JP3384411B2 - Stage mechanism control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to control means for controlling the operation of a hanging mechanism and a floor mechanism provided on a stage. 2. Description of the Related Art Conventionally, the operation of a stage mechanism which is operated by driving an actuator such as a hanging mechanism or a floor mechanism provided on a stage has conventionally been controlled according to a simple pattern as shown in FIG. [0003] Further, even in a stage mechanism having a more advanced control function, its operation is at most such that a sinusoidal pattern is regularly repeated or follows a pattern as shown in FIG. [0004] In recent years, as stage performances have become more sophisticated, sophisticated and complex movements have also been required for stage mechanisms. In response to such a request, a waveform diagram corresponding to a necessary operation pattern is input to a computer in advance using input means such as a mouse, a light pen, and a cursor key, and the computer controls the driving of the actuator according to the pattern. By constructing a simple system, it is possible to meet some requirements. [0005] However, it is not easy to create these waveform diagrams while imagining the movement of the stage mechanism. In order to realize a complicated movement as expected, the stage mechanism is actually operated and based on the operation result. It was indispensable to make many corrections, and it was necessary to spend a great deal of effort creating a waveform diagram of the operation of the stage mechanism. The present invention has been made to solve the above problems, and has as its object to provide a control device having a function of learning an actual operation of a stage mechanism. According to the present invention, there is provided a stage mechanism control device for controlling an actuator for operating a stage mechanism, comprising: means for indicating an operation position of the stage mechanism; Means for controlling the driving of the actuator, means for detecting the actual operating position of the stage mechanism, means for continuously storing the operating position instructed by the indicating means or the operating position detected by the detecting means at regular intervals. Means for displaying the operating position of the stored stage mechanism;
Means for correcting the operation position stored in the storage means based on the operation position displayed on the display means. The stage mechanism is operated by actually driving the actuator, and the operating position is sampled by the detection means and stored in the storage means. The operation of the stage mechanism can be easily reproduced based on the data stored in this way, and the stored data can be modified, so that a complicated operation can be learned in a short time. 1 to 3 show an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes an actuator for driving a stage mechanism, 2 denotes an operation control unit for controlling driving of the actuator 1, and 3 denotes a stage mechanism driven by the actuator. A pulse encoder 4 is attached to the stage mechanism 3 as detecting means. The pulse encoder 4 detects the operation position of the stage mechanism 3 at a fixed very short time interval and feeds it back to the operation control unit 2 as a position feedback signal. This position feedback signal is stored in the operation state storage unit 5 as storage means via the operation control unit 2. On the other hand, an operation unit 9 having a joystick for instructing the operation direction and speed of the actuator 1 is provided. The operation unit 9 converts the operation of the joystick into a speed command signal and outputs the signal to the operation control unit 2 via the operation control unit 10. The speed instruction signal output from the operation unit 9 is simultaneously output to the speed position conversion unit 11. The speed / position conversion unit 11 integrates this speed instruction signal with time and converts it into a position conversion signal corresponding to the operation position of the stage mechanism 3. This position conversion signal is stored in the operation state storage unit 5. That is, two types of position signals, that is, a position feedback signal and a position conversion signal, are stored in the operating state storage unit 5 with respect to the operating position of the stage mechanism 3, and the operating state storage unit 5 stores these signal circuits. Switch 1 for switching
2 so that only one position signal is taken in by switching the switch 12. The operating state storage unit 5 is connected to a display unit 6 composed of a CRT for displaying stored data. Further, a data input correction unit 7 composed of a mouse, a light pen, a numeric keypad and a cursor key for correcting the stored position signal by manual operation or newly inputting a position signal.
And a registration unit 8 for storing stored data on a magnetic medium or the like. In order to temporally synchronize the control operation of the operation control unit 2 with the operation of the operation unit 9 and the storage operation of the operation state storage unit 5, the operation control unit 10 transmits a synchronization signal to the operation control unit 2. Is output to the operation state storage unit 5. Next, the operation will be described. The stage mechanism controller learns the operation of the stage mechanism 3 in accordance with the flowchart of FIG. That is, first, in S1, it is selected whether the learning is actually performed by moving the stage mechanism 3 or the operation of the operation unit 9 is directly learned without moving the stage mechanism 3. This selection is performed by the switching operation of the switch 12. When learning is performed by moving the stage mechanism 3, a position feedback signal generated by an actual operation of the stage mechanism 3 receives an operation state storage unit 5 via the operation control unit 2.
(S2). When the operation of the operation unit 9 is started, the operation control unit 10 transmits a speed instruction signal and a synchronization signal to the operation control unit 2.
Next, a synchronization signal is output to the operation state storage unit 5 (S4). The operation control section 2 and the operation state storage section 5 are synchronized by the synchronization signal, and the operation control section 2 operates the actuator 1 based on the speed instruction signal. The speed instruction signal output from the operation control unit 10 changes according to the operation of the operation unit 9, and controls the operation speed of the actuator 1 via the operation control unit 2 so as to be in accordance with the speed instruction signal. The stage mechanism 3 is operated by the operation of the actuator 1.
Starts operation, the operation position is detected as an operation position signal by the pulse encoder 4 and fed back to the operation control unit 2 as a position feedback signal.
On the other hand, the operation state storage unit 5 synchronized with the synchronization signal from the operation control unit 10 stores the position feedback signal transferred from the operation control unit 2 as a position signal indicating the operation position of the stage mechanism 3 (S5). These stored data are displayed on the data display section 6 as operation patterns as shown in FIG. When the operation of the operation section 9 is completed, the operation control section 2 stops the actuator 1 by a signal output from the operation control section 10, and the operation state storage section 5 stores the operation position signal. This completes the learning (S6). Subsequently, it is selected whether or not to play back the learned pattern (S7). If not, it is selected whether or not to store the stored operation pattern (S10). 8 and save the pattern (S11), and terminate the learning routine. Also,
If not, the learning routine ends. On the other hand, if the playback is selected in S7, the stage mechanism 3 is returned to the starting point of the operation by operating the operation section 9 in S8, and the operation control section is operated based on the operation pattern stored in the operation state storage section 5. The operation of the stage mechanism 3 is reproduced by moving the actuator 1 via the actuator 2. At the same time, the operation pattern is displayed on the display unit 6. Since the position information is stored in the operation state storage unit 5, the signal is converted into speed information by either the operation state storage unit 5 or the operation control unit 2. For this reason, for example, if any modification is required to the operation pattern as a result of the playback, instead of moving the stage mechanism 3 again to perform learning, the display unit 6
Can be corrected from the data input correction unit 7. In some cases, all of the learning data can be directly input from the data input correction unit 7 to the operation state storage unit 5. The above is a case where learning is performed by actually moving the stage mechanism 3. If a method of directly learning the operation of the operation unit 9 is selected in S1, the switch 12 is switched to the speed position conversion unit 11 side. The learning process of S4 to S11 is executed without moving the stage mechanism 3. At the same time, the learning pattern is displayed on the display unit 6, so that the operator can execute the learning process while watching this display. However, in this case, the position signal stored in the operation state storage unit 5 in S5 is not a position feedback signal output from the pulse encoder 4 but a position conversion signal output via the speed position conversion unit 11. is there. The learning data obtained by any one of the above methods can be arbitrarily extracted and used by registering it in the registration unit 8. It is also possible to reuse it as a part of other data. When a plurality of stage mechanisms 3 are operated synchronously as a group, a plurality of stage mechanisms 3 may be controlled by a single operation control unit 2 as shown in FIG. By providing a plurality of joysticks in the operation section 9, it is also possible to individually control a plurality of stage mechanisms 3 by a single operation control section 2. In the above embodiment, the position information of the stage mechanism 3 is learned. However, since the speed and the position have a correspondence, the speed information can be learned. As described above, the present invention is provided with a means for continuously storing the operating position of the stage mechanism detected by the detecting means, so that the stage mechanism is actually operated and its operation pattern is You can learn by learning. Therefore, there is a great effect on improving the learning accuracy and shortening the required learning time.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a stage mechanism control device showing a configuration of the present invention. FIG. 2 is a flowchart illustrating an operation process of the stage mechanism control device. FIG. 3 is a graph showing an operation pattern of a stage mechanism. FIG. 4 is a graph showing an operation pattern of a stage mechanism by a conventional control device. FIG. 5 is a graph showing another operation pattern of the stage mechanism by the conventional control device. [Description of Signs] 1 Actuator 2 Operation control unit 3 Stage mechanism 4 Pulse converter 5 Operation state storage unit

Continuation of the front page (56) References JP-A-58-193895 (JP, A) JP-A-3-16583 (JP, A) JP-A-4-169096 (JP, A) JP-A-2-286188 (JP) JP-A-4-284501 (JP, A) JP-A-5-5199 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A63J 1/02

Claims (1)

(57) [Claim 1] In a stage mechanism control device for controlling an actuator for operating a stage mechanism, a means for designating an operation position of the stage mechanism, and a controller for the actuator based on the designated operation position. Means for controlling the drive, means for detecting the actual operating position of the stage mechanism, and the operating position indicated by the indicating means or the operating position detected by the detecting means at regular intervals.
Means for continuously storing the operating position of the stage mechanism, means for displaying the operating position of the stored stage mechanism, and means for correcting the operating position stored in the storing means based on the operating position displayed on the display means. A control device for a stage mechanism, characterized by: