Method for moving a tool of a CNC machine over a surface

1. A method for moving a tool of a CNC machine over a surface, wherein the CNC machine is provided with a sensor unit, the method comprising the steps of:

(a) driving the tool over the surface in a predetermined direction and/or along a predetermined path;

(b) treating the surface by the tool in accordance with a predetermined value of a treatment parameter;

(c) determining, by the sensor unit, a response value indicating a response of the tool to the treating of the surface, and deriving a model of the surface based on the response value, wherein the model describes a shape of at least a part of the surface and is derived from data obtained from the sensor unit while the tool is driven over the surface, the data comprising data indicating a deflection of the tool or a force experienced by the tool when treating the surface; and

(d) determining a new direction and/or a new path based on the response value and on the model, and adapting the treating of the surface to working conditions which are encountered by the tool by changing direction of driving over the surface laterally with respect to the predetermined direction and/or the predetermined path, so as to treat the surface along a direction and/or a path that are/is different from the predetermined direction and/or path, such that a resulting treated path is different than the predetermined path.

2. The method according to claim 1 wherein the model is based on path data.

3. The method according to claim 1 wherein the model is used to determine, in step (d), a direction and/or a path which is/are applied after the sequence of steps (a) to (d) or of steps (a) and (b) has been carried out one or more times subsequently to the determination.

4. The method according to claim 3 , wherein the model is based on path data.

5. The method according to claim 1 , wherein, if the tool has been moved to or beyond a predetermined borderline, the tool is displaced by a predetermined distance and the new direction is determined as the reverse of the previous direction.

6. The method according to claim 5 , wherein step (c) comprises providing, by the sensor unit, data indicating a force experienced by the tool in response to an impact of the tool to the surface.

7. The method according to claim 1 , wherein the treatment parameter may be one of a force, a frequency or a time delay of the treatment to be performed by the tool.

8. The method according to claim 1 , wherein step (a) comprises, while moving the tool, the tool is in contact with the surface.

9. The method according to claim 1 , wherein step (a) comprises, while moving the tool, the tool is not in continuous contact to the surface.

10. The method according to claim 1 , wherein step (a) comprises, while moving the tool, the tool is at a fixed distance from the surface.

11. The method according to claim 1 , wherein the tool is surrounded by a cylinder that has contact to the surface.

12. The method according to claim 1 wherein step (d) comprises keeping force, which is applied to the surface by the tool, constant and/or within a predetermined tolerance range.

13. The method according to claim 1 , wherein treating the surface comprises hammering onto the surface.

14. The method of claim 1 wherein the tool comprises a hammer, and the method comprises sensing by the sensor unit counteracting forces and deflections experienced by the hammer in three directions perpendicular to each other, and determining by the CNC machine an angle between a direction of a hammer stroke and the surface based on the sensed forces and deflections.

15. A CNC machine controller, configured to carry out the method of claim 1 .

16. A computer program product, comprising one or more non-transitory media readable by a CNC machine, carrying instructions thereon for performing the steps of the method of claim 1 when run by the CNC machine.

17. A CNC machine, which is configured to move a tool over a surface, comprising:

a driving unit configured to drive the tool in a predetermined direction and/or along a predetermined path;

a treatment unit configured to treat the surface by the tool in accordance with a predetermined value of a treatment parameter;

a sensor unit configured to determine a response value indicating a response of the tool to the treating of the surface, wherein the CNC machine is configured to derive a model of the surface based on the response value, and wherein the model describes a shape of at least a part of the surface and is derived from data obtained from the sensor unit while the tool is driven over the surface, the data comprising data indicating a deflection of the tool or a force experienced by the tool when treating the surface; and

a decision unit configured to determine a new direction and/or a new path based on the response value and on the model, and to adapt the treatment of the surface to working conditions which are encountered by the tool by changing direction of driving over the surface laterally with respect to the predetermined direction and/or the predetermined path, so as to treat the surface along a direction and/or a path that are/is different from the predetermined direction and/or path, such that a resulting treated path is different than the predetermined path.

18. The CNC machine according to claim 17 wherein the tool comprises a hammer, and the driving unit is configured to receive the hammer and to move the hammer up and down to perform hammering on the surface.

19. The CNC machine according to claim 18 wherein the sensor unit is configured to sense counteracting forces and deflections experienced by the hammer in three directions perpendicular to each other, and the CNC machine is configured to determine an angle between a direction of a hammer stroke and the surface based on the sensed forces and deflections.

20. A method for moving a tool of a CNC machine over a surface, wherein the CNC machine is provided with a sensor unit, the method comprising the steps of:

(a) driving the tool over the surface in a predetermined direction and/or along a predetermined path;

(b) treating the surface by the tool in accordance with a predetermined value of a treatment parameter;

(c) determining, by the sensor unit, a response value indicating a response of the tool to the treating of the surface, and deriving a model of the surface based on the response value, wherein the model describes a shape of at least a part of the surface and is derived from data obtained from the sensor unit while the tool is driven over the surface; and

(d) determining a new direction and/or a new path based on the response value and on the model, and adapting the treating of the surface to working conditions which are encountered by the tool by changing direction of driving over the surface laterally with respect to the predetermined direction and/or the predetermined path, so as to treat the surface along a direction and/or a path that are/is different from the predetermined direction and/or path, such that a resulting treated path is different than the predetermined path;

wherein the tool comprises a hammer, and the method comprises sensing by the sensor unit counteracting forces and deflections experienced by the hammer in three directions perpendicular to each other, and determining by the CNC machine an angle between a direction of a hammer stroke and the surface based on the sensed forces and deflections.