WO2023008631A1

WO2023008631A1 - Lathe control apparatus and method

Info

Publication number: WO2023008631A1
Application number: PCT/KR2021/010723
Authority: WO
Inventors: 김민수; 소창주; 하성민
Original assignee: 한화정밀기계 주식회사
Priority date: 2021-07-29
Filing date: 2021-08-12
Publication date: 2023-02-02
Also published as: KR20230018067A

Abstract

The present invention relates to a lathe control apparatus and method, and to a lathe control apparatus and method for determining a correction value and whether correction of a tool included in a lathe is necessary, and providing the correction value to the lathe. A lathe control apparatus according to an embodiment of the present invention comprises: a reception unit for receiving a measurement value for a processed article from a lathe for producing the processed article; a correction value calculation unit for calculating a correction value for the position of a tool included in the lathe by referring to the measurement value; and a transmission unit for transmitting the correction value to the lathe, wherein the lathe includes a plurality of tools and the correction value calculation unit calculates a correction value for each of the plurality of tools.

Description

Lathe control device and method

The present invention relates to an apparatus and method for controlling a lathe, and more particularly, to a apparatus and method for controlling a lathe that determines whether a tool installed in a shelf needs to be corrected and a correction value, and provides the correction value to the corresponding lathe.

The lathe is equipped with a plurality of tools to perform a processing operation on raw materials to produce a processed product. The lathe may sequentially perform processing operations on a plurality of raw materials to produce a plurality of workpieces.

While performing the same machining operation on a plurality of raw materials, some of the provided tools may not perform the correct operation. For example, if the contact part of the tool is worn due to continuous grinding or cutting of the polishing or cutting tool with the raw material, the polished or cut depth of the raw material is smaller than the predicted depth, and the shape of the workpiece is correct. that may not be formed. In order to compensate for an error caused by such a tool, it is necessary to periodically correct or observe the position or state of the tool.

On the other hand, when tool error compensation is manually performed by a user, an error component of an actual tool may not be reflected in the correction value or an arbitrary component may be reflected by the user.

Therefore, there is a need for an invention capable of providing an appropriate correction value to a shelf at an appropriate time.

An object of the present invention is to provide a lathe control apparatus and method for determining whether a tool installed in a lathe needs correction and a correction value, and providing the correction value to the lathe.

The tasks of the present invention are not limited to the tasks mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the description below.

In order to achieve the above object, a lathe control device according to an embodiment of the present invention includes a receiving unit for receiving a measurement value for a workpiece from a lathe producing a workpiece, and a location of a tool provided in the lathe with reference to the measurement value. a correction value calculation unit that calculates a correction value for , and a transmission unit that transmits the correction value to the lathe, wherein the lathe includes a plurality of tools, and the correction value calculation unit calculates a correction value for each of the plurality of tools. do.

The lathe control device further includes a control unit that compares the measured value with a processing reference value to determine whether to calculate a correction value.

The processing reference value includes a target processing value for a measurement point of a workpiece.

The shelf control device further includes an output unit outputting the correction value.

The shelf control device further includes an input unit for receiving a user confirmation of whether the correction value is transmitted in response to the correction value being output.

The shelf control device further includes a data management unit that reflects the correction values calculated by the correction value calculation unit in correction data including a history of correction values calculated for the shelf.

The correction data includes at least one of measurement time, shelf identification information, processing program identification information, correction values, production quantities, and processing conditions.

The lathe control device further includes a control unit that calculates a change pattern of a correction value for the production quantity of the workpiece with reference to the correction data, and determines whether to calculate the correction value by referring to the change pattern.

The correction value calculator learns the correction data and calculates a correction value with reference to the learning result.

A lathe control method according to an embodiment of the present invention includes the steps of receiving a measurement value for a workpiece from a lathe producing the workpiece, and calculating a correction value for the position of a tool provided on the lathe with reference to the measurement value. , and transmitting the correction values to the lathe, wherein the lathe includes a plurality of tools, and calculating the correction values includes calculating correction values for each of the plurality of tools.

The lathe control method may further include determining whether to calculate a correction value by comparing the measured value with a processing reference value.

The shelf control method further includes outputting the correction value.

The shelf control method further includes receiving a user confirmation of whether or not the correction value is transmitted in response to the output of the correction value.

The shelf control method may further include reflecting the correction values calculated by the correction value calculator in correction data including a history of correction values calculated for the shelf.

The lathe control method further includes calculating a change pattern of a correction value for the production quantity of the workpiece with reference to the correction data, and determining whether to calculate the correction value by referring to the change pattern.

Calculating the correction value includes learning the correction data and calculating the correction value with reference to the learning result.

Details of other embodiments are included in the detailed description and drawings.

As described above, according to the lathe control apparatus and method of the present invention, it is advantageous that an appropriate correction value is provided to the lathe at an appropriate time because it determines whether a tool installed in the lathe needs correction and a correction value, and provides the correction value to the lathe. there is

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a diagram showing a shelf control system.

2 is a diagram for explaining communication between a shelf and a shelf control device.

3 is a block diagram of a shelf control device according to an embodiment of the present invention.

4 is a view showing a processing reference value table.

5 is a diagram showing correction data.

6 is a diagram showing a change pattern of a correction value for the production quantity of a workpiece.

7 is a flowchart illustrating a shelf control method according to an embodiment of the present invention.

8 is a flowchart illustrating a shelf control method according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, only the present embodiments make the disclosure of the present invention complete, and the common knowledge in the art to which the present invention belongs It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

1 is a diagram showing a shelf control system.

Referring to FIG. 1 , a shelf control system 10 includes a shelf 100 and a shelf control device 200 .

The lathe 100 may process raw materials to produce processed products. In the present invention, the lathe 100 may be an automatic lathe. Accordingly, the lathe 100 may include a plurality of tools, and may perform various processes on one raw material using the plurality of tools.

The shelf control system 10 may include a plurality of shelves 100 . Each of the plurality of lathes 100 may produce the same processed product using the same raw material, or may produce different processed products using different raw materials.

The lathe 100 may produce a plurality of workpieces by processing raw materials to be fed. The production of the workpiece may be repeatedly performed under the control of the controller 170 (see FIG. 2) provided in the lathe 100. As the production of the workpiece progresses, the position of the tool is changed, or the end, tip, or part of the tool in contact with the raw material is worn, and the processing quality of the workpiece may be degraded. For example, when the position of a tool for processing a raw material to form a 1 mm deep groove is changed, a groove with a depth smaller than 1 mm may be formed. In order to compensate for such a machining error, it is preferable to perform correction by adjusting the position of the tool while the production of the workpiece is in progress.

The shelf control device 200 may control the shelf 100 . Specifically, the shelf control device 200 may control correction of tools provided in each shelf 100 . The shelf control device 200 may calculate a correction value of each tool by referring to machining performance of a plurality of tools provided in each shelf 100 and transmit the correction value to the shelf 100 . Accordingly, the lathe 100 may produce a workpiece by calibrating the tool with the received correction value.

Referring to FIG. 2 , the shelf control device 200 may control the shelf 100 by communicating with the shelf 100 .

The lathe 100 may include a chamber 110, a motor 120, a spindle 130, a tool 140, a driving unit 150, a measuring unit 160, and a control unit 170. The chamber 110 may accommodate a motor 120 , a tool 140 , a driving unit 150 , a measuring unit 160 and a control unit 170 . Alternatively, according to some embodiments of the present invention, at least one of the motor 120, the tool 140, the driving unit 150, the measuring unit 160, and the control unit 170 may be provided outside the chamber 110. .

The motor 120 may rotate the spindle 130 . A raw material may be provided at the end of the spindle 130 . The raw material may be rotated by the rotational force of the motor 120 .

The tool 140 can machine raw materials. For example, the tool 140 may perform a grinding or cutting operation on raw materials. The lathe 100 may include a plurality of tools 140, and the plurality of tools 140 may perform individual tasks.

The driving unit 150 may move the tool 140 or adjust its posture. The tool 140 may be moved in the direction or the opposite direction of the raw material by the driving unit 150, or the position of the tool 140 relative to the raw material may be adjusted.

The measurement unit 160 may generate a measurement value by measuring the workpiece. For example, the measurement unit 160 may generate measurement values by measuring the length, width, depth of a groove, height of a protrusion, inner diameter, and outer diameter of a workpiece. The shelf 100 may include a plurality of measurement units 160, and each measurement unit 160 may perform an individual measurement task. In addition, although not shown, a driving unit (not shown) for adjusting the position and attitude of the measuring unit 160 may be provided. The measurement unit 160 may perform a measurement operation on the workpiece while adjusting the position and attitude by a driving unit (not shown).

The control unit 170 may control the motor 120 , the driving unit 150 and the measuring unit 160 . For example, the controller 170 may control whether or not the motor 120 rotates and the rotation speed. In addition, the controller 170 may control the driving unit 150 to adjust the position and attitude of the tool 140 . In particular, the control unit 170 may control the driving unit 150 according to the correction value received from the lathe control device 200 so that the position and attitude of the tool 140 are adjusted.

The controller 170 may allow processing of raw materials to be performed with a specific processing program among a plurality of processing programs. The machining program may include control commands for the motor 120 and the driving unit 150 to produce a workpiece. When the motor 120 and the driving unit 150 are controlled by a specific machining program, a specific workpiece can be produced. A machining program may be provided for each workpiece, and the control unit 170 may control the motor 120 and the drive unit 150 with a corresponding machining program to produce a specific workpiece.

The shelf control device 200 may control the shelf 100 by communicating with the shelf 100 . The shelf control device 200 may receive a measurement value from the measuring unit 160 and transmit a correction value to the controller 170 . The controller 170 may adjust the position and attitude of the tool 140 according to the correction values received from the lathe control device 200 .

Meanwhile, although FIG. 2 shows that the shelf control device 200 receives the measurement value from the measurement unit 160, this is exemplary and the shelf control device 200 may also receive the measurement value from the control unit 170. there is. To this end, the controller 170 may receive a measurement value measured by the measurement unit 160 and transmit it to the shelf control device 200 . Hereinafter, the shelf control device 200 will mainly describe the reception of the measurement value from the measuring unit 160 .

3 is a block diagram of a lathe control device according to an embodiment of the present invention, FIG. 4 is a diagram showing a processing reference value table, FIG. 5 is a diagram showing correction data, and FIG. 6 is a correction value for the production quantity of a workpiece. It is a diagram showing the change pattern of .

Referring to FIG. 3 , the shelf control device 200 according to an embodiment of the present invention includes a receiver 210, an input unit 220, a storage unit 230, a controller 240, a correction value calculator 250, data It is configured to include a management unit 260, a transmission unit 270 and an output unit 280.

The receiving unit 210 may receive a measurement value for a workpiece from the lathe 100 producing the workpiece. When processing of the raw material is completed and the processed product is produced, the measurement unit 160 may measure the processed product to generate a measured value and transmit the measured value. The measuring unit 160 may measure and transmit a measured value whenever a workpiece is produced, or may perform a measurement and transmit a measured value whenever there is a request from the shelf control device 200 .

Apart from the measured value, the receiving unit 210 may receive the measurement time, shelf identification information, processing program identification information, production quantity, and processing conditions. Hereinafter, measurement time, shelf identification information, processing program identification information, production quantity, and processing conditions are referred to as measurement data. The measurement data may be received simultaneously with the measurement value or may be received with a predetermined time difference. For example, measurement values and measurement data may be included in one communication packet and received through the receiver 210, or measurement values and measurement data may be included in different communication packets and received through the receiver 210, respectively. . The measurement data may be used to generate correction data to be described later.

The above has described the composition of measurement data including measurement time, shelf identification information, processing program identification information, production quantity, and processing conditions, but the initial temperature of raw materials, outside temperature at the time of processing, temperature and vibration of the shelf 100 etc. may be included in the measurement data. Hereinafter, measurement data including measurement time, shelf identification information, processing program identification information, production quantity, and processing conditions will be mainly described.

The input unit 220 may receive a user command. The user command may include user confirmation of whether to transmit the correction value. As will be described later, when a correction value is calculated, the user can determine whether or not to transmit the calculated correction value. The user may input a correction value transmission command or a transmission hold command through the input unit 220 .

The user command may be an input command of a processing reference value. The processing reference value may represent a target processing value for a measurement point of a workpiece. For example, when a specific measurement point of a workpiece is processed with a machining reference value, it can be determined that optimal machining has been performed. A machining reference value may be set for each of the plurality of tools 140 provided on the lathe 100 .

The measuring point may indicate a specific point on the workpiece that needs to be measured. For example, the measuring point may be a part corresponding to the length of the workpiece, a part corresponding to the width, a groove, a protrusion, a hole, or a part corresponding to the outer diameter of the workpiece. A machining operation may be performed by a specific tool for each measuring point.

The user may input a machining reference value that is a target degree of a machining operation by a corresponding tool for each measuring point through the input unit 220 . The input processing reference value may be configured in the form of a processing reference value table 300 as shown in FIG. 4 .

The storage unit 230 may temporarily or permanently store the processing reference value table 300 and correction data 400 (see FIG. 5 ) to be described later.

The correction value calculator 250 may calculate a correction value for the position of the tool 140 provided on the lathe 100 by referring to the measurement value received through the receiver 210 . The correction value calculator 250 may calculate a correction value based on the processing reference value. For example, the correction value calculator 250 may calculate a difference between the measured value and the processing reference value as a correction value.

Alternatively, the correction value calculating unit 250 may learn the correction data 400 and calculate the correction value by referring to the learning result. That is, the correction value calculation unit 250 may calculate an optimal correction value to be applied to the tool by referring to the correction data 400 accumulated for a specific tool.

The data manager 260 serves to manage the correction data 400 . The correction data 400 may include a history of correction values calculated for the shelf 100 . The data manager 260 may reflect the correction value calculated by the correction value calculation unit 250 to the correction data 400 . That is, the data management unit 260 may update the correction data 400 by reflecting the correction value calculated by the correction value calculation unit 250 to the correction data 400 .

Referring to FIG. 5 , the correction data 400 may include at least one of measurement time, shelf identification information, processing program identification information, correction values, production quantity, and processing conditions.

The measuring time indicates the time when the measuring unit 160 measures the workpiece. The shelf identification information indicates unique information assigned to each of the plurality of shelves 100 provided in the shelf control system 10 . The machining program identification information indicates unique information assigned to each of a plurality of machining programs provided in the lathe 100 . The correction value indicates that it is calculated by the correction value calculation unit 250 and provided to the shelf 100 . The production quantity represents the cumulative number of workpieces produced by the lathe 100 . The processing conditions represent environmental conditions in which raw materials are processed on the lathe 100 . For example, the processing conditions may include internal temperature and internal pressure of the chamber 110 .

Referring back to FIG. 3 , the data management unit 260 may update the correction data 400 whenever a correction value is calculated by the correction value calculation unit 250 . In addition, the lathe 100 may include a plurality of tools 140, and the correction value calculation unit 250 calculates correction values for each of the plurality of tools 140, and the data management unit 260 reflects the correction values to provide correction data. (400) can be updated.

The transmitter 270 may transmit the correction value to the shelf 100 . The control unit 240 of the lathe 100 can calibrate the tool 140 using the correction value received from the transmitter 270, and allow the corrected tool 140 to perform a machining operation on the raw material thereafter. there is.

The output unit 280 may output the correction value calculated by the correction value calculation unit 250 . For example, the output unit 280 may be provided in the form of a display device to visually output a correction value. In response to the correction value being output through the output unit 280 , the user may input user confirmation on whether or not to transmit the correction value through the input unit 220 .

The control unit 240 controls the overall control of the receiving unit 210, the input unit 220, the storage unit 230, the correction value calculation unit 250, the data management unit 260, the transmission unit 270, and the output unit 280. carry out In addition, the control unit 240 may compare the measurement value received through the receiver 210 with a processing reference value to determine whether a correction value is calculated. For example, when the difference between the measured value and the processing reference value exceeds a first threshold value set in advance, the controller 240 may determine that a correction value should be calculated. The correction value calculation unit 250 may calculate a correction value according to a control command of the control unit 240 .

In addition, the control unit 240 may calculate a change pattern of the correction value for the production quantity of the workpiece with reference to the correction data 400 and determine whether to calculate the correction value by referring to the change pattern. Referring to FIG. 6 , correction of the plurality of tools 140 provided in the lathe 100 may be performed under the control of the lathe control device 200 . As the number of workpieces produced by the lathe 100 increases, correction for each tool 140 may be performed. A change pattern of the correction value may be different for each tool 140 . The control unit 240 may determine whether to calculate the correction value by referring to the change pattern of the correction value for each tool 140 . For example, the control unit 240 should calculate a correction value when it is determined that the difference between the measured value for the tool and the machining reference value exceeds a first threshold value set in advance with reference to a correction value change pattern of a specific tool. It can be judged that According to the control command of the control unit 240, the correction value calculation unit 250 may calculate a correction value, and the transmission unit 270 may transmit the corresponding correction value. That is, the correction value may be calculated and provided to the lathe 100 before the difference between the measured value and the processing reference value exceeds the first threshold value.

Alternatively, the controller 240 may determine whether to calculate a correction value with reference to a correction value change pattern when the difference between the measured value and the processing reference value exceeds a preset second threshold value. Here, the second threshold may be a value smaller than the first threshold. When the difference between the measured value and the processing reference value exceeds a preset second threshold value, the control unit 240 may transmit a correction value calculation command to the correction value calculation unit 250 . The correction value calculation unit 250 may calculate a correction value by referring to a change pattern of the correction value.

Referring to FIG. 7 , the shelf control device 200 may calculate and transmit a correction value and update correction data 400 .

First, the receiver 210 of the shelf control device 200 may receive a measurement value of a workpiece from the shelf 100 (S510). The control unit 240 may determine whether or not correction of the tool 140 is necessary by referring to the difference between the measured value and the machining reference value (S520). Thus, when it is determined that the tool 140 needs to be corrected, the control unit 240 may transmit a correction value calculation command to the correction value calculation unit 250 . Meanwhile, when it is determined that the tool 140 does not need to be calibrated, the controller 240 may omit the subsequent operation.

The correction value calculating unit 250 may calculate the correction value according to the control command of the control unit 240 (S530). The correction value calculator 250 may calculate a correction value based on the processing reference value. For example, the correction value calculator 250 may calculate a difference between the measured value and the processing reference value as a correction value.

Alternatively, the correction value calculation unit 250 may learn the correction data 400 up to now and calculate the correction value by referring to the learning result. The correction value calculation unit 250 may calculate a correction value by machine learning the relationship between data such as the type of processing pattern for each tool, the number of processing times, the grinding depth, the cutting depth, and the processing duration time, and the measured value of the actual workpiece. If the measured value exceeds a preset threshold, the controller 240 may determine that the tool needs to be corrected. Determination of the need for correction and calculation of the correction value may be performed in real time while processing of the raw material is performed.

When the correction value is calculated by the correction value calculator 250, the output unit 280 may output the correction value (S540). The control unit 240 may determine whether user confirmation is input through the input unit 220 in response to the correction value being output (S550). User confirmation may be a correction value transmission command.

When a correction value transmission command is input, the transmission unit 270 may transmit the correction values to the shelf 100 (S560). Meanwhile, when a correction value transmission command is not input or a correction value transmission hold command is input, the transmission unit 270 may not transmit the correction value.

After the correction value is transmitted, the data management unit 260 may update the correction data 400 with the newly generated correction value (S570). At this time, the data management unit 260 may update the correction data 400 by referring to the measurement data received together with the measurement values.

Referring to FIG. 8 , the shelf control device 200 may calculate and transmit a correction value and update correction data 400 .

First, the receiver 210 of the shelf control device 200 may receive a measurement value of a workpiece from the shelf 100 (S610). The controller 240 may determine whether the tool 140 needs to be corrected by referring to the difference between the measured value and the machining reference value. For example, the controller 240 may determine whether to calculate a correction value referring to a correction value change pattern by referring to whether the difference between the measured value and the processing reference value exceeds the second threshold value (S620). Thus, when it is determined that the tool 140 needs to be corrected, the control unit 240 may transmit a correction value calculation command to the correction value calculation unit 250 . Meanwhile, when it is determined that the tool 140 does not need to be calibrated, the controller 240 may omit the subsequent operation.

According to the control command of the control unit 240, the correction value calculating unit 250 may calculate the correction value. The correction value calculation unit 250 may calculate the correction value by referring to the change pattern of the correction value (S6300.

When the correction value is calculated by the correction value calculation unit 250, the output unit 280 may output the correction value (S640). The control unit 240 may determine whether user confirmation is input through the input unit 220 in response to the correction value being output (S650). User confirmation may be a correction value transmission command.

When a correction value transmission command is input, the transmitter 270 may transmit the correction values to the shelf 100 (S660). Meanwhile, when a correction value transmission command is not input or a correction value transmission hold command is input, the transmission unit 270 may not transmit the correction value.

After the correction value is transmitted, the data management unit 260 may update the correction data 400 with the newly generated correction value (S670). At this time, the data management unit 260 may update the correction data 400 by referring to the measurement data received together with the measurement values.

Although the embodiments of the present invention have been described with reference to the above and accompanying drawings, those skilled in the art to which the present invention pertains can implement the present invention in other specific forms without changing the technical spirit or essential features. You will understand that there is Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting.

Claims

A receiving unit for receiving a measurement value for the workpiece from the lathe producing the workpiece;

a correction value calculating unit that calculates a correction value for the position of the tool provided on the lathe by referring to the measured value; and

A transmitter for transmitting the correction value to the shelf,

The lathe includes a plurality of tools,

The lathe control device of claim 1 , wherein the correction value calculator calculates a correction value for each of the plurality of tools.
According to claim 1,

The lathe control device further comprising a control unit that compares the measured value with a processing reference value to determine whether to calculate a correction value.
According to claim 2,

The processing reference value includes a processing value that is a target for a measurement point of a workpiece.
According to claim 1,

The shelf control device further comprising an output unit outputting the correction value.
According to claim 4,

The shelf control device further includes an input unit for receiving a user confirmation of whether or not the correction value is transmitted in response to the correction value being output.
According to claim 1,

The shelf control device further includes a data management unit configured to reflect the correction values calculated by the correction value calculation unit to correction data including a history of correction values calculated for the shelf.
According to claim 6,

The correction data includes at least one of a measurement time, shelf identification information, machining program identification information, a correction value, production quantity, and processing conditions.
According to claim 6,

The lathe control device further includes a controller that calculates a change pattern of a correction value for the production quantity of the workpiece with reference to the correction data, and determines whether or not the correction value is calculated by referring to the change pattern.
According to claim 6,

The shelf control device of claim 1, wherein the correction value calculation unit learns the correction data and calculates a correction value by referring to the learning result.
Receiving a measurement value for a workpiece from a lathe producing the workpiece;

calculating a correction value for a position of a tool provided on the lathe with reference to the measured value; and

Sending the correction value to the shelf,

The lathe includes a plurality of tools,

The step of calculating the correction value includes calculating the correction value for each of the plurality of tools.
According to claim 10,

The lathe control method further comprising determining whether a correction value is calculated by comparing the measured value with a processing reference value.
According to claim 11,

The lathe control method of claim 1 , wherein the processing reference value includes a target processing value for a measurement point of a workpiece.
According to claim 10,

The shelf control method further comprising outputting the correction value.
According to claim 13,

The shelf control method further comprising receiving a user confirmation as to whether or not to transmit the correction value in response to the output of the correction value.
According to claim 10,

The shelf control method further comprises reflecting the correction values calculated by the correction value calculator in correction data including a history of correction values calculated for the shelf.
According to claim 15,

The correction data includes at least one of a measurement time, shelf identification information, processing program identification information, a correction value, production quantity, and processing conditions.
According to claim 15,

The lathe control method further comprises calculating a change pattern of a correction value for the production quantity of the workpiece by referring to the correction data, and determining whether to calculate a correction value by referring to the change pattern.
According to claim 15,

The calculating of the correction value includes learning the correction data and calculating the correction value by referring to the learning result.