the measurement object using a time-of-flight method, in which a measurement light is projected onto the surface of the measurement object, the time it takes for the projected measurement light to return from the measurement object to the shape measurement device 21, and the distance to the measurement object based on this time are measured at multiple positions on the measurement object. For example, the shape measurement device 21 may measure the three-dimensional shape of the measurement object using at least one of a moire topography method (specifically, a grating projection method or a grating projection method), a holographic interferometry method, an autocollimation method, a stereo method, an astigmatism method, a critical angle method, and a knife-edge method. In this way, the shape measurement device 21 may perform optical shape measurement of the measurement object, or may perform non-contact measurement of the measurement object.

[0061] The shape measurement device 21 is not limited to a device that measures the three-dimensional shape of a measurement object stored in its housing. For example, the shape measurement device 21 may be attached to a robot arm so as to be movable around the measurement object.

[0062] An example of the configuration of the shape measurement device 21 is shown in Fig. 4. As shown in Fig. 4, the shape measurement device 21 includes a shape measurement head 211, a head drive system 212, a stage 213, and a stage drive system 214. However, the shape measurement device 21 does not necessarily have to include at least one of the head drive system 212 and the stage drive system 214.

[0063] The shape measuring head 211 is a measuring device capable of measuring the three-dimensional shape of a measurement object. For example, the shape measuring head 211 may measure the three-dimensional shape of the measurement object using at least one of a pattern projection method, a light section method, a time-of-flight method, a moire topography method (specifically, a grating illumination method or a grating projection method), a holographic interferometry method, an autocollimation method, a stereo method, an astigmatism method, a critical angle method, and a knife-edge method.

[0064] The head drive system 212 moves the shape measuring head 211. The head drive system 212 moves the shape measuring head 211, for example, along at least one of the X-axis, Y-axis, Z-axis, θX direction, θY direction, and θZ direction in the measurement coordinate system of the measurement system 2. When the head drive system 212 moves the shape measuring head 211, the positional relationship between the measurement range of the shape measuring head 211 and the measurement object changes. As a result, the shape measuring head 211 is more likely to be able to measure the three-dimensional shape of a portion of the measurement object whose three-dimensional shape could not be measured before the shape measuring head 211 moved. In other words, the blind spot of the shape measuring head 211 is narrowed or eliminated.

[0065] An object to be measured is placed on the stage 213. The stage 213 is capable of supporting the workpiece W placed on the stage 131. The stage 213 may be capable of holding the workpiece W placed on the stage 213. In this case, the stage 213 may be equipped with at least one of a mechanical chuck, an electrostatic chuck, a vacuum chuck, or the like in order to hold the workpiece W. Alternatively, the stage 213 may not be capable of holding the workpiece W placed on the stage 213. In this case, the workpiece W may be placed on the stage 213 in a clampless manner.

[0066] The stage drive system 214 moves the stage 213. The stage drive system 214 moves the stage 213, for example, along at least one of the X-axis, Y-axis, Z-axis, θX direction, θY direction, and θZ direction in the measurement coordinate system of the measurement system 2. When the stage drive system 214 moves the stage 213, the positional relationship between the measurement range of the shape measuring head 211 and the measurement target placed on the stage 213 changes. As a result, the blind spot of the shape measuring head 211 narrows or disappears, similar to when the shape measuring head 211 moves.

[0067] The control information generating device 22 generates processing control information. An example of the configuration of the control information generating device 22 capable of generating processing control information is shown in FIG. 5. As shown in FIG. 5, the control information generating device 22 includes a calculation device 221, a storage device 222, and a communication device 223. The control information generating device 22 may further include an input device 224 and an output device 225. However, the control information generating device 22 does not have to include at least one of the input device 224 and the output device 225. The calculation device 221, the storage device 222, the communication device 223, the input device 224, and the output device 225 may be connected via a data bus 226.

[0068] The arithmetic device 221 includes, for example, at least one of a CPU and a GPU. The arithmetic device 221 loads a computer program. For example, the arithmetic device 221 may load a computer program stored in the storage device 222. For example, the arithmetic device 221 may load a computer program stored in a computer-readable, non-transitory storage medium using a storage medium reading device (not shown). The arithmetic device 221 may acquire (i.e., download or read) the computer program from a device (not shown) located outside the control information generating device 22 via the communication device 223. That is, the arithmetic device 221 may acquire (i.e., download or read) the computer program stored in a storage device of a device (not shown) located outside the control information generating device 22 via the communication device 223. The arithmetic device 221 executes the loaded computer program. As a result, logical functional blocks for executing operations to be performed by the control information generating device 22 (e.g., operations for generating machining control information) are realized within the arithmetic device 221. That is, the arithmetic device 221 can function as a controller for realizing logical functional blocks for executing the operations to be performed by the control information generating device 22. In this case, any device (typically, a computer) that executes a computer program can function as the control information generating device 22.

[0069] Fig. 5 shows an example of logical functional blocks realized in the arithmetic device 221. As shown in Fig. 5, a control information generator 2211 is realized in the arithmetic device 221. The control information generator 2211 generates processing control information. The operation of generating the processing control information will be described in detail later.

[0070] A computational model that can be constructed by machine learning may be implemented in the computational device 221 by the computational device 221 executing a computer program. An example of a computational model that can be constructed by machine learning is a computational model including a neural network (so-called artificial intelligence (AI)). In this case, learning of the computational model may include learning of neural network parameters (e.g., at least one of weights and biases). The computational device 221 may generate processing control information using the computational model. The computational device 221 may be implemented with a computational model that has been constructed by offline machine learning using training data. The computational model implemented in the computational device 221 may also be updated by online machine learning on the computational device 221. Alternatively, the computational device 221 may control the operation of the processing device 1 using a computational model implemented in a device external to the computational device 221 (i.e., a device external to the control information generating device 22) in addition to or instead of the computational model implemented in the computational device 221.

[0071] The storage device 222 can store desired data. For example, the storage device 222 may temporarily store a computer program executed by the arithmetic device 221. The storage device 222 may temporarily store data that the arithmetic device 221 temporarily uses when the arithmetic device 221 is executing a computer program. The storage device 222 may store data that the control information generating device 22 stores long-term. The storage device 222 may include at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk device, a magneto-optical disk device, an SSD (Solid State Drive), and a disk array device. In other words, the storage device 222 may include a non-transitory recording medium.

[0072] The communication device 223 is capable of communicating with the processing device 1 via a communication network (not shown). In this embodiment, the communication device 223 is capable of transmitting the processing control information generated by the control information generating device 22 to the processing device 1.

[0073] The input device 224 is a device that accepts information input to the control information generating device 22 from outside the control information generating device 22. For example, the input device 224 may include an operation device that can be operated by a user (for example, at least one of a keyboard, a mouse, and a touch panel). For example, the input device 224 may include a reading device that can read information recorded as data on a recording medium that can be externally attached to the control information generating device 22. For example, the input device 224 may accept information input from a robot external to the control information generating device 22. For example, the input device 224 may accept information input from a computer external to the control information generating device 22.

[0074] The output device 225 is a device that outputs information to the outside of the control information generating device 22. For example, the output device 225 may output information as an image. That is, the output device 225 may include a display device (a so-called display) that can display an image showing the information to be output. For example, the output device 225 may output information as sound. That is, the output device 225 may include an audio device (a so-called speaker) that can output sound. For example, the output device 225 may output information on paper. That is, the output device 225 may include a printing device (a so-called printer) that can print desired information on paper.

[0075] The output device 225 may be attached to a robot. In this case, the robot to which the output device 225 is attached may output information to the outside of the control information generating device 22. For example, the robot to which the output device 225 is attached may output information as an image.

[0076] (2) Operation of the Machining System SYS Next, the operation performed by the machining system SYS will be described. In this embodiment, the machining system SYS may perform a machining operation for machining the workpiece W, mainly using the machining device 1. Furthermore, the machining system SYS may perform a control information generation operation for generating machining control information, mainly using the measurement system 2. Therefore, the machining operation and the control information generation operation will be described in order below.

[0077] (2-1) Processing Operation First, the processing operation will be described with reference to FIGS. 6 and 7. In particular, as an example of the processing operation, the additional processing operation performed by the processing apparatus 1 will be described. As described above, the processing apparatus 1 forms the three-dimensional structure ST using the laser build-up welding method. Therefore, the processing apparatus 1 may form the three-dimensional structure ST by performing an existing additional processing operation that complies with the laser build-up welding method. Below, a brief description will be given of an example of the processing operation for forming the three-dimensional structure ST using the laser build-up welding method.

[0078] In order to form a three-dimensional structure ST, the processing apparatus 1 sequentially forms, for example, a plurality of layered partial structures (hereinafter referred to as "structural layers") SL arranged along the Z-axis direction. For example, the processing apparatus 1 sequentially forms a plurality of structural layers SL obtained by slicing the three-dimensional structure ST along the Z-axis direction, one by one. As a result, a three-dimensional structure ST is formed, which is a layered structure in which a plurality of structural layers SL are stacked. Below, the flow of operations for forming a three-dimensional structure ST by sequentially forming a plurality of structural layers SL one by one will be described.

[0079] First, the operation of forming each structure layer SL will be described with reference to Figures 6(a) to 6(e). Under the control of the control device 17, the processing device 1 moves at least one of the processing head 121 and the stage 131 so that the target irradiation area EA is set in a desired area on the printing surface MS corresponding to the surface of the workpiece W or the surface of the printed structure layer SL. Then, the processing device 1 irradiates the target irradiation area EA with processing light EL from the irradiation optical system 1211. At this time, the focusing surface on which the processing light EL is focused in the Z-axis direction may coincide with the printing surface MS. Alternatively, the focusing surface may be offset from the printing surface MS in the Z-axis direction.

[0080] As a result, as shown in FIG. 6( a), a molten pool (i.e., a pool of metal or the like melted by the processing light EL) MP is formed on the printing surface MS irradiated with the processing light EL. Furthermore, under the control of the control device 17, the processing device 1 supplies the printing material M from the material nozzle 1212. As a result, the printing material M is supplied to the molten pool MP. The printing material M supplied to the molten pool MP is melted by the processing light EL irradiated onto the molten pool MP. Alternatively, the printing material M supplied from the material nozzle 1212 may be melted by the processing light EL before reaching the molten pool MP, and the molten printing material M may be supplied to the molten pool MP. Subsequently, when the processing light EL is no longer irradiated onto the molten pool MP due to the movement of at least one of the processing head 121 and the stage 131, the molten printing material M in the molten pool MP cools and solidifies (i.e., solidifies). As a result, as shown in FIG. 6( c), a molded object made of the solidified printing material M is deposited on the printing surface MS.

[0081] The processing apparatus 1 repeats a series of printing processes, including forming a molten pool MP by irradiating the processing light EL, supplying the printing material M to the molten pool MP, melting the supplied printing material M, and solidifying the molten printing material M, while moving the processing head 121 relative to the printing surface MS in at least one of the X-axis direction and the Y-axis direction, as shown in Fig. 6(d) . During this process, the processing apparatus 1 irradiates the printing surface MS with the processing light EL in an area on the printing surface MS where a desired object is to be printed, while not irradiating the printing surface MS with the processing light EL in an area on the printing surface MS where a desired object is not to be printed. In other words, the processing apparatus 1 moves the target irradiation area EA along a predetermined movement path on the printing surface MS, and irradiates the printing surface MS with the processing light EL at a timing that corresponds to the distribution of the area where a desired object is to be printed.

[0082] The movement path of the target irradiation area EA on the printing surface MS may be referred to as a processing path (in other words, a tool path). The above-mentioned processing control information includes information related to this processing path as processing path information. Therefore, the control information generating device 22 may generate processing control information including the processing path information. Based on the processing control information, the processing device 1 moves the target irradiation area EA along a predetermined movement path on the printing surface MS, and irradiates the printing surface MS with the processing light EL at a timing appropriate for the distribution of the area where the object is to be printed. Note that the processing path (tool path) may also be the movement path of the target supply area MA. Based on the processing control information, the processing device 1 may move the target supply area MA along a predetermined movement path on the printing surface MS. At this time, the printing material M may be supplied to the molten pool MP or the processing light EL at a timing appropriate for the distribution of the area where the object is to be printed, or the printing material M may be continuously supplied while the target supply area MA is moved. Here, the movement path of the target supply area MA and the movement path of the target irradiation area EA may be the same or different.

[0083] As a result, the molten pool MP also moves on the build surface MS along a movement path corresponding to the movement path of the target irradiation area EA. Specifically, the molten pool MP is sequentially formed on the build surface MS in the area along the movement path of the target irradiation area EA that is irradiated with the processing light EL. As a result, as shown in FIG. 6E , a structure layer SL corresponding to an object, which is an aggregate of melted and solidified build material M, is formed on the build surface MS. That is, a structure layer SL corresponding to an aggregate of objects formed on the build surface MS in a pattern corresponding to the movement path of the molten pool MP (i.e., a structure layer SL having a shape corresponding to the movement path of the molten pool MP in a planar view) is formed. Note that if the target irradiation area EA is set in an area where an object is not desired to be built, the processing apparatus 1 may irradiate the target irradiation area EA with the processing light EL and stop supplying the build material M. In addition, when a target irradiation area EA is set in an area where it is not desired to form a molded object, the processing device 1 may supply the molding material M to the target irradiation area EA and irradiate the target irradiation area EA with processing light EL of an intensity that will not create a molten pool MP.

[0084] The processing apparatus 1 repeatedly performs operations for forming such a structure layer SL under the control of the control device 17 based on processing control information. Specifically, the processing apparatus 1 first performs operations for forming a first structure layer SL#1 on a printing surface MS corresponding to the surface of the workpiece W based on processing control information (e.g., information regarding a processing path for forming the structure layer SL#1). As a result, the structure layer SL#1 is formed on the printing surface MS as shown in FIG. 7A. Thereafter, the processing apparatus 1 sets the surface (i.e., the upper surface) of the structure layer SL#1 as a new printing surface MS, and then forms a second structure layer SL#2 on the new printing surface MS. To form the structure layer SL#2, the control device 17 first controls at least one of the head drive system 122 and the stage drive system 132 so that the processing head 121 moves along the Z axis relative to the stage 131. Specifically, the control device 17 controls at least one of the head drive system 122 and the stage drive system 132 to move the processing head 121 toward the +Z side and / or the stage 131 toward the -Z side so that the target irradiation area EA is set on the surface of the structural layer SL#1 (i.e., the new printing surface MS). Then, under the control of the control device 17, the processing device 1 forms a structural layer SL#2 on the structural layer SL#1 based on the processing control information (e.g., processing path information for printing the structural layer SL#2) in the same manner as the operation for printing the structural layer SL#1. As a result, the structural layer SL#2 is printed as shown in FIG. 7( b). Thereafter, the same operation is repeated until all structural layers SL constituting the three-dimensional structure ST to be printed on the workpiece W are printed. As a result, as shown in FIG. 7( c), the three-dimensional structure ST is printed using a layered structure in which multiple structural layers SL are stacked.

[0085] (2-2) Control Information Generation Operation Next, the control information generation operation will be described.

[0086] (2-2-1) Overview of Control Information Generating Operation As described above, the measurement system 2 (particularly, the control information generating unit 2211 of the control information generating device 22) generates processing control information by performing a control information generating operation.

[0087] The control information generating unit 2211 may generate processing control information based on object information indicating the actual three-dimensional shape of the object, the workpiece W, that the processing device 1 is about to process.

[0088] An example of object information is measurement information indicating the measurement results of the three-dimensional shape of the workpiece W by the shape measuring device 21. In this case, in order to generate processing control information, the shape measuring device 21 may measure the three-dimensional shape of the workpiece W, and the control information generator 2211 may generate the processing control information based on the measurement information. When the processing apparatus 1 processes multiple workpieces W, the shape measuring device 21 may measure the three-dimensional shapes of each of the multiple workpieces W collectively or sequentially, and the control information generator 2211 may sequentially generate multiple pieces of processing control information to be used for processing the multiple workpieces W, respectively, based on the measurement information of the multiple workpieces W.

[0089] However, when the processing device 1 processes multiple workpieces W that are assumed to have the same characteristics (e.g., shape), the shape measurement device 21 does not need to measure the three-dimensional shapes of all of the multiple workpieces W in order to generate processing control information. For example, the shape measurement device 21 may measure the three-dimensional shape of one workpiece W among the multiple workpieces W, while not measuring the three-dimensional shapes of the remaining workpieces W among the multiple workpieces W. In this case, the control information generation unit 2211 may generate processing control information that is commonly used to process each of the multiple workpieces W, based on measurement information that indicates the measurement results of the three-dimensional shape of one workpiece W.

[0090] An example of multiple workpieces W assumed to have the same characteristics is multiple turbine blades attached to a rotor that constitutes a turbine and is rotatable around a rotation axis. Multiple turbine blades with the same characteristics are typically attached to the rotor. However, as the turbine is used, friction between the fluid and the turbine blades causes the turbine blades to wear. As a result, at least two of the multiple turbine blades that had the same characteristics before the turbine began to be used may have different characteristics (especially their shapes) due to the use of the turbine. However, even in this case, the amount of wear of the multiple turbine blades is likely to be approximately the same. As a result, at least two of the multiple turbine blades that had the same characteristics before the turbine began to be used may be considered to be approximately the same, even after the turbine has been used, although strictly speaking, they may be different. Furthermore, when repairing worn turbine blades, a portion of the worn portion of the turbine blade may be removed to make the shapes of the multiple turbine blades in need of repair approximately the same. In such cases, the shape measurement device 21 may measure the three-dimensional shape of one of the multiple worn turbine blades while not measuring the three-dimensional shapes of the remaining turbine blades. The control information generation unit 2211 may generate processing control information that can be commonly used to process (typically, repair) each of multiple worn turbine blades based on measurement information that indicates the measurement results of the three-dimensional shape of one turbine blade.

[0091] The object information may be any information as long as it can directly or indirectly indicate the actual three-dimensional shape of the workpiece W. For example, the object information may be point cloud information that indicates the actual three-dimensional shape of the workpiece W using multiple points. In this embodiment, an example is described in which an object model OM is used as object information. In other words, in this embodiment, an example is described in which model information indicating the object model OM is used as object information. The object model OM is a three-dimensional model that indicates the actual three-dimensional shape of the workpiece W. In other words, the object model OM is a three-dimensional model that has the same three-dimensional shape as the actual three-dimensional shape of the workpiece W. Examples of three-dimensional models include at least one of a wireframe model, a surface model, and a solid model. In this embodiment, an example is described in which a mesh model (typically a polygonal mesh model, the same applies hereinafter), which is a specific example of a surface model, is used as the object model OM. A mesh model is a three-dimensional model that represents the three-dimensional shape of an object using vertices, edges, and faces. A mesh model is a three-dimensional model that represents the three-dimensional shape of an object using multiple meshes (in other words, facets or computational grids) having polygonal shapes.

[0092] The object model OM may be generated based on measurement information indicating the measurement results of the three-dimensional shape of the workpiece W by the shape measuring device 21. In other words, the object model OM may be generated based on the measurement results of the three-dimensional shape of the workpiece W by the shape measuring device 21. In this case, the control information generator 2211 may generate the object model OM based on the measurement information. Alternatively, a device different from the control information generator 2211 (for example, the shape measuring device 21) may generate the object model OM based on the measurement information.

[0093] Alternatively, the object model OM may be generated without using measurement information indicating the measurement results of the three-dimensional shape of the workpiece W by the shape measurement device 21. For example, the control information generation unit 2211 (or a device different from the control information generation unit 2211, the same applies hereinafter in this paragraph) may estimate the actual three-dimensional shape of the workpiece W based on events that affect the three-dimensional shape of the workpiece W, and generate the object model OM based on the estimation results. In other words, the control information generation unit 2211 may generate a three-dimensional model indicating the estimated three-dimensional shape as the object model OM. In this case, the control information generation unit 2211 may estimate the actual three-dimensional shape of the workpiece W using a computational model that can be constructed by machine learning (e.g., a computational model including a neural network (so-called artificial intelligence (AI))). Alternatively, a user of the machining system SYS may estimate the actual three-dimensional shape of the workpiece W based on events that affect the three-dimensional shape of the workpiece W, and generate the object model OM based on the estimation results. In other words, the user may generate a three-dimensional model indicating the estimated three-dimensional shape as the object model OM. Alternatively, the control information generating unit 2211 may generate the object model OM based on the result of estimation of the actual three-dimensional shape of the workpiece W by the user.

[0094] An example of an event that affects the three-dimensional shape of the workpiece W is the environment in which the workpiece W is used. Another example of an event that affects the three-dimensional shape of the workpiece W is the force applied to the workpiece W under the conditions in which the workpiece W is used. Another example of an event that affects the three-dimensional shape of the workpiece W is the period of time the workpiece W is used. For example, if the workpiece W is the above-mentioned turbine blade, an example of an event that affects the three-dimensional shape of the turbine blade is at least one of the environment in which the turbine blade is used, the force applied to the turbine blade, and the period of time the turbine blade is used. In this case, the control information generation unit 2211, a device different from the control information generation unit 2211, or a user may estimate the amount of wear of the turbine blade (i.e., the missing portion of the turbine blade) based on the event that affects the three-dimensional shape of the turbine blade, and estimate the actual three-dimensional shape of the turbine blade based on the estimated amount of wear.

[0095] A three-dimensional model represented by a file representing CAD (Computer Aided Design) data may be used as the object model OM. Examples of files representing CAD data include at least one of a file with an extension "DWF," a file with an extension "DXF," a file with an extension "DWG," and a file with an extension "STP." When a mesh model is used as the object model OM, a three-dimensional model represented by a file with an extension "STL" may be used as the object model OM.

[0096] In addition to or instead of the object information described above, the control information generator 2211 may generate the processing control information based on reference information indicating a target shape of the workpiece W. In other words, the control information generator 2211 may generate the processing control information based on reference information indicating a designed or ideal three-dimensional shape of the workpiece W.

[0097] The reference information may be any information as long as it can directly or indirectly indicate the target shape of the workpiece W. For example, the reference information may be point cloud information that indicates the target shape of the workpiece W using a plurality of points. In this embodiment, an example will be described in which a reference model RM is used as reference information. In other words, in this embodiment, an example will be described in which model information indicating the reference model RM is used as reference information. The reference model RM is a three-dimensional model that indicates the target shape of the workpiece W. In other words, the reference model RM is a three-dimensional model that has the same three-dimensional shape as the target shape of the workpiece W. In this embodiment, an example will be described in which a mesh model, which is a specific example of a surface model, is used as the reference model RM.

[0098] A CAD model of a workpiece W having a target shape may be used as the reference model RM. A three-dimensional model generated based on information obtained by actually measuring the three-dimensional shape of a workpiece W having a target shape may be used as the reference model RM. In this case, a three-dimensional model indicated by a file indicating CAD data may be used as the reference model RM. Examples of files indicating CAD data include at least one of a file with an extension DWF, a file with an extension DXF, a file with an extension DWG, and a file with an extension STP. When a mesh model is used as the reference model RM, a three-dimensional model indicated by a file with an extension STL may be used as the reference model RM.

[0099] Here, as shown in FIGS. 8( a) and 8(b), which respectively schematically illustrate a reference model RM and an object model OM, the target shape of the workpiece W represented by the reference model RM (i.e., the design or ideal three-dimensional shape of the workpiece W) typically differs from the actual three-dimensional shape of the workpiece W represented by the object model OM. For example, as described above, if a defective part requiring repair is used as the workpiece W, as shown in FIG. 8(b), the object model OM represents the three-dimensional shape of the workpiece W that has been partially damaged due to use of the workpiece W, while as shown in FIG. 8(a), the reference model RM represents the three-dimensional shape of the workpiece W without any defects. In other words, the object model OM represents the three-dimensional shape of the workpiece W after actual use, while the reference model RM represents the three-dimensional shape of the workpiece W before it was actually used. As an example, if the workpiece W is a turbine blade with a worn portion, the object model OM represents the three-dimensional shape of the worn turbine blade, while the reference model RM represents the three-dimensional shape of the unworn turbine blade. That is, the object information indicates the three-dimensional shape of the turbine blade after it has actually been used as a turbine component, while the reference information indicates the three-dimensional shape of the turbine blade before it has actually been used as a turbine component. In other words, the object information indicates the three-dimensional shape of a used turbine blade, while the reference information indicates the three-dimensional shape of an unused turbine blade. Therefore, when a portion of the workpiece W is lost (e.g., worn) as the workpiece W is used, the target shape of the workpiece W indicated by the reference model RM usually differs from the actual three-dimensional shape of the workpiece W indicated by the object model OM. Note that because the reference model RM indicates the target shape of the workpiece W, the reference model RM may also be referred to as a target model.

[0100] In this embodiment, "use of the workpiece W" may include using the workpiece W in a manner suited to the intended use of the workpiece W. When the workpiece W is used as a component of a product, "use of the workpiece W" may include using a product including the workpiece W in a manner suited to the intended use of the product. For example, when the workpiece W includes a turbine blade, "use of the turbine blade" may include using a turbine including the turbine blade in a manner suited to the intended use of the turbine.

[0101] Furthermore, considering that a situation in which a portion of the workpiece W is lost (e.g., worn) due to use of the workpiece W as described above is an example of a situation in which the machining system SYS of this embodiment is used, "use of the workpiece W" may include use of the workpiece W that causes loss of a portion of the workpiece W. For example, "use of the workpiece W" may include use of the workpiece W for a long period of time that causes loss of a portion of the workpiece W. Therefore, an actually used workpiece W may include a workpiece W that has been used long enough to cause loss of a portion of the workpiece W. On the other hand, a workpiece W before actual use may include a workpiece W that has been used but not long enough to cause loss of a portion of the workpiece W. For example, a workpiece W before actual use may include use of the workpiece W for a short period of time that does not cause loss of a portion of the workpiece W (e.g., a test run of the workpiece W or a product including the workpiece W). Of course, a workpiece W before actual use may literally include a workpiece W that has not yet been used. For example, a workpiece W before actual use may include a workpiece W before it is shipped as a product or part. For example, a workpiece W before actual use may include a workpiece W in the design stage.

[0102] The reference model RM may be generated based on the measurement results of the three-dimensional shape of the workpiece W before it is actually used. In this case, the shape measuring device 21 (or a device different from the shape measuring device 21, the same applies hereinafter in this paragraph) measures the three-dimensional shape of the workpiece W before it is actually used, and the reference model RM may be generated based on the measurement results of the shape measuring device 21. Alternatively, the reference model RM may be generated based on CAD data or the like that indicates the designed three-dimensional shape of the workpiece W.

[0103] In this embodiment, the control information generator 2211 generates processing control information based on both the object model OM, which is an example of object information, and the reference model RM, which is an example of reference information. Specifically, as described above, the reference model RM indicates the target shape of the workpiece W, and the object model OM indicates the actual three-dimensional shape of the workpiece W. In this case, the difference between the reference model RM and the object model OM corresponds to a three-dimensional model indicating the three-dimensional shape of the object (i.e., the three-dimensional structure ST) to be formed by the processing apparatus 1 performing additive processing. Therefore, the control information generator 2211 may generate a three-dimensional model corresponding to the difference between the reference model RM and the object model OM as a differential model DM indicating the three-dimensional shape of the three-dimensional structure ST to be formed by the processing apparatus 1 performing additive processing. The differential model DM is typically a three-dimensional model corresponding to a portion of the reference model RM. 9(a) schematically illustrates a reference model RM, FIG. 9(b) schematically illustrates an object model OM, and FIG. 9(c) schematically illustrates a differential model DM generated based on the reference model RM shown in FIG. 9(a) and the object model OM shown in FIG. 9(b). The control information generator 2211 may then generate processing control information based on the differential model DM. For example, the control information generator 2211 may perform a slicing process to divide the differential model DM into multiple layered models at a layering pitch corresponding to the thickness of the structural layer SL, thereby generating multiple slice data corresponding to each of the multiple structural layers SL that constitute the three-dimensional structure ST. The control information generator 2211 may then generate multiple pieces of processing control information used to form each of the multiple structural layers SL based on the multiple slice data.

[0104] A three-dimensional model represented by a file representing CAD data may be used as the differential model DM. Examples of files representing CAD data include at least one of a file with an extension "DWF," a file with an extension "DXF," a file with an extension "DWG," and a file with an extension "STP." When a mesh model is used as the differential model DM, a three-dimensional model represented by a file with an extension "STL" may be used as the differential model DM.

[0105] Assembly information may be included in a file (e.g., a CAD file representing CAD data; the same applies hereinafter in this paragraph). Here, "assembly information" may refer to information for associating data related to multiple parts with each other. For example, a file may include assembly information that associates information related to a differential model DM with information related to an object model OM. For example, a file may include assembly information that associates information related to a differential model DM with information related to an object model OM with information related to a reference model RM. In this case, the object model OM and the differential model DM, or the object model OM, the differential model DM, and the reference model RM, may be included in the file in the form of assembly information. The file may include a first object model OM obtained by measuring a workpiece W with a first measurement accuracy and a first object model OM obtained by measuring a workpiece W with a second measurement accuracy higher than the first measurement accuracy. In this case, the file may include information related to the measurement accuracy used when the object model OM was acquired. For example, a first object model OM may be associated in a file with information about the measurement accuracy used when the first object model OM was acquired, and for example, a second object model OM may be associated in a file with information about the measurement accuracy used when the second object model OM was acquired.

[0106] Alternatively, at least one of the object model OM, the reference model RM, and the differential model DM may be included in a file (e.g., a CAD file indicating CAD data; the same applies hereinafter in this paragraph) in an information format different from the information format of the assembly information. Alternatively, at least one of a file including the object model OM, a file including the reference model RM, and a file including the differential model DM may be stored in the storage device 222 or the like. In other words, the object model OM, the reference model RM, and the differential model DM may be included in separate files. In this case, a management file including information indicating that at least two of the file including the object model OM, the file including the reference model RM, and the file including the differential model DM are associated with each other may be stored in the storage device 222 or the like.

[0107] However, the control information generator 2211 may generate the processing control information using the object model OM but without using the reference model RM. The control information generator 2211 may generate the processing control information using the reference model RM but without using the object model OM.

[0108] (2-2-2) Technical Issues Arising When Generating Processing Control Information As described above, a portion of the workpiece W may be lost as the workpiece W is used. However, in addition to or instead of a portion of the workpiece W being lost as the workpiece W is used, at least a portion of the workpiece W may be physically deformed. For example, the workpiece W may be physically deformed due to a load applied to the workpiece W when used in a high-temperature environment. In other words, creep may occur. For example, the workpiece W may be physically deformed due to aging or the like.

[0109] In the case where the workpiece W is deformed, "use of the workpiece W" may include use of the workpiece W long enough to cause deformation of the workpiece W. For example, "use of the workpiece W" may include use of the workpiece W for a long period of time that causes deformation of the workpiece W. Therefore, an actually used workpiece W may include a workpiece W that was used until it was deformed. On the other hand, a workpiece W before actual use may include a workpiece W that has been used but not long enough to cause deformation of the workpiece W. For example, a workpiece W before actual use may include use of the workpiece W for a short period of time that does not cause deformation of the workpiece W (for example, a test run of the workpiece W or a product including the workpiece W, etc.).

[0110] Note that even when a portion of the workpiece W is lost (for example, worn) as the workpiece W is used, the three-dimensional shape of the workpiece W changes. For this reason, the loss of a portion of the workpiece W (for example, wear) can also be considered as deformation of the workpiece W. However, in this embodiment, "deformation of the workpiece W" refers to deformation of the workpiece W that occurs as the workpiece W is used, and is caused by factors other than loss of the workpiece W.

[0111] As described above, the object model OM represents the three-dimensional shape of the workpiece W after it has actually been used. Therefore, when the workpiece W is deformed as the workpiece W is used, the object model OM represents the actual three-dimensional shape of the workpiece W that has been deformed as the workpiece W is used, as shown in FIG. 10( b), which schematically illustrates the object model OM generated when the workpiece W is deformed. In other words, the object model OM reflects the deformation of the workpiece W that has occurred as the workpiece W is used. The direction in which the workpiece W deforms may be any of the X, Y, and Z directions. The workpiece W may be deformed in two or more directions of the X, Y, and Z directions. The workpiece W may be deformed only in the X, Y, or Z direction. On the other hand, as described above, the reference model RM represents the three-dimensional shape of the workpiece W before it is actually used. Therefore, the reference model RM does not reflect any deformation of the workpiece W that has occurred as the workpiece W is used. Therefore, as shown in FIG. 10( a), the reference model RM represents the target shape of the undeformed workpiece W.

[0112] In this case, although the three-dimensional shape of the object model OM should essentially be the same as the three-dimensional shape of the corresponding model portion CMP of the reference model RM that corresponds to the object model OM, as shown in Figures 10(a) and 10(b), the three-dimensional shape of the object model OM becomes different from the three-dimensional shape of the corresponding model portion CMP of the reference model RM due to deformation of the workpiece W. As a result, as shown in Figure 11(c), which schematically shows the differential model DM generated when the workpiece W is deformed, the differential model DM corresponding to the difference between the reference model RM and the object model OM exhibits a three-dimensional shape that is different from the three-dimensional shape of the three-dimensional structure ST to be formed by additive machining performed by the machining device 1. 11(a) schematically illustrates a reference model RM when the workpiece W is deformed as the workpiece W is used. FIG. 11(b) schematically illustrates an object model OM when the workpiece W is deformed as the workpiece W is used. FIG. 11(c) schematically illustrates a differential model DM generated based on the reference model RM shown in FIG. 11(a) and the object model OM shown in FIG. 11(b). For example, the differential model DM may indicate a three-dimensional shape that differs from the three-dimensional shape of the missing portion of the workpiece W. As a result, when processing control information is generated based on such a differential model DM, the processing apparatus 1 may form a three-dimensional structure ST having a shape that differs from the desired shape. In other words, the processing apparatus 1 may not be able to form a three-dimensional structure ST having the desired shape. For example, the processing apparatus 1 may not be able to form a three-dimensional structure ST that can properly fill the missing portion. In this way, when the workpiece W is deformed as it is used, the measurement system 2 (particularly the control information generation device 22) has a technical problem in that it may not be able to generate processing control information for controlling the processing device 1 to form a three-dimensional structure ST having the desired shape.

[0113] Therefore, in this embodiment, in order to solve the above-mentioned technical problem, the measurement system 2 performs the control information generation operation described below. As a result, even if the workpiece W is deformed as the workpiece W is used, the measurement system 2 (particularly, the control information generation device 22) can generate processing control information for controlling the processing device 1 to form a three-dimensional structure ST having a desired shape. Therefore, even if the workpiece W is deformed as the workpiece W is used, the processing device 1 can form a three-dimensional structure ST having a desired shape.

[0114] One of the reasons for the occurrence of the technical problem described here is that, as mentioned above, the three-dimensional shape of the object model OM differs from the three-dimensional shape of the CMP corresponding model portion of the reference model RM. Therefore, even if the workpiece W is not deformed, the above-mentioned technical problem may occur if the three-dimensional shape of the object model OM differs from the three-dimensional shape of the corresponding model portion CMP of the reference model RM. For example, if the three-dimensional shape of the workpiece W differs from the designed three-dimensional shape due to a manufacturing error of the workpiece W, the three-dimensional shape of the object model OM may differ from the three-dimensional shape of the corresponding model portion CMP of the reference model RM. For example, due to a measurement error of the shape measurement device 21 that measures the three-dimensional shape of the workpiece W, the three-dimensional shape of the object model OM generated based on the measurement results of the shape measurement device 21 may differ from the three-dimensional shape of the corresponding model portion CMP of the reference model RM. For example, due to a dimensional error in the reference model RM, the three-dimensional shape of the object model OM may differ from the three-dimensional shape of the corresponding model portion CMP of the reference model RM. Even in this case, the measurement system 2 may perform the control information generation operation described below. As a result, in any situation where the three-dimensional shape of the object model OM differs from the three-dimensional shape of the corresponding model portion CMP of the reference model RM, the measurement system 2 (particularly, the control information generation device 22) can generate processing control information for controlling the processing apparatus 1 to form a three-dimensional structure ST having a desired shape. Therefore, in any situation where the three-dimensional shape of the object model OM differs from the three-dimensional shape of the corresponding model portion CMP of the reference model RM, the processing apparatus 1 can form a three-dimensional structure ST having a desired shape.

[0115] However, for the sake of simplicity, the following description will focus on a control information generation operation that is performed in a situation where the three-dimensional shape of the object model OM differs from the three-dimensional shape of the corresponding model portion CMP of the reference model RM due to deformation of the workpiece W. However, even in a situation where the three-dimensional shape of the object model OM differs from the three-dimensional shape of the corresponding model portion CMP of the reference model RM due to a factor other than deformation of the workpiece W, the measurement system 2 may perform the control information generation operation that is described below.

[0116] In this embodiment, a turbine blade having a shape in which the size of the workpiece W in the X direction is larger than the size in the Y direction and the size in the Z direction is larger than the sizes in both the X and Y directions is described as an example. When the turbine blade is in use, forces are typically applied in the extension direction (Z direction) and the rotation direction of the turbine blade. Here, because the size of the turbine blade in the X direction is larger than the size in the Y direction, bending deformation around the X direction is likely to occur. Therefore, the following description illustrates the workpiece W as viewed from the X direction.

[0117] The deformation of the workpiece W may be bending when viewed from the Y direction or Z direction, or scaling.

[0118] (2-2-3) Flow of Control Information Generation Operation Next, the flow of the control information generation operation of this embodiment will be described with reference to Fig. 12. Fig. 12 is a flowchart showing the flow of the control information generation operation of this embodiment.

[0119] 12 , the control device 17 instructs the shape measuring device 21 to measure the three-dimensional shape of the workpiece W (step S1). The shape measuring device 21 measures the three-dimensional shape of the workpiece W in accordance with the instruction from the control device 17. In particular, in this embodiment, the shape measuring device 21 measures the three-dimensional shape of a used workpiece W. As a result, the shape measuring device 21 generates measurement information indicating the three-dimensional shape of the workpiece W. The shape measuring device 21 outputs (e.g., transmits) the generated measurement information to the control information generating device 22.

[0120] However, in step S1, any measuring device other than the shape measuring device 21 may measure the three-dimensional shape of the workpiece W. For example, a measuring device arranged outside the measurement system 2 may measure the three-dimensional shape of the workpiece W. For example, a measuring device arranged outside the machining system SYS may measure the three-dimensional shape of the workpiece W. The any measuring device outputs (for example, transmits) the generated measurement information to the control information generating device 22.

[0121] Thereafter, the control information generator 2211 of the control information generating device 22 generates an object model OM indicating the actual three-dimensional shape of the workpiece W based on the measurement information generated in step S1 (step S2). That is, the control information generator 2211 generates model information indicating the object model OM (step S2).

[0122] However, as described above, if a model generation device other than the control information generation unit 2211 generates the object model OM, the control information generation unit 2211 does not need to generate the object model OM. In this case, the control information generation unit 2211 may acquire the object model OM from the model generation device. Alternatively, if the object model OM (specifically, model information indicating the object model OM) is pre-recorded on a recording medium such as the storage device 222, the control information generation unit 2211 may acquire the object model OM by reading the object model OM from the recording medium. Alternatively, if the object model OM (specifically, model information indicating the object model OM) is recorded on an external device that can communicate with the measurement system 2 via a communication network, the control information generation unit 2211 may acquire the object model OM by downloading the object model OM from the external device. Note that in the example shown in FIG. 12 , it can be said that the control information generation device 22 acquires the object model OM by generating the object model OM.

[0123] The control information generating device 22 may control the output device 225, which can function as a display device, to display the object model OM generated in step S2. A user of the machining system SYS may use the input device 224 to operate the object model OM displayed on the output device 225. For example, the user may use the input device 224 to perform an operation to change the display mode of the object model OM displayed on the output device 225. As one example, the user may use the input device 224 to perform an operation to rotate the object model OM displayed on the output device 225. As another example, the user may use the input device 224 to perform an operation to change the display size of the object model OM displayed on the output device 225.

[0124] In parallel with or before or after the operations from step S1 to step S2, the control information generator 2211 acquires the reference model RM (step S3). For example, if the reference model RM (specifically, model information indicating the reference model RM) is pre-recorded on a recording medium such as the storage device 222, the control information generator 2211 may acquire the reference model RM by reading the reference model RM from the recording medium. Alternatively, if the reference model RM (specifically, model information indicating the reference model RM) is recorded on an external device that can communicate with the measurement system 2 via a communication network, the control information generator 2211 may acquire the reference model RM by downloading the reference model RM from the external device.

[0125] The control information generating unit 2211 may acquire a reference model RM based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to the control information generating device 22 to select one reference model RM from a plurality of different reference models RM. In this case, the output device 225 capable of functioning as a display device may display the plurality of different reference models RM. The user may select one reference model RM from the plurality of different reference models RM displayed by the output device 225. Thereafter, the control information generating unit 2211 may acquire the one reference model RM selected by the user.

[0126] The control information generating device 22 may control the output device 225 capable of functioning as a display device to display the reference model RM acquired in step S3. The control information generating device 22 may control the output device 225 capable of functioning as a display device to display both the reference model RM and the object model OM. A user of the machining system SYS may use the input device 224 to operate the reference model RM displayed on the output device 225. For example, the user may use the input device 224 to perform an operation to change the display mode of the reference model RM displayed on the output device 225. As an example, the user may use the input device 224 to perform an operation to rotate the reference model RM displayed on the output device 225. As another example, the user may use the input device 224 to perform an operation to change the display size of the reference model RM displayed on the output device 225.

[0127] In this embodiment, the control information generator 2211 then generates a deformation model TM (step S4). The deformation model TM is a three-dimensional model that represents the target shape of the workpiece W after machining. Since the deformation model TM represents the target shape of the workpiece W, the deformation model TM may also be referred to as a target model, similar to the reference model RM.

[0128] The deformation model TM differs from the reference model RM in the following respects. Specifically, the deformation model TM is a three-dimensional model that indicates the target shape of a deformed workpiece W, and therefore differs from the reference model RM, which is a three-dimensional model that indicates the target shape of an undeformed workpiece W (e.g., an ideal workpiece W). In other words, the deformation model TM is a three-dimensional model that indicates the target shape that reflects the deformation of the workpiece W, and therefore differs from the reference model RM, which is a three-dimensional model that indicates the target shape that does not reflect the deformation of the workpiece W.

[0129] To generate the deformation model TM, the control information generator 2211 may deform the reference model RM to match the deformation of the workpiece W. That is, the control information generator 2211 may deform the reference model RM to generate the deformed reference model RM as the deformation model TM. Specifically, as described above, the object model OM reflects the deformation of the workpiece W. On the other hand, as described above, the reference model RM does not reflect the deformation of the workpiece W. In this case, as shown in FIG. 13 , which schematically illustrates the undeformed reference model RM and the deformed reference model RM (i.e., the deformation model TM), the control information generator 2211 may deform the reference model RM that does not reflect the deformation of the workpiece W based on the object model OM that reflects the deformation of the workpiece W. That is, the control information generator 2211 may deform the reference model RM that does not reflect the deformation of the workpiece W to match the actual shape of the workpiece W indicated by the object model OM (i.e., the deformed shape of the workpiece W). However, as long as the control information generating unit 2211 can deform the reference model RM in accordance with the deformation of the workpiece W, the control information generating unit 2211 may deform the reference model RM without using the object model OM.

[0130] 14, which schematically shows the undeformed reference model RM and the deformed reference model RM (i.e., the deformed model TM), the control information generator 2211 may deform the reference model RM so that the difference between the object model OM and the corresponding model portion MPt of the deformed model TM that corresponds to the object model OM is smaller than the difference between the object model OM and the corresponding model portion MPr of the reference model RM that corresponds to the object model OM. Note that the difference between the object model OM and the corresponding model portion MPr of the reference model RM may be considered to be equivalent to the amount of deformation of the workpiece W.

[0131] 14, the difference between the object model OM and the corresponding model portion MPt of the deformation model TM may mean the difference between the three-dimensional shape of a first portion S11 of the surface of the object model OM and the three-dimensional shape of a second portion S12 of the surface of the deformation model TM that corresponds to the first portion S11 of the object model OM. Similarly, as shown in FIG. 14, the difference between the object model OM and the corresponding model portion MPr of the reference model RM may mean the difference between the three-dimensional shape of the first portion S11 of the surface of the object model OM and the three-dimensional shape of a third portion S13 of the surface of the reference model RM that corresponds to the first portion S11 of the object model OM.

[0132] As an example, if the object model OM is a mesh model as described above, the vertices of the mesh are located on the surface of the object model OM. Similarly, if the reference model RM is a mesh model, the vertices of the mesh are located on the surface of the reference model RM. Similarly, if the deformation model TM is a mesh model, the vertices of the mesh are located on the surface of the deformation model TM. In this case, the vertices of the mesh may be used to define the difference between the object model OM and the corresponding model portion MPt of the deformation model TM. Similarly, the vertices of the mesh may be used to define the difference between the object model OM and the corresponding model portion MPr of the reference model RM.

[0133] For example, FIG. 15(a) shows an example in which vertex Pom#1 of a first mesh of an object model OM, which is a mesh model, corresponds to vertex Prm#1 of a first mesh of a reference model RM, which is also a mesh model. Furthermore, FIG. 15(a) shows an example in which vertex Pom#2 of a second mesh of the object model OM corresponds to vertex Prm#2 of a second mesh of the reference model RM. That is, FIG. 15(a) shows an example in which, when the workpiece W is not deformed, vertex Pom#1 of the object model OM coincides with vertex Prm#1 of the reference model RM, and vertex Pom#2 of the object model OM coincides with vertex Prm#2 of the reference model RM. In this case, the difference between vertex Pom#1 and vertex Prm#1 may be considered equivalent to the deformation amount of one portion of the workpiece W. Similarly, the difference between vertex Pom#2 and vertex Prm#2 may be considered equivalent to the deformation amount of another portion of the workpiece W.

[0134] On the other hand, Figure 15(b) shows an example in which vertex Pom#1 of the object model OM corresponds to vertex Ptm#1 of the first mesh of the deformation model TM, which is a mesh model. Furthermore, Figure 15(b) shows an example in which vertex Pom#2 of the object model OM corresponds to vertex Ptm#2 of the second mesh of the deformation model TM. Note that, because the deformed reference model RM is used as the deformation model TM, vertex Ptm#1 of the deformed model TM is equivalent to vertex Prm#1 of the deformed reference model RM. Similarly, vertex Ptm#2 of the deformation model TM is equivalent to vertex Prm#2 of the deformed reference model RM.

[0135] In this case, the control information generator 2211 may use the distance between the vertex Pom#1 of the object model OM and the vertex Prm#1 of the reference model RM as an index value indicating the difference between the object model OM and the corresponding model portion MPr of the reference model RM. The control information generator 2211 may use the distance between the vertex Pom#2 of the object model OM and the vertex Prm#2 of the reference model RM as an index value indicating the difference between the object model OM and the corresponding model portion MPr of the reference model RM. Similarly, the control information generator 2211 may use the distance between the vertex Pom#1 of the object model OM and the vertex Ptm#1 of the deformation model TM as an index value indicating the difference between the object model OM and the corresponding model portion MPt of the deformation model TM. The control information generator 2211 may use the distance between the vertex Pom#2 of the object model OM and the vertex Ptm#2 of the deformation model TM as an index value indicating the difference between the object model OM and the corresponding model portion MPt of the deformation model TM.

[0136] In this case, as shown in FIGS. 15A and 15B, the control information generator 2211 may deform the reference model RM so that the distance between the vertices Pom#1 and Ptm#1 (see FIG. 15B) is shorter than the distance between the vertices Pom#1 and Prm#1 (see FIG. 15A). For example, the control information generator 2211 may deform the reference model RM so that the distance Dxt#1 between the vertices Pom#1 and Ptm#1 in the X-axis direction is shorter than the distance Dxr#1 between the vertices Pom#1 and Prm#1 in the X-axis direction. For example, the control information generator 2211 may deform the reference model RM so that the distance Dyt#1 between the vertices Pom#1 and Ptm#1 in the Y-axis direction is shorter than the distance Dyr#1 between the vertices Pom#1 and Prm#1 in the Y-axis direction. For example, the control information generation unit 2211 may deform the reference model RM so that the distance Dzt#1 between vertex Pom#1 and vertex Ptm#1 in the Z-axis direction is shorter than the distance Dzr#1 between vertex Pom#1 and vertex Prm#1 in the Z-axis direction.

[0137] The control information generator 2211 may modify the reference model RM so that the distance Dyt#1 is shorter than the distance Dyr#1 and / or the distance Dzt#1 is shorter than the distance Dzr#1, while the distance Dxt#1 is not shorter than the distance Dxr#1. The control information generator 2211 may modify the reference model RM so that the distance Dxt#1 is shorter than the distance Dxr#1 and / or the distance Dzt#1 is shorter than the distance Dzr#1, while the distance Dyt#1 is not shorter than the distance Dyr#1. The control information generator 2211 may modify the reference model RM so that the distance Dxt#1 is shorter than the distance Dxr#1 and / or the distance Dyt#1 is shorter than the distance Dyr#1, while the distance Dzt#1 is not shorter than the distance Dzr#1.

[0138] Similarly, as shown in FIGS. 15( a) and 15(b), the control information generator 2211 may deform the reference model RM so that the distance between the vertices Pom#2 and Ptm#2 (see FIG. 15(b)) is shorter than the distance between the vertices Pom#2 and Prm#2 (see FIG. 15(a)). For example, the control information generator 2211 may deform the reference model RM so that the distance Dxt#2 between the vertices Pom#2 and Ptm#2 in the X-axis direction is shorter than the distance Dxr#2 between the vertices Pom#2 and Prm#2 in the X-axis direction. For example, the control information generator 2211 may deform the reference model RM so that the distance Dyt#2 between the vertices Pom#2 and Ptm#2 in the Y-axis direction is shorter than the distance Dyr#2 between the vertices Pom#2 and Prm#2 in the Y-axis direction. For example, the control information generation unit 2211 may deform the reference model RM so that the distance Dzt#2 between vertex Pom#2 and vertex Ptm#2 in the Z-axis direction is shorter than the distance Dzr#2 between vertex Pom#2 and vertex Prm#2 in the Z-axis direction.

[0139] The control information generator 2211 may modify the reference model RM so that the distance Dyt#2 is shorter than the distance Dyr#2 and / or the distance Dzt#2 is shorter than the distance Dzr#2, while the distance Dxt#2 is not shorter than the distance Dxr#2. The control information generator 2211 may modify the reference model RM so that the distance Dxt#2 is shorter than the distance Dxr#2 and / or the distance Dzt#2 is shorter than the distance Dzr#2, while the distance Dyt#2 is not shorter than the distance Dyr#2. The control information generator 2211 may modify the reference model RM so that the distance Dxt#2 is shorter than the distance Dxr#2 and / or the distance Dyt#2 is shorter than the distance Dyr#2, while the distance Dzt#2 is not shorter than the distance Dzr#2.

[0140] The control information generator 2211 may deform the reference model RM so that the object model OM and the corresponding model portion MPt of the deformation model TM coincide with each other. For example, the control information generator 2211 may deform the reference model RM so that the vertex Pom#1 of the object model OM coincides with the vertex Ptm#1 of the deformation model TM. The control information generator 2211 may deform the reference model RM so that the distance between the vertex Pom#1 and the vertex Ptm#1 becomes zero. For example, the control information generator 2211 may deform the reference model RM so that at least one of the distances Dxt#1, Dyt#1, Dzt#1, Dxt#2, Dyt#2, and Dzt#2 becomes zero.

[0141] In addition, in FIG. 15( a), the distance between the vertex Pom#1 of the object model OM and the vertex Prm#1 of the reference model RM may be different from the distance between the vertex Pom#2 of the object model OM and the vertex Prm#2 of the reference model RM. In other words, the amount of deformation in one portion of the workpiece W may be different from the amount of deformation in other portions of the workpiece W. As an example, if the workpiece W is a turbine blade, the amount of deformation of one portion of the turbine blade generally increases as the portion approaches the tip of the turbine blade because the turbine blade is bent and deformed. In other words, the amount of deformation of one portion of the turbine blade generally decreases as the portion approaches the root of the turbine blade. In addition, the root of the turbine blade may refer to the shank of the turbine blade (i.e., the member attached to the rotatable rotor). The tip of the turbine blade may refer to the tip of the blade body extending from the shank. In this case, if apexes Pom#1, Prm#1 and Ptm#1 are closer to the tip of the turbine blade than apexes Pom#2, Prm#2 and Ptm#2, the distance between apex Pom#1 and apex Prm#1 may be greater than the distance between apex Pom#2 and apex Prm#2.

[0142] When the deformation model TM is generated, a file (e.g., a CAD file representing CAD data; the same applies hereinafter in this paragraph) may include assembly information that associates information about the deformation model TM with information about the object model OM. The file may include assembly information that associates information about the deformation model TM with information about the object model OM and information about the reference model RM. The file may include assembly information that associates information about the deformation model TM with information about the object model OM, information about the reference model RM and information about the differential model DM.

[0143] Alternatively, at least one of the object model OM, the reference model RM, the deformation model TM, and the differential model DM may be included in a file (e.g., a CAD file representing CAD data; the same applies hereinafter in this paragraph) in an information format different from the information format of the assembly information. Alternatively, at least one of a file including the object model OM, a file including the reference model RM, a file including the deformation model TM, and a file including the differential model DM may be stored in the storage device 222 or the like. In other words, the object model OM, the reference model RM, the deformation model TM, and the differential model DM may be included in separate files. In this case, a management file including information indicating that at least two of the file including the object model OM, the file including the reference model RM, the file including the deformation model TM, and the file including the differential model DM are associated with each other may be stored in the storage device 222 or the like.

[0144] Referring again to FIG. 12 , after the deformation model TM is generated, the control information generator 2211 generates a differential model DM (step S5). In this embodiment, the control information generator 2211 generates the differential model DM based on the object model OM generated (acquired) in step S2 and the deformation model TM generated in step S4. Specifically, the control information generator 2211 may generate a three-dimensional model corresponding to the difference between the deformation model TM and the object model OM as the differential model DM. The differential model DM is typically a three-dimensional model corresponding to a portion of the deformation model TM. Note that FIG. 16( a) schematically illustrates the reference model RM when the workpiece W is deformed as the workpiece W is used, FIG. 16( b) schematically illustrates the object model OM when the workpiece W is deformed as the workpiece is used, and FIG. 16( c) schematically illustrates the differential model DM generated based on the reference model RM shown in FIG. 16( a) and the object model OM shown in FIG. 16( b).

[0145] As a result, as shown in FIG. 16( c), the differential model DM corresponding to the difference between the deformation model TM and the object model OM is closer to the three-dimensional shape of the three-dimensional structure ST to be formed by the processing apparatus 1, compared to the three-dimensional shape indicated by the differential model DM corresponding to the difference between the reference model RM and the object model OM (see FIG. 11( c)). For example, the differential model DM corresponding to the difference between the deformation model TM and the object model OM (see FIG. 16( c)) is closer to the three-dimensional shape of the missing portion of the workpiece W, compared to the three-dimensional shape indicated by the differential model DM corresponding to the difference between the reference model RM and the object model OM (see FIG. 11( c)). Typically, the differential model DM corresponding to the difference between the deformation model TM and the object model OM (see FIG. 16( c)) indicates the same three-dimensional shape as the three-dimensional shape of the three-dimensional structure ST to be formed by the processing apparatus 1 performing additional processing. For example, a differential model DM (see FIG. 16(c)) corresponding to the difference between the deformation model TM and the object model OM shows the same three-dimensional shape as the three-dimensional shape of the missing portion of the workpiece W.

[0146] As described above, in this embodiment, the accuracy of the differential model DM is improved. In other words, the differential model DM appropriately represents the three-dimensional shape of the three-dimensional structure ST that the processing device 1 should form so that the three-dimensional shape of the workpiece W becomes the target shape. Specifically, the differential model DM appropriately represents the three-dimensional shape of the three-dimensional structure ST that the processing device 1 should form so that the three-dimensional shape of the deformed workpiece W becomes the target shape that is appropriately corrected in accordance with the deformation of the workpiece W. In other words, the differential model DM appropriately represents the three-dimensional shape of the processed portion that is necessary for the three-dimensional shape of the workpiece W to become the target shape.

[0147] The control information generating device 22 may control the output device 225 capable of functioning as a display device to display the deformed model TM generated in step S5. The control information generating device 22 may control the output device 225 capable of functioning as a display device to display at least two of the reference model RM, the object model OM, and the deformed model TM. A user of the machining system SYS may use the input device 224 to operate the deformed model TM displayed on the output device 225. For example, the user may use the input device 224 to perform an operation to change the display mode of the deformed model TM displayed on the output device 225. As an example, the user may use the input device 224 to perform an operation to rotate the deformed model TM displayed on the output device 225. As another example, the user may use the input device 224 to perform an operation to change the display size of the deformed model TM displayed on the output device 225.

[0148] Thereafter, the control information generator 2211 generates processing control information based on the differential model DM generated in step S5 (step S6). For example, the control information generator 2211 may perform a slicing process to divide the differential model DM into a plurality of layered models at a layering pitch corresponding to the thickness of the structural layer SL, thereby generating a plurality of slice data corresponding to each of the structural layers SL that constitute the three-dimensional structure ST. Thereafter, the control information generator 2211 may generate a plurality of pieces of processing control information to be used for forming the plurality of structural layers SL, based on the plurality of slice data.

[0149] As a result, the processing apparatus 1 can form a three-dimensional structure ST having a desired shape. For example, the processing apparatus 1 can form a three-dimensional structure ST that can appropriately fill in missing portions. In this way, even if the workpiece W is deformed as it is used, the measurement system 2 (particularly, the control information generation device 22) can generate processing control information for controlling the processing apparatus 1 to form a three-dimensional structure ST having a desired shape.

[0150] It can be said that the operation of forming the three-dimensional structure ST is equivalent to the operation of forming the three-dimensional structure ST whose differential model DM represents the three-dimensional shape on the workpiece W whose object model OM represents the three-dimensional shape. In this case, the control device 17 of the processing device 1 may control the processing device 1 so as to form the three-dimensional structure ST whose differential model DM represents the three-dimensional shape on the workpiece W whose object model OM represents the three-dimensional shape.

[0151] In addition to or instead of the control information generating device 22, the control device 17 may perform the control information generating operation shown in FIG. 12 . That is, the control device 17 may generate a deformed model TM by deforming the reference model RM based on the object model OM, and then generate a differential model DM based on the deformed model TM and the object model OM. Alternatively, the control device 17 (or the control information generating device 22) may generate a deformed three-dimensional model as the differential model DM by deforming a three-dimensional model representing the three-dimensional structure of a three-dimensional structure ST to be formed on an undeformed workpiece W based on the object model OM representing the three-dimensional shape of the deformed workpiece W. The operation of deforming the three-dimensional model of the three-dimensional structure ST based on the object model OM may be similar to the operation of deforming the reference model RM based on the object model OM. In other words, the control device 17 (or the control information generating device 22) may align the three-dimensional model of the three-dimensional structure ST with the object model OM, designate each vertex of the three-dimensional model of the three-dimensional structure ST as either a control vertex, a dependent vertex, or a fixed vertex, and deform the three-dimensional model of the three-dimensional structure ST by moving the control vertex and the dependent vertex.

[0152] The control device 17 (or the control information generating device 22; hereinafter the same in this paragraph) may use slice data obtained by performing a slice process on a three-dimensional model of a three-dimensional structure ST to be formed on an undeformed workpiece W, dividing the three-dimensional model at a layer pitch corresponding to the thickness of the structural layer SL. Alternatively, the control device 17 may use slice data obtained by performing a slice process on a three-dimensional model obtained by transforming the three-dimensional model of the three-dimensional structure ST based on the object model OM, as described above. The slice data may include data (files) indicating G-code. In this case, the control device 17 may generate a differential model DM based on the slice data and at least one of the object model OM, the reference model RM, and the deformation model TM. The control device 17 may generate processing control information based on the slice data and at least one of the object model OM, the reference model RM, and the deformation model TM. The control device 17 may control the processing device 1 to form a three-dimensional structure ST on the workpiece W based on the slice data and at least one of the object model OM, the reference model RM, and the deformation model TM. If the slice data includes data (file) indicating a G-code, the control device 17 may edit the G-code to form the three-dimensional structure ST on the workpiece W. For example, the control device 17 may align the G-code data to form the three-dimensional structure ST on the workpiece W.

[0153] (2-2-4) Operation of generating a deformed model TM by deforming the reference model RM Next, with reference to Fig. 17, an explanation will be given of the operation of generating a deformed model TM by deforming the reference model RM in step S4 of Fig. 12. Fig. 17 is a flowchart showing the flow of the operation of generating a deformed model TM by deforming the reference model RM in step S4 of Fig. 12.

[0154] In the following description, as a specific example of an operation for generating a deformed model TM by deforming a reference model RM, an operation for generating a deformed model TM by deforming the reference model RM using Laplacian coordinate representation will be described. In this case, the deformation of the reference model RM may be referred to as Laplacian deformation. Note that the control information generating device 22 may deform the reference model RM to generate a deformed model TM by performing an operation different from the operation shown in FIG. 17 .

[0155] 17 , the control information generator 2211 aligns the reference model RM and the object model OM (step S41). To align the reference model RM and the object model OM, the control information generator 2211 may use at least one of the following alignment methods: RANSAC (Random Sample Consensus), SIFT (Scale-Invariant Feature Transform), ICP (Iterative Closest Point), and DSO (Direct Sparse Odometry). In other words, the control information generator 2211 may use an existing alignment method to align the reference model RM and the object model OM.

[0156] An example of alignment between the reference model RM and the object model OM is shown in FIG. 18 . As shown in FIG. 18 , the control information generator 2211 may align the reference model RM and the object model OM so that the reference portion Brm of the reference model RM and the reference portion Bom of the object model OM coincide with each other. In other words, the control information generator 2211 may align the reference model RM and the object model OM so that the reference portion Brm of the reference model RM and the reference portion Bom of the object model OM are located at the same position. The reference portion Brm of the reference model RM may be a model portion of the reference model RM that corresponds to the reference portion Bw of the workpiece W. The reference portion Bom of the object model OM may be a model portion of the object model OM that corresponds to the reference portion Bw of the workpiece W.

[0157] As described above, in this embodiment, an example is described in which the reference model RM and the object model OM are each a mesh model. When the reference model RM is a mesh model (i.e., includes a plurality of meshes that form the surface of the reference model RM), the reference portion Brm on the surface of the reference model RM may be used as the reference portion Brm of the reference model RM. Similarly, when the object model OM is a mesh model (i.e., includes a plurality of meshes that form the surface of the object model OM), the reference portion Bom on the surface of the object model OM may be used as the reference portion Bom of the object model OM.

[0158] The reference portion Bw of the workpiece W may include a portion where the amount of deformation due to use of the workpiece W is equal to or less than the allowable amount. The reference portion Bw of the workpiece W may include a portion that does not deform due to use of the workpiece W. The reference portion Bw of the workpiece W may be a portion where a jig used to place the workpiece W on the stage 131 is attached. The reference portion Bw of the workpiece W may be a predetermined portion.

[0159] The control information generating unit 2211 may align the reference model RM and the object model OM based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to align the reference model RM and the object model OM to the control information generating device 22. In this case, the output device 225 capable of functioning as a display device may display the reference model RM and the object model OM. The user may align the reference model RM and the object model OM by using the input device 224 to move at least one of the reference model RM and the object model OM displayed by the output device 225.

[0160] Referring again to FIG. 17, in parallel with or before or after the operation of step S41, the control information generation unit 2211 designates each vertex of each mesh of the reference model RM, which is a mesh model, as either a fixed vertex, a control vertex, or a dependent vertex (step S42).

[0161] For example, the control information generating unit 2211 may designate each vertex of the reference model RM as one of a fixed vertex, a control vertex, and a dependent vertex based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to the control information generating device 22 to designate each vertex of the reference model RM as one of a fixed vertex, a control vertex, and a dependent vertex. In this case, the output device 225 capable of functioning as a display device may display the reference model RM. The user may use the input device 224 to designate each vertex of the reference model RM as one of a fixed vertex, a control vertex, and a dependent vertex on the reference model RM displayed by the output device 225. In this case, considering that the reference model RM is deformed by moving the control vertices and dependent vertices, as will be described later, it can be said that the user is designating the deformation portion of the reference model RM.

[0162] Alternatively, for example, the control information generation unit 2211 may automatically designate each vertex of the reference model RM as either a fixed vertex, a control vertex, or a dependent vertex in accordance with predetermined vertex designation conditions without using user instructions.

[0163] An example of a reference model RM in which each vertex is designated as either a fixed vertex, a control vertex, or a dependent vertex is shown in Figure 19. A fixed vertex corresponds to a vertex that does not move when the reference model RM is deformed to generate a deformed model TM. Note that a fixed vertex may also be a vertex used as a non-ROI (non-region of interest), for example.

[0164] The control vertex corresponds to a vertex that moves when the reference model RM is deformed to generate the deformation model TM. In particular, the control vertex is a vertex for which a target movement position to which the control vertex should be moved is set. Therefore, when the reference model RM is deformed to generate the deformation model TM, the control vertex moves to the set target movement position. Note that when a target movement position is set, the movement amount and movement direction of the control vertex are essentially set. Therefore, the control vertex may be considered to be a vertex for which a movement amount and movement direction are set.

[0165] Similar to control vertices, dependent vertices correspond to vertices that move when the reference model RM is deformed to generate the deformation model TM. A dependent vertex is a vertex for which a target movement position to which the dependent vertex is moved is not set, compared to a control vertex. A dependent vertex may be considered to be a vertex for which a movement amount and movement direction are not set. In this case, the dependent vertex moves in accordance with the movement of the control vertex. In other words, the dependent vertex moves passively as a result of the deformation of the reference model RM caused by the movement of the control vertex. In this case, the dependent vertex may be considered to be a vertex that moves only by a movement amount determined based on the movement of the control vertex. A dependent vertex may be considered to be a vertex that moves in a movement direction determined based on the movement of the control vertex. Note that a dependent vertex may be a vertex used as, for example, a ROI (Region of Interest).

[0166] 19 , for example, the control information generator 2211 may designate a vertex included in the reference part Brm of the reference model RM as a fixed vertex. In this case, as shown in FIG. 19 , the reference part Brm of the reference model RM may be regarded as a fixed model part MPA#1 of the reference model RM that should not be deformed.

[0167] 19 , for example, the control information generator 2211 may designate, as control vertices, vertices included in at least a part of the corresponding model portion MPr of the reference model RM that corresponds to the object model OM. In this case, as shown in FIG. 19 , at least a part of the corresponding model portion MPr of the reference model RM may be regarded as a control model portion MPA#2 that should be deformed by moving the control vertices of the reference model RM.

[0168] As shown in Figure 19, for example, the control information generator 2211 may designate a vertex included in a dependent model portion MPA#3 that is different from the fixed model portion MPA#1 and the control model portion MPA#2 of the reference model RM as a dependent vertex.

[0169] The control information generator 2211 may designate each of the multiple vertices included in the reference model RM as either a fixed vertex, a control vertex, or a dependent vertex. Alternatively, the control information generator 2211 may collectively designate two or more vertices among the multiple vertices included in the reference model RM as either a fixed vertex, a control vertex, or a dependent vertex. For example, the control information generator 2211 may designate a model portion corresponding to a part of the reference model RM and collectively designate two or more vertices included in the designated model portion as either a fixed vertex, a control vertex, or a dependent vertex. As a result, the processing load required to designate each of the multiple vertices as either a fixed vertex, a control vertex, or a dependent vertex is reduced compared to the case where each of the multiple vertices is designated as either a fixed vertex, a control vertex, or a dependent vertex.

[0170] 17 again, the control information generator 2211 then sets a target movement position for the control vertex (step S43). That is, the control information generator 2211 sets a target movement position for the vertex of the reference model RM designated as the control vertex in step S42 (step S43). For example, the control information generator 2211 may set the target movement position for the control vertex so that the difference between the control model portion MPA#2 (see FIG. 19 ) and the object model OM is reduced by moving the control vertex to the target movement position. That is, the control information generator 2211 may set the target movement position for the control vertex so that the difference between the three-dimensional shape of the control model portion MPA#2, which is part of the surface of the reference model RM, and the three-dimensional shape of the model portion of the surface of the object model OM corresponding to the control model portion MPA#2 is reduced by moving the control vertex to the target movement position.

[0171] The control information generator 2211 may set the target movement position on a model portion of the surface of the object model OM that corresponds to the control model portion MPA#2, in order to set the target movement position of the control vertex so as to reduce the difference between the control model portion MPA#2 and the object model OM. In this case, the control information generator 2211 may extract from the object model OM a model portion of the surface of the object model OM that corresponds to the control model portion MPA#2, and set the target movement position on the extracted model portion.

[0172] The control information generating unit 2211 may set a target movement position of the control vertex based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to set the target position to the control information generating device 22. In this case, the output device 225 capable of functioning as a display device may display the reference model RM. The user may use the input device 224 to set a target movement position for the reference model RM displayed by the output device 225. In this case, it can be said that the user specifies the amount of deformation of the reference model RM.

[0173] The control information generator 2211 may determine whether a deformation model TM can be generated based on the target movement position set in step S43. For example, considering that a control vertex moves to the target movement position, the operation of setting the target movement position can be considered equivalent to the operation of setting the movement amount of the control vertex. Here, the greater the deformation amount of the workpiece W, the greater the movement amount of the control vertex. In this case, if the deformation amount of the workpiece W is equal to or greater than the allowable deformation amount, even if the workpiece W is repaired by forming a three-dimensional structure ST on the workpiece W, the three-dimensional shape of the workpiece W after repair may be significantly different from the originally expected three-dimensional shape. In other words, it may be difficult to say that the workpiece W has been properly repaired. Therefore, the control information generator 2211 may determine whether a deformation model TM can be generated by determining whether the movement amount of at least one control vertex is equal to or greater than the allowable movement amount based on the target movement position. For example, the control information generator 2211 may determine that a deformation model TM cannot be generated if it is determined that the movement amount of at least one control vertex is equal to or greater than the allowable movement amount.

[0174] When it is determined that the deformation model TM cannot be generated, the control information generating device 22 may output notification information for notifying a user of the machining system SYS that the deformation model TM cannot be generated, using the output device 225. For example, the control information generating device 22 may use the output device 225 that can function as a display device to display a notification image for notifying a user that the deformation model TM cannot be generated.

[0175] When it is determined that the deformation model TM cannot be generated, the control information generating device 22 may control the control information generating unit 2211 not to generate processing control information, in addition to or instead of outputting notification information to notify the user that the deformation model TM cannot be generated. In addition to or instead of outputting notification information, the control information generating device 22 may control the communication device 223 not to transmit the processing control information to the processing device 1.

[0176] If it is determined that the modified model TM can be generated, the control information generator 2211 modifies the reference model RM to generate the modified model TM (steps S44 and S45).

[0177] Specifically, the control information generator 2211 moves the control vertex to the target movement position in a state where the reference model RM and the object model OM are aligned (step S44). That is, the control information generator 2211 moves the vertex of the reference model RM designated as the control vertex in step S42 to the target movement position set in step S43 (step S44).

[0178] As a result, as shown in FIG. 20 , which schematically illustrates the undeformed reference model RM and the deformed reference model RM, the control model portion MPA#2 of the reference model RM deforms in accordance with the movement of the control vertex. That is, the three-dimensional shape of the control model portion MPA#2 of the reference model RM changes. Specifically, the control model portion MPA#2 of the reference model RM deforms so that the control model portion MPA#2 of the reference model RM moves to the position of the model portion of the object model OM corresponding to the control model portion MPA#2. Therefore, it can be said that the operation of moving the control vertex is equivalent to the operation of deforming the control model portion MPA#2 of the reference model RM. It can be said that the operation of moving the control vertex to the target movement position is equivalent to the operation of deforming the control model portion MPA#2 of the reference model RM so that the control model portion MPA#2 of the reference model RM moves to the position of the model portion of the object model OM corresponding to the control model portion MPA#2.

[0179] Furthermore, the control information generator 2211 moves the dependent vertices in accordance with the movement of the control vertices (step S45). That is, the control information generator 2211 moves the vertices of the reference model RM designated as dependent vertices in step S42 in accordance with the movement of the control vertices in step S44 (step S45). For example, the control information generator 2211 may move the dependent vertices in accordance with the movement of the control vertices by performing mesh deformation.

[0180] As a result, as shown in Figure 20, the subordinate model portion MPA#3 of the reference model RM is deformed in accordance with the movement of the subordinate vertex. In other words, the three-dimensional shape of the subordinate model portion MPA#3 of the reference model RM changes. In this case, it can be said that the subordinate model portion MPA#3 of the reference model RM is deformed in accordance with the deformation of the control model portion MPA#2 of the reference model RM.

[0181] The control information generating unit 2211 may move the control vertices based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to move the control vertices to the control information generating device 22. In this case, the output device 225 capable of functioning as a display device may display the reference model RM. In particular, the output device 225 capable of functioning as a display device may display the control vertices of the reference model RM. The user may use the input device 224 to move the control vertices displayed by the output device 225. In this case, it can be said that the user specifies the amount of deformation of the reference model RM.

[0182] The control information generating unit 2211 may move the dependent vertices based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to move the dependent vertices to the control information generating device 22. In this case, the output device 225 capable of functioning as a display device may display the reference model RM. In particular, the output device 225 capable of functioning as a display device may display the dependent vertices of the reference model RM. The user may use the input device 224 to move the dependent vertices displayed by the output device 225. In this case, it can be said that the user also specifies the amount of deformation of the reference model RM.

[0183] On the other hand, as shown in Fig. 20, the control information generator 2211 does not move fixed vertices. That is, even if the control vertices and dependent vertices are moved, the positions of the fixed vertices are fixed.

[0184] As a result of the operation shown in Fig. 17, the deformed reference model RM is generated as the deformed model TM, as shown in Fig. 20. In this case, as can be seen from Fig. 16 and Fig. 20, the differential model DM generated from the deformed model TM may typically include at least a part of the deformed subordinate model portion MPA#3.

[0185] As described above, the control information generator 2211 deforms the control model portion MPA#2 of the reference model RM so that the control model portion MPA#2 of the reference model RM moves to the position of the model portion of the object model OM that corresponds to the control model portion MPA#2. In other words, the control information generator 2211 deforms the reference model RM so that the difference between the three-dimensional shape of the control model portion MPA#2 on the surface of the reference model RM and the three-dimensional shape of the portion of the surface of the object model OM that corresponds to the control model portion MPA#2 becomes smaller.

[0186] 12, the deformation model TM (i.e., the deformed reference model RM) may be referred to as a target model. In order to generate the deformation model TM, which may also be referred to as a target model, the control information generator 2211 deforms the reference model RM so as to reduce the difference between the three-dimensional shape of the control model portion MPA#2 on the surface of the reference model RM and the three-dimensional shape of the portion of the surface of the object model OM that corresponds to the control model portion MPA#2.

[0187] (2-2-5) Operation of Generating a Deformed Model TM by Deforming an Object Model OM In step S4 of Fig. 12, the control information generating device 22 (for example, the control information generating unit 2211) may generate the deformed object model OM as the deformed model TM by deforming at least a part of the object model OM. In this case, the control information generating unit 2211 can generate the deformed model TM even when the reference model RM cannot be acquired in step S3 of Fig. 12.

[0188] The control information generator 2211 may deform the object model OM so that at least a portion of the object model OM is elongated, as shown in FIG. 21 , which shows the deformed object model OM. In other words, the control information generator 2211 may deform the object model OM so that at least a portion of the object model OM is enlarged. For example, the control information generator 2211 may deform the object model OM so that a first surface of the object model OM facing a predetermined direction is uniformly moved by a desired distance. As an example, FIG. 21 shows an example in which the control information generator 2211 deforms the object model OM so that the top surface of the object model OM (e.g., the surface located opposite the bottom surface, which is the reference portion) is uniformly moved by a desired distance. In particular, FIG. 21 shows an example in which the control information generator 2211 deforms the object model OM so that the top surface of the object model OM is uniformly moved by a desired distance along the normal direction of the top surface. In this case, it can be said that the control information generator 2211 deforms the object model OM so as to elongate the object model OM in the length direction. As another example, the control information generator 2211 may deform the object model OM so that surfaces other than the top and bottom surfaces of the object model OM (e.g., side surfaces) move uniformly by a desired distance. The control information generator 2211 may deform the object model OM so that surfaces other than the top and bottom surfaces of the object model OM (e.g., side surfaces) move uniformly by a desired distance along the normal direction of the surfaces. In this case, it can be said that the control information generator 2211 deforms the object model OM so as to elongate the object model OM in the width direction.

[0189] The control information generator 2211 may deform the object model OM so that at least a portion of the object model OM is shrunk. In other words, the control information generator 2211 may deform the object model OM so that at least a portion of the object model OM is reduced. For example, the control information generator 2211 may deform the object model OM so that the object model OM is shrunk in the length direction. For example, the control information generator 2211 may deform the object model OM so that the object model OM is shrunk in the width direction. Note that when the object model OM is entirely stretched or entirely shrunk, it may be said that the object model OM is scaled.

[0190] Furthermore, when the object model OM is deformed so that the first surface of the object model OM moves uniformly by a desired distance, the control information generator 2211 may deform the object model OM so that a second surface of the object model OM, which is different from the first surface and connected to the first surface, follows the movement of the first surface. In the example shown in Fig. 21 , the control information generator 2211 deforms the object model OM so that the side surface of the object model OM (particularly the upper end of the side surface connected to the top surface) moves upward (typically extends) following the upward movement of the top surface of the object model OM.

[0191] The control information generator 2211 may generate a deformed model TM by deforming the object model OM so that the first surface of the object model OM moves a distance longer than a desired distance, and then removing a part of the object model OM. For example, the control information generator 2211 may remove a part of the object model OM by performing a Boolean operation (e.g., a Boolean operation to obtain a difference) between the deformed object model OM and a model assumed as the shape of the surface of the deformed model TM.

[0192] Even when the deformed model TM is generated by deforming the object model OM in this way, the control information generator 2211 may generate, as a differential model DM, a three-dimensional model corresponding to the difference between the deformed model TM and the object model OM, as shown in Fig. 22. In other words, the control information generator 2211 may generate, as a differential model DM, a three-dimensional model corresponding to the difference between the deformed model TM generated by deforming the object model OM and the undeformed object model OM.

[0193] The control information generation unit 2211 may generate a three-dimensional model corresponding to the difference between the deformed object model OM and the undeformed object model OM. The control information generation unit 2211 may generate a differential model DM by performing a Boolean operation between the generated three-dimensional model and a model assumed to be the surface shape of the deformed model TM. This configuration can reduce the processing load on the control information generation unit 2211 compared to when a Boolean operation is performed between the deformed object model OM and a model assumed to be the surface shape of the deformed model TM.

[0194] By performing such an operation, the control information generator 2211 can easily generate the deformed model TM by deforming the object model OM as shown in Fig. 21 under conditions in which the top surface of the workpiece W (for example, the tip of a turbine blade) is uniformly worn. Therefore, the control information generator 2211 can generate the differential model DM without acquiring the reference model RM.

[0195] On the other hand, if a crack has occurred on the top surface of the workpiece W or if the top surface of the workpiece W is partially worn, simply deforming the object model OM as shown in Figure 21 may not allow the deformed object model OM to be used as a deformation model TM that accurately represents the target shape of the workpiece W. In this case, the control information generation unit 2211 may designate a portion of the top surface of the object model OM as a first surface to be deformed, and designate another portion of the top surface of the object model OM as a second surface that is not to be deformed. As a result, even if a crack has occurred on the top surface of the workpiece W or if the top surface of the workpiece W is partially worn, the control information generation unit 2211 can generate a deformation model TM that accurately represents the target shape of the workpiece W by deforming a portion of the top surface of the object model OM.

[0196] Depending on the three-dimensional shape of the workpiece W, the portion of the deformation model TM generated by deforming the object model OM corresponding to the object model OM may not sufficiently match the object model OM. In this case, the control information generator 2211 may further deform the deformation model TM generated by deforming the object model OM to match the object model OM. This configuration can improve the degree of match between the deformation model TM and the portion of the deformation model TM corresponding to the object model OM when the degree of match between the deformation model TM and the object model OM is insufficient. In this case, a Boolean operation may be performed between the deformation model TM further deformed to match the object model OM and a model assumed to be the surface shape of the deformation model TM. In other words, the Boolean operation may be performed after two deformations have been performed on the object model MO.

[0197] 21 , the control information generator 2211 may first generate a deformed model TM by deforming the object model OM so that the top surface of the object model OM is uniformly moved a desired distance in the Z direction. Thereafter, the control information generator 2211 may further deform the deformed model TM so that at least a part of the deformed model TM is moved in at least one of the X direction and the Y direction so that the three-dimensional shape of the portion of the deformed model TM corresponding to the object model OM approaches the three-dimensional shape of the object model OM.

[0198] When the differential model DM is generated by deforming the object model OM, the reference model RM does not need to be acquired as described above. Therefore, the process of step S3 in the flowchart shown in Fig. 13 (i.e., acquisition of the reference model RM) does not need to be performed. In other words, in this case, the process of step S4 may be performed after the process of step S2 in the flowchart shown in Fig. 13.

[0199] The differential model DM may be generated by deforming the reference model RM. In this case, the control information generator 2211 may deform the reference model RM to match the object model OM. The control information generator 2211 may generate a three-dimensional model corresponding to the difference between the deformed reference model RM and the object model OM. The control information generator 2211 may generate the differential model DM by performing a Boolean operation on the generated three-dimensional model and a model assumed as the deformed model TM.

[0200] (3) Inspection after Modeling Next, the inspection after modeling will be described. "After modeling" may mean, for example, after the three-dimensional structure ST is modeled by the processing device 1 controlled based on the processing control information generated in step S6 of Fig. 12. In the following description, an inspection after the processing device 1 models a three-dimensional structure ST capable of filling in the missing portion of the product requiring repair will be used as an example.

[0201] (3-1) Operational Flow of Machining System SYS The operational flow of the machining system SYS of this embodiment will be described with reference to Fig. 23. Fig. 23 is a flowchart showing the operational flow of the machining system SYS according to the embodiment. Note that the start conditions for the operation of the machining system SYS shown in the flowchart of Fig. 23 may include, for example, a user of the machining system SYS inputting an instruction to start machining via an input device.

[0202] 23, the control information generator 2211 of the measurement system 2 of the machining system SYS acquires an object model OM (step S11). In parallel with or before or after the operation of step S11, the control information generator 2211 acquires a reference model RM (step S12).

[0203] Next, the control information generator 2211 acquires a differential model DM based on the object model OM and the reference model RM (step S13). The differential model DM may be a three-dimensional model corresponding to the difference between the object model OM and the reference model RM. The differential model DM may also be a three-dimensional model corresponding to the difference between the object model OM and a deformed model TM generated by deforming the reference model RM (in other words, the deformed reference model RM). Step S12 may be omitted, and the differential model DM may be acquired based on the object model OM (step S13). In this case, the differential model DM may be a three-dimensional model corresponding to the difference between the object model OM and a deformed model TM obtained by deforming the object model OM (in other words, the deformed object model OM).

[0204] Thereafter, the control information generator 2211 generates processing control information based on the differential model DM. The processing device 1 of the processing system SYS forms a three-dimensional structure ST having a desired shape based on the generated processing control information (step S14). Since the processing control information is generated based on the differential model DM, the processing device 1 forming the three-dimensional structure ST based on the processing control information can be said to be processing based on the differential model DM.

[0205] At least a part of the operations from step S11 to step S14 in Fig. 23 corresponds to at least a part of the control information generation operation shown in the flowchart in Fig. 12. Therefore, detailed description of the operations from step S11 to step S14 will be omitted.

[0206] After the operation of step S14, the workpiece W that has been processed by the processing device 1 (for example, on which a three-dimensional structure ST has been formed) may be removed from the processing device 1. The removed workpiece W may be transported from the processing device 1 to the measurement system 2 by the transport device 3. The workpiece W may also be transported from the measurement system 2 to the processing device 1 by a user of the processing system SYS. The workpiece W transported to the measurement system 2 is set in the measurement system 2 (in other words, placed or attached). At this time, the workpiece W may be transported while still attached to the holder.

[0207] The shape measuring device 21 of the measurement system 2 measures the three-dimensional shape of the workpiece W after processing. As a result, the shape measuring device 21 generates measurement information that indicates the three-dimensional shape of the workpiece W after processing. The shape measuring device 21 outputs (e.g., transmits) the generated shape information to the control information generating device 22. Note that the shape information may be any information as long as it can directly or indirectly indicate the actual three-dimensional shape of the workpiece W. For example, the shape information may be point cloud information that indicates the actual three-dimensional shape of the workpiece W using a plurality of points.

[0208] The processing of step S15 may be performed consecutively with the processing of step S14. On the other hand, after the processing of step S14, the operation of the machining system SYS may be temporarily interrupted. Then, the processing of step S15 may be performed. The conditions for the processing of step S14 and the processing of step S15 to be performed consecutively may include the condition that the machined workpiece W is placed in the measurement system 2. In other words, if the machined workpiece W cannot be measured by the measurement system 2 (for example, if the machined workpiece W is not placed in the measurement system 2, if the characteristics of the machined workpiece W make it impossible to acquire the three-dimensional shape of the workpiece W, or if the measurement system 2 is damaged), the operation of the machining system SYS may be temporarily interrupted after the processing of step S14 (in other words, the transition from step S14 to step S15 may be interrupted). If the operation of the machining system SYS is interrupted after the processing of step S14, the operation of the system SYS may be resumed (i.e., step S15 may be performed) if a predetermined resumption condition is met. The specified restart conditions may include, for example, at least one of the following: the processed workpiece W is placed in the measurement system 2; and an input has been made to inspect the processed workpiece W.

[0209] In step S15, any measuring device other than the shape measuring device 21 may measure the three-dimensional shape of the workpiece W after machining. For example, a measuring device arranged outside the measurement system 2 may measure the three-dimensional shape of the workpiece W after machining. For example, a measuring device arranged outside the machining system SYS may measure the three-dimensional shape of the workpiece W after machining. The any measuring device outputs (e.g., transmits) the generated measurement information to the control information generating device 22. In step S1 of FIG. 12, the measurement conditions when the workpiece W before machining is measured may be the same as the measurement conditions when the workpiece W after machining is measured.

[0210] Thereafter, the control information generating unit 2211 of the control information generating device 22 generates a machined model PM that indicates the actual three-dimensional shape of the machined workpiece W based on the generated measurement information. That is, the control information generating unit 2211 generates model information that indicates the machined model PM. As a result, the control information generating unit 2211 acquires the machined model PM (step S15).

[0211] The control information generating device 22 may control the output device 225, which can function as a display device, to display the machined model PM generated in step S15. A user of the machining system SYS may use the input device 224 to operate the machined model PM displayed on the output device 225. For example, the user may use the input device 224 to perform an operation to change the display mode of the machined model PM displayed on the output device 225. As one example, the user may use the input device 224 to perform an operation to rotate the machined model PM displayed on the output device 225. As another example, the user may use the input device 224 to perform an operation to change the display size of the machined model PM displayed on the output device 225.

[0212] The control information generator 2211 may acquire a portion of the processed model PM corresponding to the reference model RM as a processed division model PDM (step S16). The operation of step S16 will be described with reference to FIG. 24 . FIG. 24(a) is a diagram showing a reference model RM#1 as an example of the reference model RM. FIG. 24(b) is a diagram showing a processed model PM#1 as an example of the processed model PM. FIG. 24(c) is a diagram showing a processed division model PDM#1 as an example of the processed division model PDM. Note that the reference model RM#1 may be a three-dimensional model equivalent to the deformed model TM (in other words, the deformed reference model RM). Alternatively, an object model OM may be used instead of the reference model RM (e.g., the reference model RM#1).

[0213] In step S16, the control information generator 2211 may align the reference model RM#1 with the processed model PM#1 so that the reference model RM#1 matches the part of the processed model PM#1 that corresponds to the reference model RM#1 (see dashed circle C in Figure 24).

[0214] The control information generator 2211 may align the reference model RM#1 and the machined model PM#1 based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to align the reference model RM#1 and the machined model PM#1 to the control information generator 22. In this case, the output device 225, which can function as a display device, may display the reference model RM#1 and the machined model PM#1. The user may align the reference model RM#1 and the machined model PM#1 by using the input device 224 to move at least one of the reference model RM#1 and the machined model PM#1 displayed by the output device 225.

[0215] The control information generator 2211 may align the reference model RM#1 and the processed model PM#1 by performing a matching process using the reference model RM#1. The matching process itself may be the same as an existing matching process. Therefore, a detailed description of the matching process will be omitted, but an overview will be provided below. The matching process using the reference model RM#1 may also be referred to as a three-dimensional matching process.

[0216] The control information generator 2211 may, for example, translate, enlarge, reduce, and / or rotate the reference model RM#1 so that at least some of the characteristic locations of the three-dimensional shape indicated by the reference model RM#1 approach (typically, match) at least some of the characteristic locations of the three-dimensional shape indicated by the processed model PM#1. In other words, the control information generator 2211 may change the positional relationship between the coordinate system of the reference model RM#1 and the coordinate system of the processed model PM#1 so that at least some of the characteristic locations of the three-dimensional shape indicated by the reference model RM#1 approach (typically, match) at least some of the characteristic locations of the three-dimensional shape indicated by the processed model PM#1.

[0217] Note that the control information generator 2211 may align the reference model RM#1 and the processed model PM#1 based on a user instruction, and then perform a matching process using the reference model RM#1 to align the reference model RM#1 and the processed model PM#1. In other words, the control information generator 2211 may align the reference model RM#1 and the processed model PM#1 roughly based on a user instruction, and then perform a matching process using the reference model RM#1 to align the reference model RM#1 and the processed model PM#1 in detail.

[0218] The control information generation unit 2211 may obtain a processed divided model PDM#1 by dividing (or extracting) the part of the processed model PM#1 that corresponds to the reference model RM#1 from the processed model PM#1 based on the result of aligning the reference model RM#1 with the processed model PM#1.

[0219] The post-machining division model PDM also represents a portion of the actual three-dimensional shape of the workpiece W after machining. Therefore, the post-machining division model PDM may also be referred to as a post-machining model. As described with reference to FIG. 24 , the post-machining division model PDM, which may also be referred to as a post-machining model, may be obtained by dividing (or extracting) a result indicating the three-dimensional shape of a portion corresponding to the reference model RM from the measurement results (e.g., the post-machining model PM) of the post-machined workpiece W measured by the measurement system 2. In other words, the post-machining division model PDM may be obtained by obtaining a result indicating the three-dimensional shape of a portion of the post-machined workpiece W corresponding to the reference model RM from the measurement results of the post-machined workpiece W measured by the measurement system 2. As described above, the reference model RM is a model indicating the three-dimensional shape of a portion of the workpiece W before it is actually used. The pre-machined workpiece W may be a workpiece W after it has actually been used (e.g., a turbine blade). In this case, the pre-machined workpiece W may also be referred to as an item requiring repair.

[0220] It can be said that aligning the reference model RM#1 with the processed model PM#1 means changing the positional relationship between the coordinate system of the reference model RM#1 and the coordinate system of the processed model PM#1 so that corresponding parts of the reference model RM#1 and the processed model PM#1 coincide with each other. By aligning the reference model RM#1 with the processed model PM#1, the control information generator 2211 may acquire a transformation matrix TM#1 for changing the positional relationship between the coordinate system of the reference model RM#1 and the coordinate system of the processed model PM#1.

[0221] The machining system SYS (e.g., the control information generator 2211) may not perform the operation of step S16. In other words, the machining system SYS may not acquire the post-machining division model PDM. Acquiring the post-machining division model PDM in step S16 reduces the computational load when the operations of steps S17 and S18 (described later) are performed. Furthermore, for example, when the post-machining division model PDM is compared with the object model OM in step S18, noise can be reduced compared to when the post-machining model PM is compared with the object model OM. Here, "noise" may refer to a portion of the difference between the post-machining division model PDM or the post-machining model PM and the object model OM other than the portion corresponding to the three-dimensional structure ST formed by the machining device 1 based on the machining control information. When the workpiece W is a turbine blade, for example, a hole formed on the side of the turbine blade according to the design is an example of the noise. In other words, by acquiring the post-machining division model PDM, for example, it is possible to prevent holes formed on the side surface of a turbine blade according to the design from being extracted as differences.

[0222] Note that the reference model RM#1 may have an area set therein that is not to be used for alignment between the reference model RM#1 and the processed model PM#1. This area may be referred to as an area not to be aligned or a non-alignment area.

[0223] For example, the control information generating unit 2211 may set a non-alignment region or a non-alignment region based on an instruction from a user of the processing system SYS. Specifically, the user may use the input device 224 to input an instruction to set a non-alignment region or a non-alignment region in the reference model RM#1 to the control information generating device 22. In this case, the output device 225, which can function as a display device, may display the reference model RM#1. The user may use the input device 224 to specify a region in the reference model RM#1 displayed by the output device 225 that corresponds to the non-alignment region or the non-alignment region, thereby issuing an instruction to set the non-alignment region or the non-alignment region. Alternatively, for example, the control information generating unit 2211 may automatically set the non-alignment region or the non-alignment region in accordance with predetermined conditions without using a user instruction.

[0224] For example, the control information generating unit 2211 may set a portion of the reference model RM#1 to be aligned with the processed model PM#1 (i.e., a portion other than the non-alignment region or non-alignment region) based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to the control information generating device 22 for setting a portion of the reference model RM#1 to be aligned with the processed model PM#1. Alternatively, for example, the control information generating unit 2211 may automatically set a portion of the reference model RM#1 to be aligned with the processed model PM#1 in accordance with predetermined conditions without using an instruction from the user. In this case, the control information generating unit 2211 may set a portion of the reference model RM#1 other than the portion to be aligned with the processed model PM#1 as the non-alignment region or non-alignment region. The non-alignment target region or non-alignment region may be displayed in any color tone (for example, black) in the reference model RM#1 displayed by the output device 225.

[0225] In this way, by limiting the portion of the reference model RM#1 that is used for alignment with the processed model PM#1, it is possible to reduce the computational load involved in aligning the reference model RM#1 with the processed model PM#1. Note that it is not necessary to set a non-alignment region or a non-alignment region.

[0226] 23 , the control information generator 2211 acquires a transformation matrix for aligning the post-machining division model PDM (or post-machining model PM) with the object model OM (step S17). The object model OM is a three-dimensional model that represents the three-dimensional shape of the workpiece W before the machining device 1 forms the three-dimensional structure ST based on the machining control information. For this reason, the object model OM may also be referred to as a pre-machining model. Therefore, it can be said that the transformation matrix acquired in step S17 is a transformation matrix for aligning the post-machining division model PDM (or post-machining model PM) with the object model OM, which may also be referred to as a pre-machining model.

[0227] The post-machining division model PDM (or the post-machining model PM) may be associated with the object model OM by a user of the machining system SYS. Alternatively, the post-machining division model PDM (or the post-machining model PM) may be associated with the object model OM automatically by the control information generating unit 2211.

[0228] In step S17, the control information generator 2211 may acquire a first transformation matrix for changing the positional relationship between the coordinate system of the reference model RM and the coordinate system of the machined division model PDM (or the coordinate system of the machined model PM). The above-mentioned transformation matrix TM#1 corresponds to an example of the first transformation matrix. In addition, if the operation of step S16 is not performed (in other words, if the machined division model PDM is not acquired), the control information generator 2211 may acquire the first transformation matrix by aligning the reference model RM and the machined model PM in step S17.

[0229] As described above, it can be said that acquiring the post-machining division model PDM is acquiring a result that indicates the three-dimensional shape of a portion of the post-machining workpiece W. It can be said that the first transformation matrix (e.g., transformation matrix TM#1) acquired in the process of acquiring the post-machining division model PDM is information when acquiring a result that indicates the three-dimensional shape of a portion of the post-machining workpiece W.

[0230] The control information generator 2211 may acquire a second transformation matrix for changing the positional relationship between the coordinate system of the reference model RM and the coordinate system of the object model OM. The control information generator 2211 may acquire the second transformation matrix by aligning the reference model RM and the object model OM.

[0231] The alignment of the reference model RM and the object model OM will be further described with reference to Fig. 25. Fig. 25(a) is a diagram showing a reference model RM#1 as an example of the reference model RM. Fig. 25(b) is a diagram showing a processed division model PDM#1 as an example of the processed division model PDM. Fig. 25(c) is a diagram showing an object model OM#1 as an example of the object model OM. Note that the reference model RM#1 may be a three-dimensional model equivalent to the deformed model TM (in other words, the deformed reference model RM).

[0232] The control information generator 2211 may align the reference model RM#1 and the object model OM#1 based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to align the reference model RM#1 and the object model OM#1 to the control information generator 22. In this case, the output device 225, which can function as a display device, may display the reference model RM#1 and the object model OM#1. The user may align the reference model RM#1 and the object model OM#1 by using the input device 224 to move at least one of the reference model RM#1 and the object model OM#1 displayed by the output device 225.

[0233] The control information generator 2211 may perform a matching process using the reference model RM#1 to align the reference model RM#1 with the object model OM#1. The matching process itself may be the same as an existing matching process. Therefore, a detailed description of the matching process will be omitted.

[0234] The control information generator 2211 may align the reference model RM#1 and the object model OM#1 based on a user instruction, and then perform a matching process using the reference model RM#1 to align the reference model RM#1 and the object model OM#1. In other words, the control information generator 2211 may align the reference model RM#1 and the object model OM#1 roughly based on a user instruction, and then perform a matching process using the reference model RM#1 to align the reference model RM#1 and the object model OM#1 in detail.

[0235] Aligning the reference model RM#1 with the object model OM#1 can be said to be changing the positional relationship between the coordinate system of the reference model RM#1 and the coordinate system of the object model OM#1 so that corresponding parts of the reference model RM#1 and the object model OM#1 coincide with each other. By aligning the reference model RM#1 with the object model OM#1, the control information generator 2211 may acquire a transformation matrix TM#2 for changing the positional relationship between the coordinate system of the reference model RM#1 and the coordinate system of the object model OM#1. The transformation matrix TM#2 corresponds to an example of the second transformation matrix described above.

[0236] The control information generator 2211 may acquire the second transformation matrix in step S13 described above (corresponding to steps S4 and S5 in FIG. 12 ). For example, the control information generator 2211 may align the object model OM with the reference model RM to acquire the differential model DM. The control information generator 2211 may acquire the second transformation matrix by aligning the object model OM with the reference model RM.

[0237] For example, the control information generator 2211 may align the object model OM with the reference model RM to obtain the deformation model TM (i.e., the deformed reference model RM). The control information generator 2211 may obtain the second transformation matrix by aligning the object model OM with the reference model RM. In this case, the control information generator 2211 may generate the deformation model TM by deforming the reference model RM to match the three-dimensional shape indicated by the object model OM. As described above, the deformation model TM may be referred to as a target model. Therefore, it can be said that the second transformation matrix is ​​information used when generating the deformation model TM as a target model.

[0238] 21 and 22 , when the differential model DM is generated by deforming the object model OM without using the reference model RM, the control information generator 2211 may acquire the second transformation matrix in a process different from the processing of step S13. In this case, the control information generator 2211 does not need to acquire the second transformation matrix. When the control information generator 2211 does not acquire the second transformation matrix, the control information generator 2211 may align the post-processing division model PDM (or post-processing model PM) with the object model OM without using the second transformation matrix.

[0239] The control information generation unit 2211 may acquire a third transformation matrix for aligning the post-machined division model PDM (or the post-machined model PM) with the object model OM based on the first transformation matrix and the second transformation matrix. As described above, the first transformation matrix is ​​a transformation matrix for changing the positional relationship between the coordinate system of the reference model RM and the coordinate system of the post-machined division model PDM (or the coordinate system of the post-machined model PD). The second transformation matrix is ​​a transformation matrix for changing the positional relationship between the coordinate system of the reference model RM and the coordinate system of the object model OM. Therefore, the control information generation unit 2211 can acquire a third transformation matrix for changing the positional relationship between the coordinate system of the post-machined division model PDM (or the coordinate system of the post-machined model PD) and the coordinate system of the object model OM (in other words, for aligning the post-machined division model PDM (or the post-machined model PM) with the object model OM) based on the first transformation matrix and the second transformation matrix. For example, the control information generator 2211 may obtain the third transformation matrix by calculating the product of the first transformation matrix and the second transformation matrix.

[0240] 23 , the control information generator 2211 aligns the post-machining division model PDM (or post-machining model PM) with the object model OM using the transformation matrix (e.g., third transformation matrix) acquired by the operation of step S17 (step S18). As described above, the object model OM may also be referred to as a pre-machining model. Therefore, it can be said that the operation of step S18 aligns the post-machining division model PDM (or post-machining model PM) with the pre-machining model.

[0241] The alignment of the processed division model PDM and the object model OM will be further described with reference to FIG. 25 . The control information generation unit 2211 may acquire a transformation matrix TM#3 for aligning the processed division model PDM#1 and the object model OM#1 based on the transformation matrix TM#1 and the transformation matrix TM#2. The transformation matrix TM#3 corresponds to an example of the third transformation matrix described above. The control information generation unit 2211 aligns the processed division model PDM#1 and the object model OM#1 using the transformation matrix TM#3.

[0242] As described above, the transformation matrix TM#1, which is an example of a first transformation matrix, may be obtained by aligning the reference model RM#1 with the processed model PD#1. Furthermore, the transformation matrix TM#2, which is an example of a second transformation matrix, may be obtained by aligning the reference model RM#1 with the object model OM#1. Errors occur both in the alignment of the reference model RM#1 with the processed model PD#1 and in the alignment of the reference model RM#1 with the object model OM#1. Therefore, when aligning the processed division model PDM#1 with the object model OM#1 using the transformation matrix TM#3, there is a possibility that a portion of the processed division model PDM#1 will not coincide with a portion corresponding to that portion of the object model OM#1 due to the above-mentioned error.

[0243] Therefore, the control information generation unit 2211 may align the processed division model PDM#1 and the object model OM#1 using the transformation matrix TM#3, and then perform detailed alignment between the processed division model PDM#1 and the object model OM#1 using existing technology such as the ICP algorithm.

[0244] The control information generator 2211 does not need to align the post-processing division model PDM with the object model OM using the third transformation matrix described above. In this case, the control information generator 2211 may align the post-processing division model PDM with the object model OM using an existing technique such as an ICP algorithm.

[0245] However, the third transformation matrix is ​​calculated based on the first transformation matrix and the second transformation matrix already obtained in the operation before step S18. Therefore, by using the third transformation matrix, it is possible to reduce the amount of calculation for the entire operation shown in the flowchart of FIG.

[0246] The control information generating device 22 may control the output device 225, which can function as a display device, to display the processed division model PDM (or the processed model PM) and the object model OM that have been aligned in step S18. As a result, the output device 225 may display, for example, the image shown in Fig. 26. Fig. 26 is a diagram showing an example of the aligned processed division model and object model.

[0247] A user of the processing system SYS may use the input device 224 to operate the image displayed on the output device 225. For example, the user may use the input device 224 to perform an operation to change the display mode of the image displayed on the output device 225. As an example, the user may use the input device 224 to perform an operation to change the display size of the image displayed on the output device 225.

[0248] Returning to Figure 23, the control information generation unit 2211 acquires a processed part model PPM that indicates a three-dimensional shape corresponding to the difference between the aligned processed division model PDM (or processed model PM) and the object model OM (step S19).

[0249] The operation of step S19 will be further described with reference to Fig. 27. Fig. 27(a) is a diagram schematically showing a post-machining division model PDM. Fig. 27(b) is a diagram schematically showing an object model OM. Fig. 27(c) is a diagram schematically showing a machined portion model PPM.

[0250] The control information generator 2211 acquires a machined portion model PPM based on the object model OM acquired in step S11 and the machined division model PDM acquired in step S16 (or the machined model PM acquired in step S15). For example, the control information generator 2211 may acquire a three-dimensional model corresponding to the difference between the machined division model PDM shown in Fig. 27(a) and the object model OM shown in Fig. 27(b) as the machined portion model PPM (see Fig. 27(c)).

[0251] A specific example of the operation of step S19 will now be described. In step S18, after the post-processing division model PDM (or post-processing model PM) and the object model OM are aligned in a predetermined coordinate space, the control information generation unit 2211 may extract, as extraction points Pext, a plurality of points that satisfy a predetermined distance condition from a plurality of points included in the post-processing division model PDM (or post-processing model PM). Specifically, the control information generation unit 2211 may extract, as extraction points Pext, a point that satisfies the condition that the inter-model distance D1 between a point on the post-processing division model PDM (or post-processing model PM) and a point on the object model OM closest to the point is equal to or greater than the inter-model distance threshold TH_M.

[0252] The plurality of extraction points Pext that satisfy a predetermined distance condition correspond to the difference between the post-processing division model PDM (or the post-processing model PM) and the object model OM. The plurality of extraction points Pext indicate the three-dimensional shape of the difference between the post-processing division model PDM (or the post-processing model PM) and the object model OM. Therefore, the control information generator 2211 may generate the processed part model PPM based on the plurality of extraction points Pext.

[0253] The control information generating device 22 may control the output device 225 capable of functioning as a display device to display an extraction point display image 61 for displaying the extracted plurality of extraction points Pext. As a result, the output device 225 may display the extraction point display image 61.

[0254] An example of the extraction point display image 61 is shown in Fig. 28. As shown in Fig. 28, the extraction point display image 61 may include a display image 611 for displaying the extracted multiple extraction points Pext. In the display image 611 shown in Fig. 28, the multiple extraction points Pext are displayed three-dimensionally within a predetermined coordinate space. However, a display method different from the display method shown in Fig. 28 may be used to display the multiple extraction points Pext in the display image 611.

[0255] A plurality of extraction points Pext may be displayed together with at least one of the processed division model PDM and the object model OM in the display image 611. In the example shown in Fig. 28 , a plurality of extraction points Pext are displayed together with both the processed division model PDM and the object model OM in the display image 611.

[0256] The control information generating device 22 may change the display mode of a group of display objects including a plurality of extraction points Pext displayed in the display image 611, based on a user input using the input device 224. For example, the control information generating device 22 may translate the display object within a predetermined coordinate space defined in the display image 611. For example, the control information generating device 22 may rotate the display object within the predetermined coordinate space defined in the display image 611. For example, the control information generating device 22 may enlarge or reduce the display object within the predetermined coordinate space defined in the display image 611.

[0257] The extraction point display image 61 may include a display image 612 that includes a manipulation object 6121 that the user can manipulate to adjust the inter-model distance threshold TH_M used to extract the extraction point Pext. In this case, the user may adjust (in other words, set or change) the inter-model distance threshold TH_M by manipulating the manipulation object 6121 using the input device 224.

[0258] In the example shown in Fig. 28 , a slider (in other words, a slider bar) is used as the operation object 6121. In this case, the user may adjust the inter-model distance threshold TH_M so that the inter-model distance threshold TH_M increases by performing an operation to move the slider in a first direction (for example, the upward direction in Fig. 28 ). On the other hand, the user may adjust the inter-model distance threshold TH_M so that the inter-model distance threshold TH_M decreases by performing an operation to move the slider in a second direction opposite the first direction (for example, the downward direction in Fig. 28 ).

[0259] Note that a display object other than a slider may be used as the operation object 6121. For example, a display object that can specify one candidate value to be set as the inter-model distance threshold TH_M from among a plurality of candidate values ​​for the inter-model distance threshold TH_M may be used as the operation object 6121. Examples of such a display object include at least one of a combo box, a drop-down list, and a radio button.

[0260] The input device 224 used by the user to operate the operation object 6121 may be configured to be capable of receiving user input for operating the operation object 6121. As an example, the input device 224 may be capable of receiving at least one of a slide input, a pinch input, and a spin input. In this case, the user may adjust the inter-model distance threshold TH_M by performing at least one of a slide input, a pinch input, and a spin input.

[0261] The plurality of extracted points Pext extracted as described above may include extraction points Pext that do not indicate the difference between the post-processing division model PDM (or post-processing model PM) and the object model OM. In other words, the plurality of extracted points Pext may include extraction points Pext that become noise and should not be used to generate the processed portion model PPM.

[0262] The control information generation unit 2211 may extract multiple extraction points Pext and then cluster the multiple extraction points Pext. Specifically, the control information generation unit 2211 may generate at least one point cloud cluster PGC by clustering the multiple extraction points Pext. Specifically, the control information generation unit 2211 may generate at least one point cloud cluster PGC by classifying two extraction points Pext that satisfy the condition that the distance D2 between the two extraction points Pext is equal to or less than a predetermined cluster threshold TH_C into the same point cloud cluster PGC. Thereafter, the control information generation unit 2211 may generate a processed part model PPM based on the at least one point cloud cluster PGC.

[0263] In this case, the clustering of the multiple extracted points Pext is a process in which a labeling process for connected components in a graph is applied to a point cloud, and it can be said to be a process in which two extracted points Pext that are separated by a distance D2 that is equal to or less than the cluster threshold TH_C are considered to be connected, and then each extracted point Pext is classified into a cluster. Note that the point cloud cluster PGC may also be referred to as a cluster region. Note that the control information generator 2211 does not have to perform clustering of the multiple extracted points Pext.

[0264] The control information generating device 22 may control the output device 225 capable of functioning as a display device to display a point cloud cluster display image 62 for displaying the generated at least one point cloud cluster PGC. As a result, the output device 225 may display the point cloud cluster display image 62.

[0265] An example of a point cloud cluster display image 62 is shown in Fig. 29. As shown in Fig. 29, the point cloud cluster display image 62 may include a display image 621 for displaying at least one generated point cloud cluster PGC. In the display image 621 shown in Fig. 29, at least one point cloud cluster PGC is displayed three-dimensionally within a predetermined coordinate space. However, a display method different from the display method shown in Fig. 29 may be used to display the at least one point cloud cluster PGC in the display image 621.

[0266] At least one point cloud cluster PGC may be displayed together with at least one of the processed division model PDM and the object model OM in the display image 621. In the example shown in Fig. 29 , at least one point cloud cluster PGC is displayed together with both the processed division model PDM and the object model OM in the display image 621.

[0267] The control information generating device 22 may change the display mode of a group of display objects including at least one point cloud cluster PGC displayed in the display image 621, based on a user input using the input device 224. For example, the control information generating device 22 may translate the display object within a predetermined coordinate space defined in the display image 621. For example, the control information generating device 22 may rotate the display object within the predetermined coordinate space defined in the display image 621. For example, the control information generating device 22 may enlarge the display object within the predetermined coordinate space defined in the display image 621.

[0268] The point cloud cluster display image 62 may include a display image 622 including a manipulation object 6221 that is user operable to adjust a cluster threshold TH_C used to generate the point cloud cluster PGC. In this case, the user may adjust (in other words, set or change) the cluster threshold TH_C by manipulating the manipulation object 6221 using the input device 224.

[0269] In the example shown in Fig. 29 , a slider (in other words, a slider bar) is used as the operation object 6221. In this case, the user may adjust the cluster threshold TH_C so that the cluster threshold TH_C increases by performing an operation to move the slider in a first direction (e.g., upward in Fig. 29 ). On the other hand, the user may adjust the cluster threshold TH_C so that the cluster threshold TH_C decreases by performing an operation to move the slider in a second direction opposite to the first direction (e.g., downward in Fig. 29 ).

[0270] Note that a display object other than a slider may be used as the operation object 6221. For example, a display object that can specify one candidate value to be set as the cluster threshold TH_C from among multiple candidate values ​​for the cluster threshold TH_C may be used as the operation object 6221. Examples of such a display object include at least one of a combo box, a drop-down list, and a radio button.

[0271] The input device 224 used by the user to operate the operation object 6221 may be configured to be capable of receiving user input for operating the operation object 6221. As an example, the input device 224 may be capable of receiving at least one of a slide input, a pinch input, and a spin input. In this case, the user may adjust the cluster threshold TH_C by performing at least one of a slide input, a pinch input, and a spin input.

[0272] 23 , the control information generator 2211 acquires a difference between the differential model DM and the machined part model PPM based on the differential model DM acquired in step S13 and the machined part model PPM acquired in step S19. The difference is the difference between the three-dimensional structure ST actually formed by the machining device 1 based on the machining control information based on the differential model DM and the differential model DM. The control information generator 2211 extracts the amount of difference between the machined part model PPM and the differential model DM based on the acquired difference (step S20). Note that if the machining system SYS (e.g., the control information generator 2211) does not perform the operation of step S16, the control information generator 2211 may also extract the amount of difference between the machined model PM and the differential model DM (step S20).

[0273] The operation of step S20 will be further described with reference to Fig. 30. Fig. 30(a) is a diagram schematically showing a processed part model PPM. Fig. 30(b) is a diagram schematically showing a differential model DM. Fig. 30(c) is a diagram schematically showing a post-processing differential model ADM.

[0274] For example, the control information generation unit 2211 may extract a three-dimensional model corresponding to the difference between the processed part model PPM shown in Figure 30(a) and the differential model DM shown in Figure 30(b) as a post-processing differential model ADM (see Figure 30(c)).

[0275] In step S20, an operation similar to that in step S19 described above may be performed. That is, the control information generator 2211 may extract, as extraction points, a plurality of points that satisfy a predetermined distance condition from a plurality of points included in the machined part model PPM. Specifically, the control information generator 2211 may extract, as extraction points, points that satisfy the condition that the inter-model distance between a point in the machined part model PPM and a point in the differential model DM that is closest to the point is equal to or greater than an inter-model distance threshold.

[0276] The plurality of extraction points that satisfy the predetermined distance condition correspond to the difference between the processed part model PPM and the differential model DM. Therefore, the control information generator 2211 may acquire the post-processing differential model ADM based on the plurality of extraction points. In this case, the control information generator 22 may control the output device 225, which can function as a display device, to display an extraction point display image for displaying the plurality of extracted extraction points. As a result, the output device 225 may display an extraction point display image similar to the above-described extraction point display image 61. The extraction point display image may include a display image including an operation object that the user can operate to adjust the inter-model distance threshold used to extract the extraction points.

[0277] Alternatively, the control information generation unit 2211 may extract multiple extraction points and then cluster the multiple extraction points. Specifically, the control information generation unit 2211 may generate at least one point cloud cluster by clustering the multiple extraction points. Specifically, the control information generation unit 2211 may generate at least one point cloud cluster by classifying two extraction points that satisfy the condition that the distance between the two extraction points is equal to or less than a predetermined cluster threshold into the same point cloud cluster. The control information generation unit 2211 may then obtain an processed differential model ADM based on the at least one point cloud cluster. In this case, the control information generation device 22 may control the output device 225, which can function as a display device, to display a point cloud cluster display image for displaying the at least one generated point cloud cluster. As a result, the output device 225 may display a point cloud cluster display image similar to the point cloud cluster display image 62 described above. The point cloud cluster display image may include a display image including an operation object that the user can operate to adjust the cluster threshold used to generate the point cloud cluster.

[0278] The control information generation unit 2211 may extract the distance between one of the multiple points (i.e., the multiple extracted points described above) included in the processed differential model ADM and one of the points in the differential model DM that is closest to the one point as the difference amount.

[0279] The control information generator 2211 generates difference information regarding the difference between the machined part model PPM and the differential model DM based on the difference amount extracted in step S20. Note that the control information generator 2211 may generate multiple pieces of difference information for each direction in which a difference occurs. For example, in the example shown in Fig. 30, the control information generator 2211 may generate difference information in the X direction, difference information in the Y direction, and difference information in the Z direction.

[0280] Based on the difference information, the control information generator 2211 may generate display data for displaying the difference indicated by the difference information in a predetermined manner. One example of the predetermined manner is a contour diagram (see, for example, FIG. 31 ). The contour diagram may be colored in a stepwise manner based on the difference amount extracted in step S20 (in other words, the difference between the machined part model PPM and the differential model DM). Therefore, the display data for displaying the contour diagram can be said to be display data for displaying the difference indicated by the difference information in accordance with the difference amount.

[0281] The outline of the colored portion of the contour diagram may be the same as the outline of the processed differential model ADM when the processed differential model ADM is viewed from a predetermined direction. In this case, the control information generator 2211 may include data for displaying at least a part of the three-dimensional shape represented by the processed differential model ADM in the display data.

[0282] The control information generation unit 2211 may change the color applied to the contour diagram for each direction in which a difference occurs. For example, the control information generation unit 2211 may generate display data in which different colors are applied to the contour diagram based on the difference information in the X direction, the contour diagram based on the difference information in the Y direction, and the contour diagram based on the difference information in the Z direction, so that a user of the machining system SYS can distinguish between the contour diagram based on the difference information in the X direction, the contour diagram based on the difference information in the Y direction, and the contour diagram based on the difference information in the Z direction. Instead of or in addition to changing the color applied to the contour diagram for each direction in which a difference occurs, the control information generation unit 2211 may generate display data in which at least one of a character or a graphic (e.g., an arrow) indicating the direction in which a difference occurs is displayed together with the contour diagram.

[0283] In other words, the control information generating unit 2211 may generate display data for displaying the difference information in a predetermined manner depending on the direction in which the difference between the processed part model PPM indicated by the difference information and the difference model DM occurs.

[0284] When extracting the above-mentioned difference amount, the control information generating unit 2211 may deform the differential model DM and then extract the difference amount using the deformed differential model DM and the processed differential model ADM.

[0285] For example, the control information generator 2211 may deform the differential model DM by removing one or more points from among the multiple points (in other words, a point cloud) that constitute the differential model DM. For example, the control information generator 2211 may remove one or more points that correspond to corners of the differential model DM from among the multiple points that constitute the differential model DM.

[0286] For example, the control information generator 2211 may deform the differential model DM by performing a process to blunt the corners of the differential model DM (in other words, a process to round the corners). The process to blunt the corners of the differential model DM may be, for example, at least one of a smoothing process for a three-dimensional model (in other words, a smoothing process) and the use of a low-pass filter in the frequency domain.

[0287] Measurement of the workpiece W by the measurement system 2 is subject to spatial resolution constraints, for example, due to the pixel pitch of the sensor. For this reason, the measurement results of the workpiece W by the measurement system 2 (e.g., the machined model PM, the machined division model PDM, the machined portion model PPM, etc.) may not accurately reproduce the actual three-dimensional shape of the workpiece W. For example, even if a corner of the actual workpiece W (i.e., the boundary between one surface of the workpiece W and another surface adjacent to that surface) has a sharp shape, the measurement results of the workpiece W by the measurement system 2 may result in the corner of the workpiece W having a duller shape than the actual shape.

[0288] On the other hand, the differential model DM is an ideal shape of the workpiece W generated by calculation, and therefore sharp corners are represented as sharp corners in the differential model DM. For this reason, even if the actual three-dimensional shape of the workpiece W (for example, the shape of a corner) matches or is very close to the three-dimensional shape represented by the differential model DM, when the measurement results of the workpiece W by the measurement system 2 are compared with the differential model DM, it may be determined that there is a difference that exceeds the allowable range.

[0289] Therefore, the control information generator 2211 may deform the differential model DM by removing one or more points from among the multiple points constituting the differential model DM, or by processing the differential model DM to blunt the corners of the differential model DM. Thereafter, the control information generator 2211 may extract the difference amount using the deformed differential model DM and the post-processing differential model ADM (i.e., an example of the measurement results of the workpiece W by the measurement system 2). With this configuration, it is possible to prevent a determination that there is a difference exceeding the allowable range when the three-dimensional shape of the actual workpiece W (e.g., the shape of a corner) matches or is very close to the three-dimensional shape represented by the differential model DM.

[0290] Thereafter, the control information generating device 22 may control the output device 225, which can function as a display device, to perform a display based on the display data generated by the control information generating unit 2211. As a result, the output device 225 may display a contour image (see FIG. 31) showing a contour diagram as a display based on the display data. The contour diagram is a view of the processed differential model ADM from a predetermined direction. For example, the contour diagram in FIG. 31 is a view of the processed differential model ADM from the Z direction.

[0291] As shown in FIG. 31 , the output device 225 may display, together with the contour diagram, a color scale CS indicating the relationship between the colors in the contour diagram and the difference between the processed part model PPM and the difference model DM. In this case, the display data may include information about the color scale CS. The difference amounts displayed alongside the color scale CS may represent the range of the difference amounts extracted in step S20. If the range of the difference amounts is from "1.000" to "-1.000," the range may be displayed divided into "1.000," "0.500," "0.000," "-0.500," and "-1.000," as shown in FIG. 31 . Note that the range of the difference amounts does not need to be divided evenly. For example, as shown in FIG. 31 , the output device 225 may display, together with the contour diagram, a frequency distribution FD of the difference values. Note that in the frequency distribution FD, the line segments extending vertically in FIG. 31 indicate points with a frequency of zero. In this case, the display data may include information regarding the frequency distribution FD of the difference values. In the frequency distribution FD shown in FIG. 31 , the difference amount is frequently near 0.000. In this case, it can be said that a three-dimensional structure has been formed roughly as intended by, for example, additive processing. The control information generator 2211 may generate display data including data for displaying at least one of the color scale CS and the frequency distribution FD.

[0292] At least one of the differential model DM and the processed model PM (or the processed division model PDM) may be displayed together with the contour diagram. That is, the control information generator 2211 may generate display data including data for displaying at least one of the differential model DM and the processed model PM (or the processed division model PDM).

[0293] The control information generator 2211 may generate processing control information based on the post-processing differential model ADM in parallel with generating the display data. The processing control information generated based on the post-processing differential model ADM is processing control information for bringing the three-dimensional structure ST formed by the processing device 1 closer to (typically, matching) the three-dimensional shape represented by the differential model DM in step S14. In this case, the control information generator 2211 may determine the processing conditions included in the processing control information based on the differential information. In other words, the control information generator 2211 may change the processing conditions from the processing conditions in step S14 based on the differential information. Since the processing device 1 is controlled based on the processing control information, it can be said that the control information generator 2211 determining (or changing) the processing conditions based on the differential information is equivalent to the control information generator 2211 performing feedback control of the processing device 1.

[0294] The processing device 1 may perform at least one of removal processing to remove a portion of the three-dimensional structure ST formed in step S14, and additional processing to form a formed object on the three-dimensional structure ST, based on processing control information generated based on the post-processing differential model ADM.

[0295] 23 (specifically, steps S18 to S20), a processed part model PPM indicating the difference between the processed division model PDM (or the processed model PM) and the object model MO is extracted (or generated). Then, a processed differential model ADM indicating the difference between the processed part model PPM and the differential model DM is extracted (or generated).

[0296] In the operation of extracting (or generating) the processed differential model ADM from the processed division model PDM (or the processed model PM), it can be said that the parts corresponding to the object model OM and the differential model DM are removed from the processed division model PDM (or the processed model PM), as shown in Figures 27 and 30.

[0297] Here, the differential model DM is a three-dimensional model that indicates the difference between the reference model RM or the deformation model TM (i.e., the deformed reference model RM) and the object model OM. Therefore, it can be said that the combination of the differential model DM and the object model OM is equivalent to the reference model RM or the deformation model TM.

[0298] For this reason, the control information generator 2211 may extract (or generate) the post-processing differential model ADM based on the post-processing division model PDM (or the post-processing model PM) and the reference model RM or the deformed model TM (i.e., the deformed reference model RM) instead of steps S18 to S20 in Fig. 23. In other words, the control information generator 2211 may extract (or generate) the post-processing differential model ADM as a three-dimensional model indicating the difference between the post-processing division model PDM (or the post-processing model PM) and the reference model RM or the deformed model TM (i.e., the deformed reference model RM).

[0299] (3-2) Other Methods for Generating Differential Information As a result of the processing device 1 performing additional processing based on the processing control information, for example, as shown in Fig. 32(a), a three-dimensional structure may be formed on the side surface of the pre-processing workpiece W (corresponding to the object model OM in Fig. 32(a)) (see the post-processing differential model ADM in Fig. 32(a)). In this case, as described above, if the distance between one point included in the post-processing differential model ADM and one point in the differential model DM closest to that one point is extracted as the difference amount, the following problem occurs.

[0300] For example, the distance between point Pppm (see FIG. 32(b)) included in the post-processing differential model ADM and a point on the differential model DM closest to point Pppm is distance d1 (see FIG. 32(c)). On the other hand, the distance between point Pppm and a point on the object model OM closest to point Pppm is distance d2 (see FIG. 32(c)). Note that distances d1 and d2 correspond to an example of the above-mentioned difference amount.

[0301] Here, the three-dimensional shape obtained by combining the three-dimensional shape represented by the object model OM and the three-dimensional shape represented by the differential model DM corresponds to at least one of the reference model RM and the deformation model TM, which are the target shapes after machining of the workpiece W (see, for example, FIGS. 9 and 22). Therefore, the distance d2 can be said to be the distance between the point Pppm and one point on the target shape that is closest to the point Pppm.

[0302] Even if the difference between point Pppm and the target shape is distance d2, if the distance between a point included in the processed differential model ADM and a point in the differential model DM that is closest to that point is extracted as the difference amount, the difference amount related to point Pppm will be distance d1.

[0303] If the distance d1 exceeds the allowable range for the difference amount while the distance d2 is within the allowable range, the point Pppm may be evaluated as being "too high." In other words, the point Pppm may be erroneously evaluated as being "too high," even though it should be evaluated as being within the allowable range.

[0304] Therefore, the control information generator 2211 may calculate a first distance between a point (e.g., point Pppm) included in the processed differential model ADM and a point in the differential model DM that is closest to the first point, and a second distance between the point included in the processed differential model ADM and a point in the object model OM that is closest to the first point. The control information generator 2211 may extract the shorter of the first distance and the second distance as the difference amount.

[0305] Alternatively, the control information generation unit 2211 may extract the distance between a point (e.g., point Pppm) included in the processed differential model ADM and a point in the reference model RM or the deformed model TM that is closest to the point as the above-mentioned difference amount.

[0306] The control information generator 2211 may generate a composite model corresponding to at least one of the reference model RM and the deformation model TM by combining the object model OM and the differential model DM instead of the reference model RM or the deformation model TM. In this case, the control information generator 2211 may extract, as the difference amount, the distance between a point (e.g., point Pppm) included in the processed differential model ADM and a point of the composite model that is closest to the point.

[0307] If the object model OM and the differential model DM are mesh models (e.g., polygonal mesh models), the control information generator 2211 may generate a composite model by combining the object model OM and the differential model DM, and then perform a remeshing process on the composite model. This configuration can reduce mesh errors that occur when the object model OM and the differential model DM are combined.

[0308] The control information generator 2211 may generate difference information regarding the difference between the processed portion model PPM and the difference model DM based on the difference amount extracted as described above. This configuration can reduce the possibility of erroneous evaluation of a point (e.g., point Pppm) included in the processed difference model ADM. As a result, for example, a portion of the processed difference model ADM that is evaluated as "excessive" can be appropriately detected.

[0309] 8 and 9 , when the machining apparatus 1 performs additional machining to form a three-dimensional structure ST on top of a workpiece W having a missing portion, the three-dimensional structure ST may be formed to a size slightly larger than the size of the three-dimensional shape represented by the differential model DM. In other words, the size of the three-dimensional structure ST to be formed may be intentionally made larger than the size of the three-dimensional shape represented by the differential model DM. In this case, the control information generator 2211 may generate machining control information such that the difference between the size of the three-dimensional structure ST and the size of the three-dimensional shape represented by the differential model DM is within an allowable range and the size of the three-dimensional structure ST is larger than the size of the three-dimensional shape.

[0310] In this case, the control information generation unit 2211 may generate processing control information for removing a portion of the formed three-dimensional structure ST based on differential information regarding the difference between the processed part model PPM and the differential model DM so that the size of the formed three-dimensional structure ST approaches the size of the three-dimensional shape indicated by the differential model DM (in other words, the design value).

[0311] (3-3) Display Example of Test Results A display example of test results will be described with reference to Fig. 33. As described above, the control information generating device 22 may control the output device 225, which can function as a display device, to perform a display based on the display data generated by the control information generating unit 2211. The output device 225 may display a test information image as a display based on the display data.

[0312] As an example of the inspection information image, a shape inspection report shown in FIG. 33 may be displayed. The shape inspection report may include display items such as "basic information," "inspection comparison object," "inspection comparison result," and "height inspection result." The shape inspection report may not include "height inspection result." The shape inspection report may include only "inspection comparison result." The shape inspection report may include other display items in addition to "basic information," "inspection comparison object," "inspection comparison result," and "height inspection result." For example, the storage device 222 may store at least one of a file and a data structure for displaying the shape inspection report shown in FIG. 33 on the output device 225 as a display device.

[0313] The "basic information" may include information indicating the target and information indicating the processing conditions. Here, the "target" corresponds to the workpiece W, which is the target of processing by the processing device 1 and the target of measurement by the measurement system 2. Examples of information indicating the target include information indicating the name or type of the target, and information for identifying the target (e.g., a serial number). Examples of information indicating the processing conditions include information indicating the date and time, information indicating the processing device, information about the material, information about temperature, and information about humidity. An example of information indicating the date and time is the "repair date" shown in FIG. 33. An example of information indicating the date and time is the processing date and time indicating the date and time when the workpiece W was processed by the processing system SYS. An example of information indicating the processing device is information for identifying the repair device corresponding to the processing device SYS. Examples of information regarding the material include information indicating the type of powder and information indicating the powder lot. Examples of information regarding the temperature include at least one of the outside air temperature, the ambient temperature inside the device, and the surface temperature of the workpiece W during processing. The information relating to humidity may include, for example, at least one of the humidity of the outside air and the humidity of the atmosphere inside the apparatus. Note that the information included in the "basic information" may be input by a user of the processing system SYS, and items other than those exemplified may be added as appropriate.

[0314] The "comparison target for inspection" may include a target shape of the target and an actual shape of the target. The target shape of the target may be a three-dimensional shape corresponding to one of the reference model RM and the deformed model TM (in other words, the deformed reference model RM). The target shape of the target may be a three-dimensional shape corresponding to the differential model DM. The actual shape of the target may be a three-dimensional shape corresponding to one of the machined model PM or the machined division model PDM. The actual shape of the target may be a three-dimensional shape corresponding to the machined part model PPM.

[0315] The "inspection comparison results" may include a contour diagram, a color scale CS, and a frequency distribution FD ( FIG. 31 ) based on the difference information described above. The "inspection comparison results" may also include information indicating an evaluation of at least one of parameters related to the target shape and parameters related to processing. Parameters related to the target shape include, for example, at least one of the size, curvature, weight, and material of the object. Parameters related to processing include, for example, at least one of the target size, target shape, target weight, and material of the object; the size, shape, weight, and material of the support members applied during processing; information on the laser power and spot diameter when forming the object; the temperature of the workpiece surface during processing; and the size and shape of the supplied forming material. The parameters related to the target shape and the parameters related to processing may partially overlap. The information indicating the evaluation may include one or more of a threshold value as an allowable limit, an actual measurement value based on the difference information, and a judgment result based on the threshold value and the actual measurement value.

[0316] The "height inspection result" may include height information and an image showing the three-dimensional shape of the object. Such an image may be generated based on, for example, at least one of the machined model PM, the machined division model PDM, and the machined part model PPM. The "height inspection result" may include information indicating an evaluation of the maximum height of the object. The information indicating the evaluation may include one or more of a threshold value, an actual measurement value (i.e., the maximum height value), a determination result based on the threshold value and the actual measurement value, and a jig design value.

[0317] For example, if an actual measurement value for a parameter is within a threshold, the judgment result may be displayed as "OK" or "appropriate." For example, if an actual measurement value for a parameter exceeds a threshold, the judgment result may be displayed as "NG" or "too much." The judgment result may indicate, for example, the degree of agreement between the actual measurement value for a parameter and the threshold. For example, if the actual measurement value for a parameter is equal to the threshold, the judgment result may be displayed as "0." For example, if the actual measurement value for a parameter is smaller than the threshold, the judgment result may be displayed as a value corresponding to the difference between the actual measurement value and the threshold (for example, "-20"). For example, if the actual measurement value for a parameter is greater than the threshold, the judgment result may be displayed as a value corresponding to the difference between the actual measurement value and the threshold (for example, "+10").

[0318] When a user of the machining system SYS uses the input device 224 to superimpose a cursor (e.g., a mouse cursor) on the image, the height of the object at the portion where the cursor is superimposed may be displayed. For example, the control information generating device 22 may acquire cursor position information indicating the position of the cursor as a user instruction. Based on the cursor position information, the control information generating device 22 may identify a portion of the three-dimensional shape shown by the image that corresponds to the position indicated by the cursor position information. Based on height information, the control information generating device 22 may identify the height of the identified portion. The control information generating device 22 may control the output device 225, which can function as a display device, to display at least one of characters, figures, and images indicating the identified height.

[0319] The three-dimensional shape of the object included in the image may be translated, enlarged, reduced, and / or rotated in accordance with a user instruction via the input device 224. Also, any cross section of the three-dimensional shape of the object may be displayed in accordance with a user instruction via the input device 224.

[0320] (3-4) Height Information Calibration Operation The height information of the three-dimensional model (for example, at least one of the object model MO and the machined model PD) generated by the measurement system 2 measuring the workpiece W does not necessarily match the height information of the CAD model corresponding to the workpiece W. For this reason, when comparing the three-dimensional model with CAD data, it may be difficult for the user of the machining system SYS to recognize the correspondence between the three-dimensional model and the CAD data.

[0321] Incidentally, the workpiece W is often measured by the measurement system 2 while being held by a predetermined jig. In this case, the three-dimensional model generated by measuring the workpiece W with the measurement system 2 includes a portion corresponding to at least a part of the jig. Furthermore, the top surface of the CAD model corresponding to the jig is often set so as to be perpendicular to the Z axis (i.e., the height direction) (in other words, so as to be parallel to the XY plane (i.e., the horizontal plane)).

[0322] A method for calibrating height information of a three-dimensional model using a three-dimensional model generated by the measurement system 2 measuring a workpiece W held in a jig and a CAD model corresponding to the jig will be described with reference to Fig. 34 . Fig. 34(a) is a diagram showing a machined model PM#2 as another example of the machined model PM. Fig. 34(b) is a diagram showing a machined model PM#2a that is a part of the machined model PM#2 shown in Fig. 34(a). Fig. 34(c) is a diagram showing a jig model JM#1 as an example of a CAD model corresponding to the jig.

[0323] The control information generating unit 2211 may extract a machined model PM#2a, which is a portion of the machined model PM#2 that corresponds to the jig, based on an instruction from a user of the machining system SYS. Specifically, the user may use the input device 224 to input an instruction to the control information generating device 22 to identify the portion of the machined model PM#2 that corresponds to the jig. In this case, the output device 225, which can function as a display device, may display the machined model PM#2. The user may use the input device 224 to specify the portion of the machined model PM#2 displayed by the output device 225 that corresponds to the jig, thereby giving the above instruction.

[0324] The after-machined model PM#2 may be point cloud information that indicates the actual three-dimensional shape of the workpiece W held by the jig using a plurality of points. In this case, the control information generator 2211 may extract the after-machined model PM#2a by extracting a plurality of points included in the portion corresponding to the jig from the after-machined model PM#2.

[0325] Next, the control information generation unit 2211 may align the after-machined model PM#2a with the jig model JM#1. The control information generation unit 2211 may align the after-machined model PM#2a with the jig model JM#1 based on instructions from a user of the machining system SYS. Specifically, the user may use the input device 224 to input instructions to align the after-machined model PM#2a with the jig model JM#1 to the control information generation device 22. In this case, the output device 225, which can function as a display device, may display the after-machined model PM#2a and the jig model JM#1. The user may align the after-machined model PM#2a with the jig model JM#1 by using the input device 224 to move at least one of the after-machined model PM#2a and the jig model JM#1 displayed by the output device 225.

[0326] The control information generator 2211 may align the machined model PM#2a and the jig model JM#1 by performing a matching process using the jig model JM#1. The matching process itself may be the same as an existing matching process. Therefore, a detailed description of the matching process will be omitted.

[0327] Note that the control information generation unit 2211 may align the post-machined model PM#2a with the jig model JM#1 based on a user's instruction, and then perform a matching process using the jig model JM#1, thereby aligning the post-machined model PM#2a with the jig model JM#1. In other words, the control information generation unit 2211 may align the post-machined model PM#2a with the jig model JM#1 roughly based on a user's instruction, and then perform a matching process using the jig model JM#1, thereby aligning the post-machined model PM#2a with the jig model JM#1 in detail.

[0328] It can be said that aligning the post-machined model PM#2a with the jig model JM#1 means changing the positional relationship between the coordinate system of the post-machined model PM#2a and the coordinate system of the jig model JM#1 so that the post-machined model PM#2a and the jig model JM# coincide. By aligning the post-machined model PM#2a with the jig model JM#1, the control information generator 2211 may acquire a transformation matrix TM#4 for changing the positional relationship between the coordinate system of the post-machined model PM#2a and the coordinate system of the jig model JM#1.

[0329] The coordinate system of the machined model PM#2a and the coordinate system of the machined model PM#2 are the same. Therefore, by using the transformation matrix TM#4, the machined model PM#2 and the jig model JM#1 can be aligned.

[0330] The control information generator 2211 may align the after-machined model PM#2 with the jig model JM#1 using the transformation matrix TM#4. After aligning the after-machined model PM#2 with the jig model JM#1 using the transformation matrix TM#4, the control information generator 2211 may further align the after-machined model PM#2 with the jig model JM#1 using an existing technique such as an ICP algorithm.

[0331] Thereafter, the control information generation unit 2211 may identify a portion of the after-machined model PM#2 that corresponds to the top surface of the jig indicated by the jig model JM#1 based on the result of aligning the after-machined model PM#2 with the jig model JM#1. The control information generation unit 2211 may calibrate the height of the identified portion (e.g., the height indicated by the height information of the after-machined model PM#2) based on the height information of the jig model JM#1. Specifically, the control information generation unit 2211 may change the height information of the after-machined model PM#2 so that the height of the identified portion becomes equal to the height of the top surface of the jig indicated by the jig model JM#1.

[0332] As a result, the changed height information (in other words, the calibrated height information) becomes the same as the height information of the CAD model corresponding to the workpiece W having the three-dimensional shape indicated by the machined model PM#2. In other words, the above-described operation makes it possible to match the height information of the three-dimensional model (for example, at least one of the object model MO and the machined model PD) generated by measuring the workpiece W with the height information of the CAD model corresponding to the workpiece W.

[0333] For example, the height displayed in the "Height Check Results" shown in FIG. 32 may be the height indicated by the height information calibrated by the above-described operation (in other words, the changed height information).

[0334] For example, the control information generating device 22 may control the output device 225 capable of functioning as a display device to display the processed model PM (e.g., the processed model PM#2) having the calibrated height information. As a result, the output device 225 may display the processed model PM.

[0335] The control information generating device 22 may further acquire cursor position information indicating the position of a cursor (e.g., a mouse cursor) as an instruction from a user of the machining system SYS. That is, the control information generating device 22 may acquire cursor position information indicating the position of the cursor on the screen on which the machined model PM is displayed as an instruction from the user. The control information generating device 22 may identify a portion of the machined model PM corresponding to the position indicated by the cursor position information based on the cursor position information. The control information generating device 22 may identify the height of the identified portion based on the calibrated height information. The control information generating device 22 may control the output device 225 to display at least one of characters, figures, and images indicating the identified height. As a result, for example, the output device 225 may display the height of the machined model PM at a portion on the screen where the machined model PM and the cursor overlap.

[0336] With this configuration, the user of the processing system SYS can easily recognize the correspondence between the three-dimensional model (e.g., at least one of the object model MO and the processed model PD) generated by the measurement system 2 measuring the workpiece W and the CAD model corresponding to the workpiece W.

[0337] In the above-described embodiment, an item requiring repair, such as a turbine blade, is repaired by additional processing. However, the item requiring repair may also be repaired by removal processing, or by a combination of additional processing and removal processing. In this case, the additional processing may be performed first, followed by removal processing of the area including the additional processing portion, or removal processing may be performed first, followed by additional processing of the area including the removal processing portion. The former has the advantage of improving the shape accuracy of the additional processing portion. The latter has the advantage of improving the adhesion between the item requiring repair and the additional processing portion because minute defects such as cracks are widened before repair is performed by additional processing. Note that additional processing may be performed after removal processing, and then the area including the additional processing portion may be removed.

[0338] (4) Holder The structure of the holder 5 that holds the workpiece W will be described with reference to Figures 35(a) and 35(b). Figure 35(a) is a perspective view showing the structure of the holder 5 that is not holding the workpiece W, and Figure 35(b) is a perspective view showing the structure of the holder 5 that is actually holding the workpiece W. Figures 35(a) and 35(b) show the holder 5 placed on the stage 131 of the processing apparatus 1. Note that the structure of the holder 5 shown in Figures 35(a) and 35(b) is just one example, and the structure of the holder 5 is not limited to the structure shown in Figures 35(a) and 35(b).

[0339] As shown in Figures 35(a) and 35(b), the holder 5 includes a bottom member 51, multiple support members 52, and multiple connecting members 53. In the example shown in Figures 35(a) and 35(b), the holder 5 includes four support members 52 (specifically, support members 52#1, 52#2, 52#3, and 52#4) and four connecting members 53. However, the holder 5 may include a single support member 52. The holder 5 may include a single connecting member 53. The holder 5 may not include a connecting member 53. The holder 5 may be kinematically supported. The holder 5 may be kinematically supported at three points. The holder 5 may be kinematically supported at two or fewer points or four or more points.

[0340] The bottom member 51 is a plate-shaped member. The upper surface of the bottom member 51 (the surface facing the +Z side in the example shown in FIGS. 35( a) and 35(b)) may be a surface along the XY plane. The lower surface of the bottom member 51 (the surface facing the -Z side in the example shown in FIGS. 35(a) and 35(b)) may be a surface along the XY plane. The shape of the bottom member 51 is not limited to a rectangle. The bottom member 51 is placed on the stage 131 of the processing apparatus 1. Specifically, the bottom member 51 is placed on the stage 131 with the lower surface of the bottom member 51 facing the stage 131. Therefore, the holder 5 is placed on the stage 131 via the bottom member 51. The stage 131 supports the holder 5 via the bottom member 51.

[0341] The bottom member 51 may be placed (i.e., arranged) at a predetermined position on the stage 131. That is, the holder 5 may be placed (i.e., arranged) at a predetermined position on the stage 131 via the bottom member 51. The position determined as the position where the holder 5 is placed may be referred to as a "reference placement position."

[0342] In order to place the bottom member 51 at the reference placement position, alignment marks may be formed on at least one of the bottom member 51 and the stage 131. In the example shown in FIGS. 35( a) and 35(b), alignment marks are formed on both the bottom member 51 and the stage 131. For example, as shown in FIGS. 35(a) and 35(b), a plurality of pins 1311 may be formed on the stage 131 as alignment marks. The pins 1311 are members that protrude from the stage 131 along the Z-axis direction. Note that information regarding the positions of the pins 1311 on the stage 131 may be information known to the processing system SYS. Furthermore, as shown in FIGS. 35(a) and 35(b), a plurality of through holes 511 may be formed on the bottom member 51 as alignment marks. The through holes 511 penetrate the bottom member 51 along the Z-axis direction. Note that two through holes 511 are formed in the bottom member 51. However, the bottom member 51 may have three or more through holes, or only one through hole. In this case, as shown in FIGS. 35( a) and 35(b), the bottom member 51 may be placed on the stage 131 so that the pins 1311 are inserted into the through holes 511. The bottom member 51 may be placed on the stage 131 with the pins 1311 inserted into the through holes 511. Therefore, the arrangement of the through holes 511 is the same as the arrangement of the pins 1311. Furthermore, the number of through holes 511 may be the same as (or may be greater than) the number of pins 1311. As a result, the bottom member 51 is placed on the stage 131 at a position determined by the pins 1311 and the through holes 511 (i.e., the reference placement position). Therefore, in this case, information regarding the placement position of the bottom member 51 on the stage 131 (i.e., the placement position of the holder 5) is known to the processing system SYS.

[0343] The pin 1311 serving as a positioning mark does not have to pass through the through-hole 511 of the bottom member 51 of the holder 5. For example, the side surface of the bottom member 51 (for example, in the state shown in FIGS. 35( a) and 35(b) , one or both of the side surface along the XZ plane and the side surface along the YZ plane) may be pressed against the pin 1311. The positioning mark is not limited to the pin 1311. In addition to or instead of the pin 1311, a member having a surface that can come into contact with the bottom member 51 (for example, a member similar to a stopper 523 described later) may be used as the positioning mark.

[0344] At least a portion of the upper surface of the bottom member 51 functions as a mounting surface 510 on which the workpiece W is placed. The workpiece W is placed on the mounting surface 510. The mounting surface 510 is capable of supporting the workpiece W placed on the mounting surface 510. The mounting surface 510 is capable of holding the workpiece W placed on the mounting surface 510. In this case, the mounting surface 510 may be equipped with at least one of a mechanical chuck, an electrostatic chuck, a vacuum chuck, or the like to hold the workpiece W. Alternatively, a workpiece holding member 54 (e.g., a jig) for holding the workpiece W may be disposed on the mounting surface 510. Alternatively, the mounting surface 510 may not be capable of holding the workpiece W placed on the mounting surface 510. In this case, the workpiece W may be placed on the mounting surface 510 without clamping.

[0345] A single workpiece W may be placed on the placement surface 510. Alternatively, a plurality of workpieces W may be placed on the placement surface 510. In the example shown in FIG. 35( b ), two workpieces W are placed on the placement surface 510.

[0346] Each of the multiple support members 52 is a columnar member extending upward (toward the +Z side in the example shown in Figures 35(a) and 35(b)) from the top surface of the bottom member 51. Each of the multiple support members 52 is a member for supporting the above-mentioned base plate 50. Therefore, each of the multiple support members 52 supports multiple base plates 50. In the example shown in Figures 35(a) and 35(b), the multiple support members 52#1 to 52#4 support multiple base plates 50#1 to 50#4, respectively. Therefore, multiple base plates 50 are arranged in the holder 5. However, if the holder 5 has a single support member 52, a single base plate 50 may be arranged in the holder 5.

[0347] 35(a) and 35(b), the plurality of support members 52 are arranged at each vertex of a rectangular region on the top surface of the bottom member 51. However, the arrangement of the plurality of support members 52 is not limited to the example shown in FIG. 35(a) and 35(b). Also, in the example shown in FIG. 35(a) and 35(b), four support members 52 are arranged on the bottom member 51. However, the number of support members 52 is not limited to four. Three or less or five or more support members 52 may be arranged on the bottom member 51.

[0348] Each support member 52 includes a plate fixing member 521 to which the base plate 50 is fixed. In this case, each support member 52 supports the base plate 50 via the plate fixing member 521. As an example, each support member 52 may support the base plate 50 from below the base plate 50. In other words, each support member 52 may support the base plate 50 via the tip of each support member 52. In this case, each support member 52 may include the plate fixing member 521 at its tip. The tip of each support member 52 may function as the plate fixing member 521. Note that at least one of the multiple support members 52 does not necessarily have to include the plate fixing member 521.

[0349] The base plate 50 may be removably fixed to the plate fixing member 521. For example, the base plate 50 may be fixed to the plate fixing member 521 using a fixing screw. In this case, the base plate 50 may be detached from the plate fixing member 521 by loosening the fixing screw.

[0350] The base plate 50 may be attached to the plate fixing member 521 so that the reference portion 522 of the holder 5 (see FIG. 37 , for example) and the base plate 50 have a predetermined positional relationship. The base plate 50 may be supported by a support member 52 so that the reference portion 522 of the holder 5 and the base plate 50 have a predetermined positional relationship. The base plate 50 may be disposed on the holder 5 so that the reference portion 522 of the holder 5 and the base plate 50 have a predetermined positional relationship. In other words, the base plate 50 may be disposed on the holder 5 at a predetermined positional relationship with respect to the reference portion 522 of the holder 5. In this case, information regarding the positional relationship between the reference portion 522 of the holder 5 and the base plate 50 may be known information in the machining system SYS.

[0351] The multiple support members 52 may include at least two support members 52 arranged at different positions along the X-axis direction. Furthermore, the multiple support members 52 may include at least two support members 52 arranged at different positions along the Y-axis direction. More specifically, at least two plate fixing members 521 among the multiple support members 52 may be arranged at different positions along the X-axis direction. At least two plate fixing members 521 among the multiple support members 52 may be arranged at different positions along the Y-axis direction. In other words, at least two plate fixing members 521 among the multiple support members 52 may support the base plate 50 at different lateral positions. At least two plate fixing members 521 among the multiple support members 52 may be arranged at different depth positions. Note that "lateral" here may refer to the distance from the bottom member 51 in the X-axis direction, and "depth" here may refer to the distance from the bottom member 51 in the Y-axis direction. As a result, at least two of the multiple base plates 50 arranged in the holder 5 may be arranged at different lateral positions. At least two of the multiple base plates 50 arranged on the holder 5 may be arranged at positions with different depths.

[0352] The multiple support members 52 may be arranged on the bottom member 51 so as to surround at least a portion of the mounting surface 510 on which the workpiece W is placed. In other words, the multiple support members 52 may be arranged around at least a portion of the mounting surface 510. In this case, the multiple base plates 50 supported by the multiple support members 52 are also arranged on the holder 5 so that the multiple base plates 50 surround at least a portion of the mounting surface 510.

[0353] At least two of the multiple support members 52 may have different heights. More specifically, at least two of the multiple support members 52 may have different heights. In other words, the heights at which at least two of the multiple support members 52 support the base plate 50 may be different. Note that the "height" here may refer to the distance from the bottom member 51 in the Z-axis direction. As a result, at least two of the multiple base plates 50 arranged in the holder 5 may be arranged at positions with different heights. However, the heights of all of the multiple support members 52 may be the same.

[0354] The height of at least one of the plurality of support members 52 may be set to a height that matches the height of the workpiece W placed on the placement surface 510. For example, the height of at least one of the plurality of support members 52 may be set to the same height as the height of the workpiece W placed on the placement surface 510. For example, the height of at least one of the plurality of support members 52 may be set so that the difference between the height of the workpiece W placed on the placement surface 510 and the height of the workpiece W is equal to or less than a tolerance.

[0355] At least a part of each support member 52 may be used as the base plate 50. In this case, each support member 52 does not need to support the base plate 50 separately.

[0356] Each of the multiple connecting members 53 connects two adjacent support members 52. Therefore, each connecting member 53 may be a member extending in the direction in which the two adjacent support members 52 are aligned. Each connecting member 53 may be a member extending in a direction intersecting the direction in which the support members 52 extend. In the example shown in Figures 35(a) and 35(b), the support members 52 extend along the Z-axis direction and two adjacent support members 52 are aligned along the X-axis direction or the Y-axis direction, so each connecting member 53 may extend along the X-axis direction or the Y-axis direction. In this case, one end of each connecting member 53 may be connected to two adjacent support members 52, and the other end of each connecting member 53 may be connected to two adjacent support members 52.

[0357] In addition to or instead of a single connecting member 53, a plurality of connecting members 53 may connect two adjacent support members 52 together.

[0358] (4-1) Calibration Operation The calibration operation will be described with reference to Fig. 36. Fig. 36 is a flowchart showing the flow of the calibration operation. Note that the "X-axis, Y-axis, and Z-axis" used in the description of the calibration operation refer to the X-axis, Y-axis, and Z-axis in the machining coordinate system, respectively, unless otherwise specified.

[0359] 36 , first, the base plate 50 is attached to the holder 5 (step S101). That is, the base plate 50 is fixed to the plate fixing member 521 of the support member 52 of the holder 5. Because the holder 5 includes a plurality of support members 52, in step S101, the plurality of base plates 50 are attached to the plurality of support members 52, respectively.

[0360] Furthermore, if the positional relationship between the base plate 50 and the plate fixing member 521 does not change during the period from when the base plate 50 is attached to the holder 5 until the base plate 50 is processed in step S103 described below, the base plate 50 does not need to be fixed to the plate fixing member 521.

[0361] In this embodiment, as will be described in detail later, instead of the base plate 50 attached to the holder 5 in step S101, another base plate 50 is also attached to the holder 5. For this reason, in the following description, the base plate 50 attached to the holder 5 in step S101 will be referred to as the "base plate 50A." The base plate 50A attached to the holder 5 in step S101 is used as the base plate 50 to be machined by the processing device 1. For this reason, the base plate 50A may also be referred to as a processing reference member.

[0362] An example of a base plate 50A is shown in FIG. 37 . As shown in FIG. 37 , the base plate 50A may be a plate-shaped member (or a rectangular parallelepiped member). The upper surface of the base plate 50A is used as a reference surface 501A to be processed by the processing apparatus 1. The reference surface 501A is typically a flat surface. The reference surface 501A may be a plane along the XY plane when the holder 5 is installed on the processing apparatus 1 (particularly when it is placed at the reference placement position). However, the base plate 50A shown in FIG. 37 is just an example, and a base plate 50A different from the base plate 50A shown in FIG. 37 may be attached to the holder 5 in step S101 of FIG. 36 .

[0363] As described above, the multiple support members 52 may include at least two support members 52 arranged at different positions along the X-axis direction. Therefore, the multiple base plates 50A may also include at least two base plates 50A arranged at different positions along the X-axis direction. In other words, the multiple base plates 50A may include at least two base plates 50A each having at least two reference surfaces 501A arranged at different positions along the X-axis direction.

[0364] As described above, the multiple support members 52 may include at least two support members 52 arranged at different positions along the Y axis direction. Therefore, the multiple base plates 50A may also include at least two base plates 50A arranged at different positions along the Y axis direction. In other words, the multiple base plates 50A may include at least two base plates 50A each having at least two reference surfaces 501A arranged at different positions along the Y axis direction.

[0365] 36 again, thereafter, the holder 5 to which the base plate 50A is attached is placed on the stage 131 of the processing apparatus 1 (step S102). That is, the holder 5 is placed at the reference placement position of the stage 131 (step S102). Note that when a calibration operation is performed, the workpiece W does not have to be placed on the holder 5. Alternatively, when a calibration operation is performed, the workpiece W may be placed on the holder 5.

[0366] Thereafter, the processing apparatus 1 processes the base plate 50A attached to the holder 5 (step S103). Specifically, the processing apparatus 1 processes the base plate 50A by performing processing at predetermined target coordinates in the processing coordinate system. For example, the processing apparatus 1 may use the head drive system 122 to move the processing head 121 so that the processing light EL can be irradiated at the predetermined target coordinates in the processing coordinate system. Thereafter, the processing apparatus 1 may process the base plate 50A by irradiating the processing light EL at the predetermined target coordinates. In other words, the processing apparatus 1 may form processing marks on the base plate 50A at the predetermined target coordinates by irradiating the processing light EL at the predetermined target coordinates.

[0367] In this embodiment, as shown in FIGS. 38( a) and 38(b), an example will be described in which the predetermined target coordinates include at least a target position x_target along the X-axis direction and a target position y_target along the Y-axis direction. However, the predetermined target coordinates may also include a target position along the Z-axis direction. The predetermined target coordinates (x_target, y_target) may be coordinates at which the reference surface 501A of the base plate 50A is assumed to be located when the holder 5 is placed at the reference placement position of the stage 131. Target coordinates (x_target, y_target) having a predetermined positional relationship with the reference portion 509 of the base plate 50A may be set. For example, a corner 5091 of the base plate 50A may be considered to be in the same position as the reference portion 509 in the X-axis direction and the Y-axis direction, and target coordinates (x_target, y_target) having a predetermined positional relationship with the corner 5091 may be set. Alternatively, a position that is a target distance away from the corner 5091 in the X-axis direction and a position that is a target distance away from the corner 5091 in the Y-axis direction may be set as the target coordinates (x_target, y_target).

[0368] 38(a) and 38(b) further show examples of processing marks. In the example shown in FIGS. 38(a) and 38(b), the processing device 1 forms a cross-shaped processing mark including two intersecting linear processing marks on the reference surface 501A of the base plate 50A (particularly, at predetermined target coordinates). In this case, the processing device 1 may process the base plate 50A so that the position where the two linear processing marks intersect is the target coordinates (x_target, y_target). However, the processing device 1 may form processing marks having a shape different from the shape shown in FIGS. 38(a) and 38(b). For example, the processing device 1 may form a point-like processing mark.

[0369] The processing device 1 may form two or more linear processing marks that intersect with each other on one base plate 50 (for example, base plate A). In other words, the processing device 1 may perform the process of forming processing marks on one base plate 50 multiple times.

[0370] The characteristics of the processing marks to be formed on the base plate 50A by the processing device 1 may be predetermined or may be changed as necessary. The characteristics of the processing marks may include at least one of the position, shape, and size of the processing marks. For example, the characteristics of the processing marks may be changed depending on the accuracy required for the calibration information. In other words, the characteristics of the processing marks may be changed depending on the accuracy required for the position of the holder 5 indicated by the calibration information.

[0371] Because the plurality of base plates 50A are attached to the holder 5, the processing device 1 processes the plurality of base plates 50A in sequence. Specifically, the processing device 1 processes the plurality of base plates 50A in sequence at a plurality of target coordinates corresponding to the plurality of base plates 50A, respectively.

[0372] 36 again, the processing apparatus 1 measures the position of the processing mark on the base plate 50A (step S104). In this embodiment, an example will be described in which the processing apparatus 1 measures the position of the processing mark along at least one of the X-axis direction and the Y-axis direction. However, the processing apparatus 1 may also measure the position of the processing mark along the Z-axis direction.

[0373] Measuring the position of the processing mark by the processing device 1 may mean obtaining information that directly or indirectly indicates the position of the processing mark. For example, if the processing device 1 has a measuring device (typically, an imaging device) that can measure the position of the processing mark by imaging the base plate 50A, measuring the position of the processing mark may mean imaging the base plate 50A. In this case, the processing mark position information that indicates the measurement result of the position of the processing mark may include an image generated by imaging the base plate 50A. In this case, because the processing mark is reflected in the image, the image in which the processing mark is reflected can be said to be information that directly or indirectly indicates the position of the processing mark.

[0374] When the processing mark is the above-mentioned cross-shaped processing mark (or includes multiple processing marks that intersect with each other), the processing device 1 may measure the position of the intersection of the multiple linear processing marks as the position of the processing mark. As an example, the processing device 1 may measure the positions of two points where a virtual outer frame surrounding the processing mark intersects with one linear processing mark, and measure the position of the line connecting the two points as the position of the one linear processing mark. Then, the processing device 1 may measure the position of the intersection of the multiple linear processing marks as the position of the processing mark.

[0375] If the processing mark is the above-mentioned cross-shaped processing mark (or includes multiple processing marks that intersect with each other), the processing device 1 may measure the positions of at least two of the multiple processing marks specified by the user of the processing system SYS.The measurement system 2 may then measure the position of the intersection of the multiple linear processing marks as the position of the processing mark.Alternatively, if the processing mark is a processing mark of an arbitrary shape, the processing device 1 may measure the position of a portion of the processing mark specified by the user of the processing system SYS as the position of the processing mark.

[0376] The user may specify the processing mark (or a portion thereof) to be measured by the processing device 1 while referring to information related to the measurement result displayed on a display device (not shown) provided in the processing device 1. For example, when the processing device 1 captures an image of the base plate 50A to generate an image in which the processing mark is reflected, the user may specify the processing mark (or a portion thereof) to be measured by the processing device 1 while referring to the image in which the processing mark is reflected. In this case, the user may specify the position of the processing mark in the image displayed on the display device, and then the display device may enlarge the image around the specified position to enlarge and display the processing mark, and the user may specify the processing mark (or a portion thereof) to be measured by the processing device 1 while referring to the enlarged image.

[0377] In addition to or instead of measuring the position of the processing mark, the processing apparatus 1 may measure the position of the reference portion 509 of the base plate 50A. In this case, the processing apparatus 1 may output information regarding the positional relationship between the reference portion 509 of the base plate 50A and the position of the processing mark as processing mark position information. For example, the processing apparatus 1 may output information regarding the position of the processing mark relative to the reference portion 509 of the base plate 50A as processing mark position information.

[0378] In addition to or instead of measuring the position of the machining mark, the processing apparatus 1 may measure the position of a quasi-reference portion 508 (see FIGS. 38( a) and 38(b)), which is a portion of the base plate 50A that has a known positional relationship with the reference portion 509 of the base plate 50A. An example of the quasi-reference portion 508 of the base plate 50A is a corner (e.g., a vertex) of the base plate 50A. In particular, the quasi-reference portion 508 of the base plate 50A may be a portion that can be directly measured by the processing apparatus 1. In this case, the processing apparatus 1 may output information regarding the relationship between the position of the quasi-reference portion 508 of the base plate 50A and the position of the machining mark as processing mark position information. For example, the processing apparatus 1 may output information regarding the position of the machining mark relative to the position of the quasi-reference portion 508 of the base plate 50A as processing mark position information.

[0379] The base plate 50A may be placed at a mechanically predetermined position within the processing apparatus 1. In particular, the base plate 50A may be placed on the processing apparatus 1 so that the reference portion 509 of the base plate 50A is located at a desired mechanically predetermined position within the processing apparatus 1. In this case, information regarding the position of the base plate 50A (in particular, the position of the reference portion 509) becomes known information for the processing apparatus 1. In this case, the processing apparatus 1 can measure the position of the processing mark, and output information regarding the position of the processing mark relative to the position of the reference portion 509 or the quasi-reference portion 508 of the base plate 50A as processing mark position information.

[0380] When a vertex of the base plate 50A is used as the reference portion 509, the processing apparatus 1 may measure the position of the reference portion 509 or the quasi-reference portion 508 of the base plate 50A by measuring the positions of at least two sides of the base plate 50A that intersect at the vertex corresponding to the reference portion 509. For example, in the example shown in FIG. 38( b), the processing apparatus 1 may measure the positions of the left side and the bottom side of the base plate 50A in FIG. 38( b). In this case, the position where at least two sides intersect is the position of the reference portion 509, and the position of a portion of the base plate 50A that has a known positional relationship with the position where at least two sides intersect is the position of the quasi-reference portion 508. As a result, by measuring the position of the processing mark, the processing apparatus 1 can output information regarding the position of the processing mark relative to the position of the reference portion 509 or the quasi-reference portion 508 of the base plate 50A as processing mark position information.

[0381] A user of the machining system SYS may input information about the position of the reference portion 509 or the quasi-reference portion 508 of the base plate 50A to the machining device 1. As a result, the machining device 1 can measure the position of the machining trace, and output information about the position of the machining trace relative to the position of the reference portion 509 or the quasi-reference portion 508 of the base plate 50A as machining trace position information.

[0382] 36 again, after the base plate 50A is removed from the holder 5, a new base plate 50 (hereinafter referred to as "base plate 50B") is attached to the holder 5 (step S111). That is, the base plate 50B is attached to the holder 5 in place of the base plate 50A. Specifically, the base plate 50B is fixed to the plate fixing member 521 of the support member 52 of the holder 5. Because the holder 5 includes multiple support members 52, in step S111, the multiple base plates 50B are attached to the multiple support members 52, respectively. The base plate 50B attached to the holder 5 in step S111 is used as the base plate 50 measured by the processing apparatus 1. For this reason, the base plate 50B may be referred to as a measurement reference member.

[0383] An example of a base plate 50B is shown in Figures 39(a) and 39(b). As shown in Figures 39(a) and 39(b), the shape of the base plate 50B is different from the shape of the base plate 50A. In the example shown in Figures 39(a) and 39(b), the base plate 50B includes a first plate portion 501B and a second plate portion 502B protruding upward from the first plate portion 501B. The upper surface of the first plate portion 501B may be used as a reference surface 503B measured by the processing apparatus 1. The upper surface of the second plate portion 502B may be used as a reference surface 504B measured by the processing apparatus 1. The height of the reference surface 503B is different from the height of the reference surface 504B.

[0384] One of the reasons why the base plate 50B is provided with the second plate portion 502B corresponding to the convex portion is that the shape measuring device 21 measures the three-dimensional shapes of the holder 5 and the workpiece W (i.e., measures the three-dimensional position of each point on the surface of the holder 5 and each point on the surface of the workpiece W in the measurement coordinate system) in the machining path generation operation described below. Measuring the three-dimensional shape of the holder 5 by the shape measuring device 21 includes measuring the three-dimensional shape of the base plate 50B by the shape measuring device 21 (i.e., measuring the position of the base plate 50B in the measurement coordinate system). In this case, the shape measuring device 21 can more appropriately measure the three-dimensional shape of the base plate 50B compared to when the base plate 50B does not have the second plate portion 502B.

[0385] When the base plate 50B is attached to the support member 52, information regarding the positional relationship between at least one of the reference surfaces 503B and 504B and the reference portion 522 of the support member 52 may be known to the machining system SYS. For example, information regarding the positional relationship between the reference surface 503B and the reference portion 522 in the Z-axis direction may be known to the machining system SYS. For example, information regarding the positional relationship between the reference surface 504B and the reference portion 522 in the Z-axis direction (e.g., information regarding the distance Δz between the reference surface 504B and the reference portion 522 in the Z-axis direction, as shown in FIG. 39( b)) may be known to the machining system SYS. Note that, since the reference portion 522 of the support member 52 contacts the reference portion 509 of the base plate 50B as described above, information regarding the positional relationship between at least one of the reference surfaces 503B and 504B and the reference portion 509 of the base plate 50B may be considered to be known to the machining system SYS.

[0386] The shape of the second plate portion 502B in a planar view may be asymmetrical about a point. In particular, the shape of the reference surface 504B of the second plate portion 502B in a planar view may be asymmetrical about a point. In the example shown in FIG. 39( a), the shape of the reference surface 504B in a planar view is a shape obtained by cutting off one vertex of a rectangle (essentially a pentagon). In other words, the shape of the reference surface 504B in a planar view has a notch formed in a portion. Furthermore, the reference portion 509 of the base plate 50B (i.e., the reference portion 522 of the holder 5) and the second plate portion 502B may have a predetermined positional relationship. For example, in the example shown in FIG. 39( a), the vertex of the reference surface 504B that faces the notch along the diagonal direction of the reference surface 504B is set to the reference portion 509 of the base plate 50B (i.e., the reference portion 522 of the holder 5). In this case, compared to when the planar shape of the reference surface 504B is point-symmetric, in the machining path generation operation described below, the control information generating device 22 can appropriately identify the reference portion 509 of the base plate 50B (i.e., the reference portion 522 of the holder 5).

[0387] The characteristics of the base plate 50B (for example, the characteristics of the second plate portion 502B) may be predetermined or may be changed as necessary. The characteristics of the base plate 50B may include at least one of the position, shape, and size of the base plate 50B. For example, the characteristics of the base plate 50B may be changed according to the accuracy required for the calibration information. In other words, the characteristics of the base plate 50B may be changed according to the accuracy required for the position of the holder 5 indicated by the calibration information. The same applies to the characteristics of the base plate 50A.

[0388] However, the base plate 50B shown in Figures 39(a) and 39(b) is just an example, and a base plate 50B different from the base plate 50B shown in Figures 39(a) and 39(b) may be attached to the holder 5 in step S111 of Figure 36. Alternatively, a base plate 50B having the same shape as the base plate 50A may be attached to the holder 5 in step S111.

[0389] 36 again, thereafter, the holder 5 to which the base plate 50B is attached is placed on the stage 131 of the processing apparatus 1 (step S112). That is, the holder 5 is placed at the reference placement position of the stage 131 (step S112).

[0390] Thereafter, the processing apparatus 1 measures the position of the base plate 50B (step S113). That is, the processing apparatus 1 acquires information regarding the position of the base plate 50B within the processing apparatus 1. Specifically, the processing apparatus 1 measures the position of the base plate 50B in the processing coordinate system. For example, the processing apparatus 1 may measure the position of the reference surface 503B of the base plate 50B as the position of the base plate 50B. For example, the processing apparatus 1 may measure the position of the reference surface 504B of the base plate 50B as the position of the base plate 50B. In the following description, an example will be described in which the processing apparatus 1 measures the position of the reference surface 504B of the base plate 50B as the position of the base plate 50B.

[0391] In this embodiment, an example will be described in which the processing apparatus 1 measures at least the position of the base plate 50B in the Z-axis direction (i.e., the height of the base plate 50B; hereinafter, the position in the Z-axis direction will be referred to as the "Z position"). In this case, the processing apparatus 1 may measure the position of the reference surface 504B in the Z-axis direction (i.e., the height of the reference surface 504B). Here, it is assumed that the processing apparatus 1 has a plurality of guide light irradiating devices 124 (e.g., see FIG. 40 ) and an imaging device.

[0392] The processing apparatus 1 measures the Z position of the reference surface 504B using a plurality of guide light emitting devices 124 and an imaging device. Specifically, a plurality of guide light beams GL emitted from the plurality of guide light emitting devices 124 intersect with each other at a predetermined intersection position below the processing head 121. Therefore, when the reference surface 504B is located at the intersection position, the plurality of guide light beams GL intersect on the reference surface 504B as shown in FIGS. 40(a) and 40(b). As a result, the plurality of guide light beams GL form a single beam spot on the reference surface 504B. On the other hand, when the reference surface 504B is not located at the intersection position, the plurality of guide light beams GL do not intersect on the reference surface 504B as shown in FIGS. 40(c) and 40(d). As a result, the plurality of guide light beams GL form a plurality of beam spots on the reference surface 504B. Therefore, when a plurality of guide lights GL form a single beam spot on the reference surface 504B, the reference surface 504B is located at an intersection in the Z-axis direction that is determined based on the machining head 121. In other words, the Z position of the reference surface 504B in the Z-axis direction can be identified.

[0393] Therefore, based on an image generated by the imaging device capturing the states of the plurality of guide lights GL (particularly, the states of the plurality of guide lights GL on the reference surface 504B), the control device 17 moves at least one of the machining head 121 and the stage 131 along the Z-axis direction so that the plurality of guide lights GL form a single beam spot on the reference surface 504B. After that, when the plurality of guide lights GL form a single beam spot on the reference surface 504B, the control device 17 acquires information regarding the position (particularly, the Z position) of the machining head 121 in the machining coordinate system. Once the Z position of the machining head 121 in the machining coordinate system is determined, the intersection position in the machining coordinate system is determined. Once the intersection position in the machining coordinate system is determined, the Z position of the reference surface 504B in the machining coordinate system is determined. This is because the reference surface 504B is located at the intersection position. Once the Z position of the reference surface 504B in the machining coordinate system is determined, the Z position of the reference portion 522 of the holder 5 in the machining coordinate system is determined. This is because, as described above, information regarding the positional relationship between the reference surface 504B and the reference portion 522 in the Z-axis direction is known to the machining system SYS. Therefore, it can be said that information regarding the position (particularly, the Z position) of the machining head 121 in the machining coordinate system in a state in which the multiple guide lights GL form a single beam spot on the reference surface 504B is information that indirectly indicates the Z position of the reference surface 504B. The machining apparatus 1 may transmit this information regarding the position (particularly, the Z position) of the machining head 121 to the machining apparatus 1 as plate position information indicating the measurement result of the position of the base plate 50.

[0394] The processing apparatus 1 may measure the position of the reference surface 504B using a method other than the method using the multiple guide light irradiators 124 and imaging devices. For example, the processing apparatus 1 may measure the position of the reference surface 504B using a time-of-flight method, which measures the time required from irradiating light onto the reference surface 504B until the light returns from the reference surface 504B. For example, the processing apparatus 1 may measure the position of the reference surface 504B using optical interferometry, which detects interference light generated by interference between light that has passed through the reference surface 504B and light that has not passed through the reference surface 504B. In this case, the light used in the optical interferometry may be light generated by an optical frequency comb light source. For example, the processing apparatus 1 may measure the position of the reference surface 504B using a non-contact measurement method using the shape measuring head 211 described above. For example, the processing apparatus 1 may measure the position of the reference surface 504B using a contact measurement method using a probe that contacts the reference surface 504B.

[0395] Because a plurality of base plates 50B are attached to the holder 5, the processing apparatus 1 measures the positions of the plurality of base plates 50B in sequence. As a result, the processing apparatus 1 may transmit plate position information indicating measurement results of the positions of the plurality of base plates 50B to the processing apparatus 1. The processing apparatus 1 may include a plurality of Z-position measurement devices, each including a plurality of guide light emitting devices 124 and an imaging device. In this case, the processing apparatus 1 may simultaneously measure the positions of the plurality of base plates 50B using the plurality of Z-position measurement devices.

[0396] 36 again, the processing apparatus 1 then generates calibration information (step S121). Specifically, the processing apparatus 1 generates the calibration information based on the processing mark position information acquired in step S105 and the plate position information acquired in step S113.

[0397] To generate the calibration information, the processing device 1 may calculate the position of the reference portion 522 of the holder 5 in the X-axis direction in the processing coordinate system based on the processing mark position information. Hereinafter, the position in the X-axis direction will be referred to as the "X position." Furthermore, the processing device 1 may calculate the position of the reference portion 522 of the holder 5 in the Y-axis direction in the processing coordinate system based on the processing mark position information. Hereinafter, the position in the Y-axis direction will be referred to as the "Y position."

[0398] Specifically, as shown in FIG. 41 , the processing apparatus 1 may calculate the positional relationship between the processing marks on the base plate 50A and the reference portion 509 of the base plate 50A based on the processing mark position information. When the processing apparatus 1 measures the position of the reference portion 509 of the base plate 50A, the processing apparatus 1 may calculate the positional relationship between the processing marks on the base plate 50A and the reference portion 509 of the base plate 50A based on the processing mark position information. When the processing apparatus 1 measures the position of a semi-reference portion 508, which is a portion of the base plate 50A that has a known positional relationship with the reference portion 509 of the base plate 50A, the processing apparatus 1 may calculate the position of the reference portion 509 of the base plate 50A that has a known positional relationship with the semi-reference portion 508 based on the processing mark position information. Then, the positional relationship between the processing marks on the base plate 50A and the reference portion 509 of the base plate 50A may be calculated. The operation of calculating the positional relationship between the machining mark on the base plate 50A and the reference portion 509 of the base plate 50A may include an operation of calculating a distance Δx in the X-axis direction between the machining mark on the base plate 50A and the reference portion 509 of the base plate 50A. The operation of calculating the positional relationship between the machining mark on the base plate 50A and the reference portion 509 of the base plate 50A may include an operation of calculating a distance Δy in the Y-axis direction between the machining mark on the base plate 50A and the reference portion 509 of the base plate 50A. Thereafter, the machining apparatus 1 may calculate at least one of the X position and the Y position of the reference portion 509 of the base plate 50A in the machining coordinate system. For example, because the machining mark on the base plate 50A is formed at predetermined target coordinates (x_target, y_target) in the machining coordinate system, the X position and the Y position of the machining mark in the machining coordinate system correspond to a target position x_target along the X-axis direction and a target position y_target along the Y-axis direction, respectively. In this case, the processing device 1 may calculate the X position of the reference portion 509 of the base plate 50A in the processing coordinate system by adding (or, in some cases, subtracting) the distance Δx calculated based on the processing mark information to the X position x_target of the processing mark.The machining apparatus 1 may calculate the Y position of the reference portion 509 of the base plate 50A in the machining coordinate system by adding (or, in some cases, subtracting) the distance Δy calculated based on the machining mark information to (or, in some cases, subtracting) the Y position y_target of the machining mark. Furthermore, because the reference portion 509 of the base plate 50A contacts the reference portion 522 of the holder 5 as described above, the X and Y positions of the reference portion 509 of the base plate 50A are equivalent to the X and Y positions of the reference portion 522 of the holder 5, respectively. As a result, the machining apparatus 1 acquires information regarding the X and Y positions of the reference portion 509 of the base plate 50A as information regarding the X and Y positions of the reference portion 522 of the holder 5.

[0399] In step S102, when the holder 5 is placed at the reference placement position of the processing device 1, if there is no placement error (mounting error), the calculated X and Y positions of the reference part 522 in the processing coordinate system will be as designed. In reality, such errors may cause the calculated X and Y positions of the reference part 522 in the processing coordinate system to deviate from the designed positions. The control information generating device 22 may acquire information on the deviations of the X and Y positions of the reference part 522 from the designed...

Claims

1. An information processing method comprising: obtaining a differential model indicating the difference between an object model obtained by measuring a three-dimensional shape of an object and a target model indicating a target shape of the object after processing, generated based on the object model; measuring the processed object, which has been processed based on the differential model, to obtain a processed model indicating the three-dimensional shape of at least a part of the processed object; and generating differential information regarding the difference between the differential model and the processed model.

2. The information processing method according to claim 1, further comprising: generating display data for displaying the difference indicated by the difference information on a display device in accordance with an amount of the difference.

3. The information processing method according to claim 2, wherein the display data includes data for displaying at least one of the differential model and the processed model.

4. The information processing method according to any one of claims 1 to 3, wherein the target model is generated by extending at least a portion of the object model.

5. An information processing method according to any one of claims 1 to 3, wherein the target model is generated by transforming at least a portion of a reference model that indicates the three-dimensional shape of the object before it is used, based on the object model.

6. The information processing method of claim 5, wherein generating the target model includes deforming the reference model so as to reduce a difference between a three-dimensional shape of a first portion of the surface of the reference model and a three-dimensional shape of a second portion of the surface of the object model that corresponds to the first portion.

7. The information processing method according to claim 5 or 6, wherein the reference model indicates a three-dimensional shape of a portion of the object, and the processed model indicates a three-dimensional shape of a portion of the object that corresponds to the reference model from the measured three-dimensional shape.

8. The information processing method according to claim 4, wherein the target model is generated by removing a portion of the object model after at least a portion of the object model is extended.

9. The information processing method according to claim 4, wherein the target model is generated by extending at least a portion of the object model, and transforming at least a portion of the extended object model based on the object model.

10. The information processing method according to claim 9, wherein the target model is generated by removing a portion of the object model after at least a portion of the object model has been transformed.

11. The information processing method of claim 9, wherein generating the target model includes deforming the extended object model so as to reduce a difference between a three-dimensional shape of a first portion of the surface of the extended object model and a three-dimensional shape of a second portion of the surface of the object model that corresponds to the first portion.

12. An information processing method according to any one of claims 1 to 11, wherein the processed model includes a processed part model which is a three-dimensional shape of a part processed based on the differential model, and the differential information is generated based on the differential model and the processed part model.

13. The information processing method according to claim 12, wherein the processed part model is acquired based on a difference between the object model and the processed model.

14. The information processing method according to claim 12 or 13, wherein the machined part model is obtained by further using information when the target model is generated.

15. An information processing method according to any one of claims 12 to 14, wherein the processed model is generated by obtaining results indicating a three-dimensional shape of a portion of the processed object from results of measuring the processed object, the results corresponding to a reference model indicating the three-dimensional shape of the portion of the object before use, and the processed part model is further obtained using information when obtaining the results indicating the three-dimensional shape of the portion of the processed object.

16. An information processing method according to any one of claims 13 to 15, wherein the processed part model is obtained by: acquiring a plurality of unit areas which correspond to a part of the processed model and whose distance from the object model is equal to or greater than a first threshold value; acquiring at least one of the cluster areas, each of which is a group of unit areas among the acquired plurality of unit areas, each of which has a distance between two unit areas which is equal to or less than a second threshold value; and outputting at least one of the acquired cluster areas as the processed part model.

17. The information processing method according to any one of claims 12 to 16, wherein the difference information is further generated based on the object model.

18. The information processing method according to claim 17, wherein the difference information is generated based on distance information between the processed portion model and the object model, and distance information between the processed portion model and the difference model.

19. The information processing method according to any one of claims 12 to 18, wherein the difference information is generated based on a model obtained by further modifying the difference model instead of the difference model.

20. The information processing method according to claim 16, wherein the first threshold is set by a first input that is a user input, and the second threshold is set by a second input that is a user input.

21. The information processing method according to any one of claims 1 to 20, wherein the conditions under which the object is measured are the same as the conditions under which the processed object is measured.

22. The information processing method according to any one of claims 1 to 20, further comprising calculating optimal processing conditions based on the difference information and processing conditions related to the object.

23. An information processing method according to any one of claims 1 to 22, further comprising generating display data for display on the display device according to a direction in which a difference occurs between the differential model and the processed model indicated by the differential information.

24. A computer program causing a computer to execute the information processing method according to any one of claims 1 to 23.

25. A recording medium storing a computer program for causing a computer to execute the information processing method according to any one of claims 1 to 23.

26. An information processing device that generates the display data using the information processing method according to any one of claims 1 to 23.

27. A processing device that performs at least one of subtractive processing and additional processing on an object that has been processed, based on the difference information generated by the information processing method according to any one of claims 1 to 21.

28. An information processing method comprising: obtaining an object model obtained by measuring a three-dimensional shape of an object; obtaining a target model generated based on the object model and indicating a target shape of the object after processing; obtaining a differential model indicating the difference between the object model and the target model; measuring the processed object, which has been processed based on the differential model, as a processed object to obtain a processed model indicating the three-dimensional shape of at least a part of the processed object; and generating differential information regarding the difference between the differential model and the processed model.

29. An information processing method comprising: obtaining a differential model indicating the difference between an object model obtained by measuring the three-dimensional shape of an object and a target model indicating a target shape of the object after processing; measuring the processed object, which is processed based on the differential model, to obtain a processed model indicating the three-dimensional shape of at least a part of the processed object; and generating differential information regarding the difference between the differential model and the processed model.

30. An information processing method including: obtaining a target model indicating a target shape of an object after processing, the target model being generated based on an object model obtained by measuring the three-dimensional shape of the object; measuring the processed object, which is processed based on the object model and the target model, to obtain a processed model indicating the three-dimensional shape of at least a part of the processed object; and generating difference information regarding the difference between the target model and the processed model.

31. The information processing method according to claim 29 or 30, further comprising generating display data for displaying the difference indicated by the difference information on a display device in accordance with the amount of difference.

32. An information processing method including: obtaining a target model indicating a target shape of an object after processing; measuring the object that has been processed based on the object model and the target model as a processed object to obtain a processed model indicating a three-dimensional shape of at least a part of the processed object; and generating difference information regarding the difference between the target model and the processed model.

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