JP3380410B2 - Method for determining smoothing group in motor smoothing - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a smoothing group determination method for smoothing a motor used in a device such as a plotter or a cutting plotter.

[0002]

2. Description of the Related Art Conventionally, in devices such as plotters and cutting plotters, a pen or a cutter is moved by operating a motor to write or cut on a sheet.

In this case, the data of a graphic for writing and cutting is composed of a combination of data of line segments consisting of a plurality of straight lines, and the vector data which is the data of the line segments is
A plurality of vector data that can be written / cut continuously are stored in the memory as one smoothing group. Then, writing / cutting corresponding to the vector data of the smoothing group is sequentially performed.

For example, if the figure to be written / cut is a perfect circle, short straight lines having the same length are connected while being inclined at a constant angle so that the overall shape looks like a smooth circle. Also, if it is an ellipse, the part with a large bend connects short straight lines with a relatively large angular difference,
In the part with little bending, long straight lines are connected so that the angle difference between them becomes small.

In this case, the vector velocity is calculated on the basis of the angle difference between the continuous line segments experimentally obtained. For example, if the angular difference between one line segment and the next line segment is 1 degree, the speed of the next line segment is 5 cm / sec, and if it is 2 degrees, the speed of the next line segment is 3 cm. / Sec is 3 degrees, the velocity of the next line segment is 2 cm / sec, and the calculation is such that the velocity of the line segment slows as the angle difference increases.

Then, for example, if the angle difference between the input line segment data and the data of the line segments following it is within 20 degrees and the speed difference is within double, the above two line segment data are If it belongs to the same smoothing group that is currently being formed, and if any of the angle difference and speed difference does not satisfy the above condition, a new smoothing group with the data of the subsequent line segment as the head is formed. By repeating the above, a plurality of smoothing groups corresponding to the figure are formed.

In this case, the vector velocities of the formed smoothing groups are set to the same as the minimum vector velocities of the line segments constituting the smoothing groups, so that the smoothing groups as a whole do not suffer from unevenness. It is done like this.

[0008]

However, in the above method, the speed is calculated with reference to the angular difference between the continuous line segments, and each line segment is segmented only by this angular difference and the calculated speed difference. Since the smoothing group is decided,
Even if a short line segment and a long line segment are included in the same smoothing group, the smoothing group is processed according to the lowest vector speed of each line segment in the group.

As a result, when drawing a diagram of a complicated shape in which long line segments and short line segments coexist, even if a large number of long line segments are included in the smoothing group, the entire smoothing group is a vector of short line segments. Since the processing is performed according to the speed, the speed is too slow for a long line segment, and the throughput (output value per unit time) is reduced, which causes a problem that the efficiency of writing and cutting is deteriorated.

The present invention has been made in view of such circumstances, and not only the angle difference and the speed difference between two continuous line segments but also the difference in the length of each line segment is determined to form a smoothing group. By asking for it, it is possible to perform more suitable processing according to the figure, and to write with high accuracy and efficiency.
It is an object of the present invention to provide a smoothing group determination method in motor smoothing that enables cutting.

[0011]

In order to achieve the above object, the present invention, like the conventional example, provides an angular difference between vector data of one line segment and vector data of a line segment following the line segment. And the speed difference were used as factors for determining the smoothing group, and in addition, the line segment length difference between the vector data of the two line segments was also used as the factor for determining the smoothing group.

If the angle difference, the velocity difference, and the line segment length difference between the vector data of one line segment and the vector data of the following line segment are within predetermined values, the vector of the two line segments is calculated. Include the data in the same smoothing group currently being formed. If at least one of the angle difference, the velocity difference, and the line segment length difference exceeds a predetermined value, the vector data of one line segment is added to the last vector data in the currently formed smoothing group. In addition, regarding the vector data of the subsequent line segment, a new smoothing group having this vector data as a head is formed and included therein.

That is, as in the conventional example, whether the vector data of the succeeding line segment is included in the smoothing group being formed or a new smoothing group is obtained based on only the angle difference and the velocity difference of the continuous line segment vector data. Is not determined but the difference between the lengths of the vector data of the two line segments is also taken into consideration to make the line segments included in one smoothing group closer to each other.

Further, the smoothing group obtained as described above is processed by setting the lowest vector speed of the vector data of the line segments forming the smoothing group as the vector speed of the entire group. As a result, smooth writing and cutting can be performed.

In this case, although the number of smoothing groups itself increases, the vector data of long line segments and the vector data of short line segments are included in the same smoothing group, and vector data of long line segments having extremely different lengths are included. The vector data of short line segments will not be processed at the same speed. As a result, the vector speed of each smoothing group can be set to an appropriate speed that is less wasteful according to the smoothing group, and fine-tuned control can be performed as a whole. As a result, throughput is improved, efficiency is improved, and accurate writing / cutting can be performed.

When the predetermined values of the angle difference, the velocity difference, and the line segment length difference between the vector data of one line segment and the vector data of the following line segment are experimentally obtained, the angle difference is 10 It was preferable to set the velocity difference within 2 to 25 degrees, the speed difference within 2 to 4 times, and the line segment length difference within 4 to 16 times. Next, the present invention will be described in detail with reference to the drawings.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the configuration of an apparatus used in a smoothing group determination method in motor smoothing according to the present invention. In the figure, 1
Is an interface connected to the CPU 2, and can be connected to an interface of an external host computer via a serial cable or the like.

A ROM (read-on-memory) 3 storing a predetermined program for performing the entire operation and various processes is provided to the CPU 2 via a bus, and various kinds of CPUs required when the program is executed by the CPU 2. RAM (random access memory) 4 as a working area in which registers and the like are set, an X motor driver 5,
The Y motor driver 6 is connected.

The X motor driver 5 is connected to an X motor 7 for moving a carriage (not shown) to which a pen or a cutter is attached in the X direction with respect to the sheet.
A Y motor 8 for moving the seat in the Y direction is connected to the Y motor driver 6 so as to control on / off of excitation of the X motor 7 and the Y motor 8 and drive at the time of on. .

In the above structure, the calculation of the vector speed according to the method of the present invention is performed according to the program stored in the ROM 3 as shown in the flowchart of FIG.

In this case, first, in step 1, the vector data of one input line segment is compared with the vector data of the line segment succeeding the line segment, and whether the angular difference is within a predetermined value or not. Determine whether If this angle difference is within the predetermined value, the process proceeds to step 2.

Next, in step 2, the speed difference between the vector data of the two line segments is compared to determine whether or not the speed difference is within a predetermined value. If the speed difference is within the predetermined value, the process proceeds to step 3.

Next, in step 3, the line segment length difference between the two line segment vector data is compared to determine whether or not the line segment length difference is within a predetermined range. Then, if this line segment length difference is within a predetermined value, the process proceeds to step 4, and the vector data of one line segment and the vector data of the line segment subsequent thereto are included in the same smoothing group.

In step 1, step 2, and step 3, if even one of them exceeds the predetermined value, the process proceeds to step 5, and the vector data of one line segment is only one. Form one smoothing group, and the vector data of the subsequent line segment becomes the first vector data of the smoothing group formed next.

Then, in step 6, it is determined whether there is the next vector data to be input. At this time, if there is no next vector data, there are only the above two vector data, and if these two vector data are within the predetermined values in the angle difference, the velocity difference, and the line segment length difference, it becomes 2 One vector data forms one smoothing group.

If at least one of the angle difference, the velocity difference and the line segment length difference exceeds a predetermined value, the vector data of one line segment forms one smoothing group. Is formed, and another smoothing group is formed by the vector data of the following line segment.
Then, the determination of the smoothing group ends.

If there is the next vector data to be input in step 6, the process returns to step 1 and the above operation is repeated. In this case, the subsequent line segment in the above operation becomes one line segment, and the new line segment following this one line segment becomes the subsequent line segment.

In this way, the above operation is repeated, and in the vector data of two consecutive line segments, as long as vector data whose angle difference, velocity difference and line segment length difference are all within the predetermined values continues The line segment vector data belong to the same smoothing group, and if any one of the above angle difference, velocity difference, and line segment length difference exceeds the predetermined value, the line segment vector data is set as the head. A new smoothing group is created.

Then, a plurality of smoothing groups are formed as described above until there is no vector data for the input line segment, and writing / cutting corresponding to the smoothing groups is performed. In this case, the vector speed of each smoothing group is set to the lowest speed of the vector speeds of the line segments forming the smoothing group.

As described above, according to the present invention, the smoothing group is not determined only by the angle difference and the speed difference between the vector data of the continuous line segments, but the difference in the lengths of the line segments is also included in the determination. The line segments included in one smoothing group are approximated.

Therefore, the vector speed of each smoothing group can be set to an appropriate speed corresponding thereto, and fine control can be performed as a whole. As a result, throughput is improved, efficiency is improved, and accurate writing / cutting can be performed.

The results of cutting a figure into a sheet by the cutting plotter using the above method are shown in FIGS. 3, 4 and 5 and Tables 1, 2 and 3 of the attached sheets. That is, FIG. 3 is a figure composed of simple multiple circles, and FIG.
FIG. 5 is a figure having a combination of and characters and 1800 numbers, and FIG. 5 is a figure having a slightly complicated shape made of a combination of alphabet characters and pictorial patterns.

Then, Table 1 shows the speed difference between the vector data of each line segment belonging to the same smoothing group from 2 to 2.
The time required when the smoothing group is formed by changing it in the range of 4 times and the sheet is cut into the figures of FIGS. 3, 4, and 5 based on the data is shown. In this case, the angle difference of the vector data of each line segment was set within 10 degrees, and the line segment length difference was set within 32 times.

Under these conditions, FIG. 3, FIG. 4 and FIG.
It can be seen that in all of the figures, when the smoothing group is formed by setting the speed difference of the vector data of each line segment within twice, the cutting can be performed in the fastest time.

Next, Table 2 sets the speed difference between the vector data of the respective line segments belonging to the same smoothing group to within twice the best result in cutting the figure shown in Table 1 above. At the same time, the line segment length difference is set within 32 times, the angle difference is changed from 10 degrees to 25 degrees to form a smoothing group, and the figures in FIGS. 3, 4, and 5 are cut based on the data. It shows the time required when doing.

In this case, there was no difference in the required time in the cutting of the simple multiple circle shown in FIG. 3, but when judging the total required time in FIGS. 4 and 5 which is rather complicated, It can be seen that a slightly good result is shown when the angle difference is set within 20 degrees.

Table 3 sets the speed difference of the vector data of each line segment belonging to the same smoothing group to within 2 times which is the best result in cutting the figure shown in Table 1 above, and The difference is set within 20 degrees which shows good results in Table 2 above, and the line segment length difference is set to 2
The time required when the smoothing group is formed by changing from double to 32 times and the figures of FIGS. 3, 4, and 5 are cut based on the data is shown.

Also in this case, there was almost no difference in the required time in the cutting of FIG. 3, but in the cutting of FIGS. 4 and 5, the best result was obtained when the cutting time was within 8 times. Therefore, in the cutting of the figures of FIGS. 3, 4 and 5 as described above, the condition for connecting the line segments during smoothing is that the speed difference of the vector data of each line segment is within twice and the angle difference is 20. It can be seen that it is most preferable to set the line segment length difference within 8 times within a degree.

All the above cuttings were performed with the same cutting plotter using a trapezoidal table having a maximum acceleration of 0.1 G and an initial speed of 10 mm / sec. Further, in the above result, it is most preferable that the vector data of each line segment belonging to the same smoothing group has a speed difference within 2 times, an angle difference within 20 degrees, and a line length difference within 8 times. It was good, but this does not always give such a result, and there are some differences depending on the shape of the figure.

However, as compared with a simple figure, a cutting result of a figure having a complicated shape gives a better result with the above setting, and as a general writing / cutting including a simple figure, an angle difference is used. Within 10-25 degrees, speed difference 2-4
It is preferable that the line segment length difference is set within 4 times and the line segment length difference is set within 4 to 16 times.

Incidentally, in the conventional example in which the smoothing group is determined only by the angle difference and the speed difference of the data of the continuous line segments, empirically, the angle difference is set within 20 degrees and the speed difference is set within double. It is known that good results can be obtained in the case of doing so, and it was performed by setting a value close to it.

[0042]

As described above, according to the smoothing group determination method for motor smoothing according to the present invention, when forming a smoothing group, vector data of successive subsequent line segments belong to the smoothing group, or The determination as to whether or not the smoothing group to be formed at the head of the smoothing group to be formed is made by including the line segment length difference in addition to the angle difference and velocity difference of the continuous line segment vector data.

Therefore, the vector data of the line segments included in one smoothing group are closer to each other than in the conventional example. As a result, the vector speed of each smoothing group can be set to an appropriate speed that is more efficient according to the smoothing group, and fine control can be performed as a whole. As a result, throughput is improved, efficiency is improved, and accurate writing / cutting can be performed.

Further, since the formed smoothing group is processed by setting the lowest vector speed of the vector data of the line segments that make up the smoothing group as the vector speed of the entire group, the smooth smooth writing can be performed.・ Be able to cut.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an apparatus used in an example of the present invention.

FIG. 2 is a flowchart showing a method for determining a smoothing group.

FIG. 3 is a view showing multiple circles cut by an experiment.

FIG. 4 is a diagram including a combination of letters and numbers cut by an experiment.

FIG. 5 is a diagram including a combination of a character and a picture pattern cut by an experiment.

[Explanation of symbols]

2 ... CPU 3 ... ROM 4 ... RAM 5 ... X motor driver 6 ... Y motor driver 7 ... X motor 8 ... Y motor

[Table 1]

[Table 2]

[Table 3]

─────────────────────────────────────────────────── ─── Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G05B 19/18-19/46 B23Q 15/00-15/28 G05D 3/00-3/12 H02P 5 / 00,7 / 00

Claims (2)

(57) [Claims] 1. A method for determining a smoothing group of vector data for controlling a motor of a device operated by driving a motor, comprising vector data of one line segment and vector data of a subsequent line segment following the line segment. If the angle difference, speed difference, and line segment length difference between and are within the predetermined values, at least one of the above angle difference, speed difference, and line segment length difference exceeds the predetermined value. If there is, a smoothing group is formed by forming a new smoothing group with the vector data of the following line segment at the head, and the vector speed of each smoothing group formed is configured as the smoothing group. Smoothing in motor smoothing characterized by setting and processing at the lowest vector speed of the vector speed of the line segment Managing group determination method. 2. An angle difference, a velocity difference, and a line segment length difference between one line segment vector data and a vector data of a line segment following the line segment are within 10 to 25 degrees and 2 to 4 respectively. The smoothing group determination method in motor smoothing according to claim 1, wherein the smoothing group determination is within double and within 4 to 16 times.