JP6651558B2 - System and computer readable storage medium - Google Patents

Description

  The present invention relates to systems and computer readable storage media.

In a processing tool that performs a drilling process or the like, control that realizes high processing accuracy is required in terms of processing accuracy required for the completion of a workpiece.
Patent Literature 1 discloses, as a related technique, a technique related to control for accurately moving at high speed at a joint between paths.
Patent Literature 2 discloses, as a related technique, a technique for easily forming a curved hole having a desired curvature.

JP-A-10-320026 JP 2013-136140A

  As described above, high processing accuracy is required for the finished workpiece.

  Therefore, an object of the present invention is to provide a system and a computer-readable storage medium that can solve the above-described problems.

To achieve the above object, according to one aspect of the present invention, a system for drilling a workpiece, wherein the system is configured to advance inside the workpiece, A drilling tool, which is adapted to form a bent hole in the workpiece, a tip information obtaining unit configured to obtain a position of the drilling tool, and a communication with the tip information obtaining unit. And a control device, wherein the control device is determined by a difference between a position of the drilling tool on an actual path inside the workpiece and a desired position on a target path, at least in a horizontal direction. And configured to identify a difference in position of the drilling tool having a component .

According to yet another aspect of the present invention, a system for drilling a workpiece, wherein the system is configured to advance through the interior of the workpiece along a tool path, wherein A boring tool adapted to form a bent hole in an object, a state estimating unit configured to estimate a position of the boring tool along the tool path, and communicating with the state estimating unit And a controller configured to compare the estimated position of the drilling tool on the tool path with a target path, and the estimated position and the target inside the workpiece. It is configured to identify a difference in the position of the drilling tool having at least a horizontal component determined by a difference from a desired position on a path.

According to yet another aspect of the invention, a system further comprises a drive configured to direct a flow of the electrolytic fluid through the drilling tool, wherein the flow of the electrolytic fluid is disposed within the drilled hole in the workpiece. It is discharged toward .

According to another aspect of the invention, a system further comprises a drive coupled to the drilling tool, wherein the drive is configured to advance the drilling tool along the tool path, A driving unit is configured to communicate with the control device, and the driving unit corrects a direction of the drilling tool in the machining hole based on the difference in the position of the drilling tool. Be composed .

According to another aspect of the invention, a computer-readable storage medium is a computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece, the computer-readable instructions comprising: When executed, the control device instructs the driving unit to cause the drilling tool to proceed inside the workpiece along the tool path to form a processing hole in the workpiece, Instruct the information acquisition unit to specify the position of the drilling tool, specify the position of the drilling tool along the tool path, the position of the drilling tool, on the target path determined by the difference when comparing the desired position, to identify the difference in the position of the drilling tool, a computer readable storage medium, the computer executable instructions further to the control device, before If the maximum curvature of the modified path is calculated from the difference in position is smaller than the predetermined threshold, to perform the corrective action along the modified route the calculated.

According to another aspect of the invention, a computer-readable storage medium is a computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece, the computer-readable instructions comprising: When executed, the control device instructs the driving unit to move the drilling tool inside the workpiece along a tool path, and forms a processing hole in the workpiece, Instruct the estimating unit to estimate the position of the drilling tool, estimate the position of the drilling tool along the tool path, and determine the position of the drilling tool and the desired position on the target path. It determined the position by the difference when comparing, to identify the difference in the position of the drilling tool, a computer readable storage medium, the computer executable instructions further the control device, the position If the maximum curvature corrected route calculated from the difference of less than a predetermined threshold value, to perform the corrective action along the modified route the calculated.

According to another aspect of the invention, a computer-readable storage medium is a computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece, the computer-readable instructions comprising: When executed, the control device instructs the driving unit to cause the drilling tool to proceed inside the workpiece along the tool path to form a processing hole in the workpiece, Instruct the information acquisition unit to specify the position of the drilling tool, specify the position of the drilling tool along the tool path, the position of the drilling tool, on the target path A computer-readable storage medium that specifies a difference in the position of the drilling tool, which is determined by a difference when compared with a desired position, wherein the computer-executable instruction further causes the control device to If the maximum curvature of the modified path is calculated from the difference in position is greater than a predetermined threshold, the maximum curvature is modified to be smaller than the predetermined threshold value, to perform the corrective action along the modified path .

According to another aspect of the invention, a computer-readable storage medium is a computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece, the computer-readable instructions comprising: When executed, the control device instructs the driving unit to move the drilling tool inside the workpiece along a tool path, and forms a processing hole in the workpiece, Instruct the estimating unit to estimate the position of the drilling tool, estimate the position of the drilling tool along the tool path, and determine the position of the drilling tool and the desired position on the target path. A computer-readable storage medium for specifying a difference in the position of the drilling tool, which is determined by a difference when the position of the drilling tool is compared with the position of the drilling tool. If the maximum curvature corrected route calculated from the difference between the is larger than a predetermined threshold, the maximum curvature is modified to be smaller than the predetermined threshold value, to perform the corrective action along the modified path.

  According to the system and the computer-readable storage medium according to the embodiments of the present invention, it is possible to provide a technique for realizing the finished workpiece with higher processing accuracy.

It is a figure showing an example of composition of drilling system 1 provided with control device 2 by a first embodiment of the present invention. It is a figure showing an example of drilling device 3 which is a control object of control device 2 by a first embodiment. FIG. 2 is a diagram illustrating an example of a drilling process performed on a workpiece 200 by a drilling device 3 according to the first embodiment of the present invention. FIG. 3 is a diagram illustrating an example of control performed on a control target by a control device 2 according to the first embodiment of the present invention. 1 is an example of a processing flow of a drilling system 1 including a control device 2 according to a first embodiment of the present invention. It is a figure showing an example of perforation processing system 1 provided with control device 2 by a second embodiment. It is a figure showing the state observer with which state estimating part 105 of control unit 2 by a 2nd embodiment is provided. It is an example of the processing flow of the drilling system 1 provided with the control device 2 according to the second embodiment of the present invention.

<First embodiment>
FIG. 1 is a diagram illustrating an example of a configuration of a drilling system 1 including a control device 2 according to a first embodiment of the present invention.
As shown in FIG. 1, the drilling system 1 according to the first embodiment includes a control device 2, a drilling device 3, and a storage unit 4.

The control device 2 included in the drilling system 1 includes a tip information acquisition unit 101, a connection position setting unit 102, a correction route setting unit 103, and an operation amount determination unit 104.
The tip information obtaining unit 101 provided in the control device 2 obtains processing tool tip information including the position and the advance angle of the tip of the electrode rod 10 which is the processing tool provided in the drilling device 3. Note that the advance angle is determined by the advance direction of the tip of the electrode rod 10, and indicates an angle and a direction with respect to a horizontal plane.
The connection position setting unit 102, based on the acquired processing tool tip information, forwards the target path at a position on the target path corresponding to the current tip position of the processing tool, and sets a predetermined target tool path on the processing tool. Set the connection position.
For example, the connection position setting unit 102 specifies a position on the target path closest to the current tip position of the processing tool as a position on the target path corresponding to the current tip position of the processing tool. Then, the connection position setting unit 102 sets a connection position a fixed distance ahead of the specified position on the target route along the target route.
In addition, for example, the connection position setting unit 102 sets a position on the target path at which the current tip position of the processing tool coincides with the horizontal plane coordinate as a position on the target path corresponding to the current tip position of the processing tool. Identify. Then, the connection position setting unit 102 sets a preset connection position of the processing tool on the target route a predetermined distance ahead of the specified position on the target route in the horizontal plane coordinates.
When there are a plurality of positions on the target path corresponding to the current tip position of the processing tool, the connection position setting unit 102 determines the distance along the target path among the positions on the target path. Is specified as the position on the target path corresponding to the current tip position of the processing tool.

The correction path setting unit 103, based on the set connection position and the acquired processing tool tip information, sets the vector direction related to the current angle of the processing tool tip and the correction path corresponding to the current processing tool tip position. A correction path connecting the current tip position of the processing tool and the connection position is set so that the vector direction related to the tangent line at the position is the same. In addition, the correction path setting unit 103 determines that the current direction of the tip of the processing tool at the connection position matches the vector of the tangent at the position on the correction path corresponding to the connection position. A correction path connecting the tip position of the tool and the connection position is set. Note that the correction path is represented by a polynomial.
The operation amount determination unit 104 determines an operation amount related to the advance angle of the processing tool based on the correction path and the target path represented by the polynomial.
The piercing device 3 is a device that pierces a workpiece based on control by the control device 2.
The storage unit 4 is a storage unit that stores various data necessary for the operation of the drilling device 3, such as a target route, which is an ideal route planned in advance to pass the control target.

FIG. 2 is a diagram illustrating an example of the drilling device 3 to be controlled by the control device 2 according to the first embodiment.
As shown in FIG. 2, the drilling apparatus 3 includes an electrode rod 10 for electrolytically processing the workpiece 200 while being inserted into the processing hole 201, and a driving unit 20 for operating the electrode rod 10. FIG. 2 shows a workpiece 200, a processing hole 201 processed by the drilling device 3, an inner wall surface 202, and the electrolytic solution L at the same time as the drilling device 3.

The drilling apparatus 3 according to the first embodiment melts and processes the workpiece 200 by applying a voltage between the electrode rod 10 and the workpiece 200 via the electrolytic solution L and applying a current. .
The tip surface 11 of the electrode rod 10 faces in a direction inclined with respect to the axial direction. Therefore, the electric field at the time of applying the voltage is unevenly distributed in the direction in which the tip end surface 11 of the electrode rod 10 faces, that is, the electric field intensity is unevenly distributed in a part of the distal end of the electrode rod 10 in the circumferential direction. The electrolytic solution L flowing through the electrode rod 10 provided in the drilling device 3 flows out from the tip of the electrode, and partly flows out from the hole (not shown) toward the radial outside of the electrode rod 10. Is done. The electrolytic solution L that has flowed out of the hole applies a fluid acting force to the processing hole 201, whereby the reaction force is applied to the electrode rod 10, and the direction in which the electrode hole 10 drills the processing hole is changed. Can be.
Therefore, the drive unit 20 changes the amount of the electrolytic solution L flowing through the electrode rod 10 to change the magnitude of the fluid acting force on the processing hole, and as a result, the drilling direction of the processing hole 201. Can be adjusted. As a result, a processed hole having an intended curvature can be easily formed.

FIG. 3 is a diagram illustrating an example of the drilling performed on the workpiece 200 by the drilling apparatus 3 according to the first embodiment of the present invention.
Since the drilling device 3 feeds the electrode rod 10 into the processing hole while rotating it around the axis, it is possible to perform a smooth processing. As a result, the boring apparatus 3 can easily form a processing hole having a curvature as shown in FIG.
In addition, the perforation | piercing apparatus 3 by 1st embodiment of this invention is demonstrated as what is the above-mentioned electrolytic processing apparatus. However, the above-described electrolytic processing apparatus is an example of the drilling apparatus 3 and does not limit the drilling apparatus 3.

FIG. 4 is a diagram illustrating an example of control performed on a control target by the control device 2 according to the first embodiment of the present invention.
In FIG. 4, the horizontal axis indicates the distance that is the length of a straight line connecting the current position of the tip of the electrode rod 10 and the connection position projected onto a horizontal plane. The vertical axis indicates the position. The target route is an ideal route that is previously planned and that is to pass through the control target. The actual route is a route that the control target actually passed when the control device 2 controlled the control target.
For example, in the drilling system 1, when the control device 2 controls the drilling device 3, the target path is such that the tip of the electrode rod 10 moves to realize an ideal drilling shape performed by the drilling device 3. This is a locus including angles and curvatures. The actual path is a locus including the angle and the curvature at which the tip of the electrode rod 10 moves when the control device 2 actually controls the boring device 3.

FIG. 5 is an example of a processing flow of the drilling system 1 including the control device 2 according to the first embodiment of the present invention.
Next, processing of the drilling system 1 according to the first embodiment will be described.
In the processing performed by the drilling system 1 described here, the control device 2 moves the tip of the electrode rod 10 of the drilling device 3 along a path close to the target path so that the drilling device 3 drills the workpiece 200. This is the process to make it.
Note that the storage unit 4 stores the target route in advance. Then, the connection position setting unit 102 included in the control device 2 reads and acquires the target route from the storage unit 4. In addition, the connection position setting unit 102 reads the angle and the curvature at which the tip of the electrode rod 10 moves at each point on the target path from the storage unit 4 or calculates and acquires the angle and the curvature based on the target path read from the storage unit 4. Shall be.
The tip of the electrode rod 10 is assumed to be at a distance of zero on the target path in the initial state of the drilling performed by the drilling device 3. Further, it is assumed that the tip of the electrode rod 10 is at a position calculated based on data acquired by an acceleration sensor or a gyro sensor attached to the electrode rod 10 after the drilling device 3 starts drilling. Further, the tip information acquisition unit 101 provided in the control device 2 is based on the trajectory of the tip position of the electrode rod 10 that has acquired the angle and the curvature at which the tip of the electrode rod 10 moves after the drilling device 3 starts drilling. It is assumed that the angle and the curvature at which the tip of the electrode rod 10 is calculated by a device external to the control device 2 are calculated by a device external to the control device 2.

The tip information acquisition unit 101 of the control device 2 included in the drilling system 1 acquires the position, angle, and curvature of the tip of the electrode rod 10 at the current position (Step S1). For example, the tip information acquiring unit 101 calculates the current position of the tip of the electrode rod 10 on the actual path of the drilling performed by the drilling device 3 based on data acquired by an acceleration sensor or a gyro sensor attached to the electrode rod 10. I do. Further, the tip information obtaining unit 101 obtains a tangent at the current position of the tip of the electrode rod 10 on the actual path and calculates the advance angle of the tip of the electrode rod 10. In addition, the tip information obtaining unit 101 calculates the curvature based on the current position of the tip of the electrode rod 10 and the position on the actual path a minute distance behind the current position of the tip of the electrode rod 10.
Further, the tip information acquisition unit 101 may acquire the position, angle, and curvature of the tip of the electrode rod 10 at the current position, based on the coordinates of the processed hole acquired by the UT (Ultrasonic Testing) sensor. .
In the initial state, the tip information acquisition unit 101 reads and acquires from the storage unit 4 the current position of the tip of the electrode bar 10 at a distance of zero on the previously planned target path. Further, the tip information acquisition unit 101 calculates a tangent of the target route at a distance of zero on the target route and calculates an angle. Further, the tip information acquisition unit 101 calculates the curvature based on the position at the distance of zero on the target route and the position ahead of the target route by a small distance.
Then, the tip information acquisition unit 101 outputs the acquired position, angle, and curvature of the tip of the electrode rod 10 at the current position to the connection position setting unit 102 and the correction path setting unit 103.

When the connection position setting unit 102 inputs the position, angle, and curvature of the tip of the electrode rod 10 at the current position from the tip information acquisition unit 101, the connection position setting unit 102 sets a predetermined distance from the current position of the tip of the electrode rod 10 on the target path. The position, angle, and curvature at the connection position are obtained (step S2).
For example, the connection position setting unit 102 calculates a connection position by adding a predetermined distance to the current position of the tip of the electrode rod 10 in front of the target path. In addition, the connection position setting unit 102 calculates a tangent of the target route at the connection position and calculates an angle. Further, the connection position setting unit 102 calculates a curvature based on the connection position and a position on the target route a minute distance ahead of the connection position.
Then, the connection position setting unit 102 outputs the acquired position, angle, and curvature at the connection position to the correction route setting unit 103.

The correction path setting unit 103 inputs the position, angle, and curvature of the tip of the electrode rod 10 at the current position from the tip information acquisition unit 101. Further, the correction route setting unit 103 inputs the position, angle, and curvature at the connection position from the connection position setting unit 102. Then, the correction path setting unit 103 connects to the current position of the tip of the electrode rod 10 based on the input position, angle, and curvature of the tip of the electrode rod 10 at the current position and the position, angle, and curvature at the connection position. A polynomial that connects the position is calculated (step S3). For example, the correction path setting unit 103 calculates a polynomial connecting the current position of the tip of the electrode rod 10 and the connection position as a fifth-order polynomial. In this case, the correction path setting unit 103 uniquely determines the fifth-order polynomial because the variables are the position, angle, and curvature at the current position of the tip of the electrode rod 10 and the position, angle, and curvature at the connection position. Can be calculated.
When the correction path setting unit 103 calculates a polynomial connecting the current position of the tip of the electrode rod 10 and the connection position as a polynomial of degree 6 or higher, for example, the maximum curvature of the correction path indicated by the polynomial is determined by the drilling apparatus 3. A condition such as the largest value within the movable range is added to uniquely calculate the polynomial.

  The correction route setting unit 103 determines whether or not the maximum curvature of the correction route indicated by the calculated polynomial is within a preset limit range (step S4). For example, a threshold set in advance so as to be within the movable range of the drilling device 3 is set as the maximum value of the limit range, and the correction path setting unit 103 sets the maximum curvature of the correction path indicated by the calculated polynomial. It is determined whether the value is equal to or less than the threshold.

When determining that the maximum curvature of the correction path indicated by the calculated polynomial is not within the preset limit range (step S4, NO), the correction path setting unit 103 adjusts the distance to the connection position (step S5). For example, when the correction path setting unit 103 determines that the maximum curvature of the correction path indicated by the calculated polynomial is not within the preset limit range, the correction path setting unit 103 increases the distance to the current connection position at a fixed rate. By doing so, the correction path setting unit 103 increases the possibility that the maximum curvature of the correction path indicated by the polynomial is reduced, and increases the possibility that the maximum curvature of the correction path indicated by the polynomial is within a preset limit range. Can be. Then, the process returns to step S2.
When determining that the maximum curvature of the correction path indicated by the calculated polynomial is within the preset limit range (YES in step S4), the correction path setting unit 103 outputs the calculated polynomial to the operation amount determination unit 104.
When inputting the polynomial from the correction route setting unit 103, the operation amount determination unit 104 determines the advance angle determined by the advance direction of the tip of the electrode rod 10 based on the input polynomial and the target route read from the storage unit 4. The operation amount is determined such that the indicated angle and direction match the tangent direction at the corresponding position on the correction path indicated by the polynomial, and the future actual path of the tip of the electrode rod 10 passes on the correction path indicated by the calculated polynomial. (Step S6). Note that the operation amount is a function of the calculated coefficient of the polynomial. The operation amount determination unit 104 outputs the determined operation amount to the drilling device 3 (Step S7).
When the operation amount is input from the operation amount determination unit 104 included in the control device 2, the tip of the electrode rod 10 included in the drilling device 3 operates based on the input operation amount.
Then, the operation amount determining unit 104 determines whether or not to end the boring operation based on the determined operation amount (Step S8).

For example, the operation amount determination unit 104 determines whether or not to end the boring process in a fixed time shorter than the time required for the tip of the electrode rod 10 to move from the current position to the connection position.
When the operation amount determination unit 104 determines that the drilling process is not to be terminated (step S8, NO), the control device 2 determines that the operation proceeds after a fixed time shorter than the time required for the tip of the electrode rod 10 to move from the current position to the connection position. It returns to the process of S1.
When the operation amount determination unit 104 determines that the boring operation is to be ended (step S8, YES), the control device 2 ends a series of processing.
In this case, the control device 2 controls the electrode rod 10 at a constant cycle. Since the control device 2 calculates the correction path while controlling the tip of the electrode rod 10, it is possible to correct the movement path of the tip of the electrode rod 10 before the actual path of the tip of the electrode rod 10 largely separates from the correction path. it can. In this case, the shape of the hole formed by processing the workpiece 200 with the electrode rod 10 gradually becomes closer to the shape defined by the target path.

Further, in this case, the control device 2 sets the new connection position when calculating the correction path while controlling the tip of the electrode rod 10 as a connection position that is a predetermined distance ahead on the preset target path of the processing tool. Is also good. The control device 2 may set the new connection position when calculating the correction path while controlling the tip of the electrode rod 10 to be the same as the connection position used when calculating the previous correction path.
When the control device 2 calculates a correction path while controlling the tip of the electrode rod 10, the new connection position is a predetermined connection point on the target path of the processing tool that is a predetermined distance ahead of the electrode rod 10. Although it takes time until the shape of the hole formed by processing the workpiece 200 matches the shape defined by the target path, the inside of the hole has a smooth shape. In addition, when the control device 2 sets the new connection position when calculating the correction path while controlling the tip of the electrode rod 10 to be the same as the connection position used when calculating the previous correction path, the electrode rod 10 The shape of the hole formed by processing the workpiece 200 by the numeral 10 is short until the shape conforms to the shape defined by the target path, but the inside of the hole has a wavy shape.

Further, for example, the operation amount determination unit 104 determines whether or not the tip of the electrode rod 10 moves from the current position to the connection position, and ends the drilling.
When the operation amount determination unit 104 determines that the drilling operation is not to be ended (step S8, NO), the control device 2 returns to the processing of step S1.
When the operation amount determination unit 104 determines that the boring operation is to be ended (step S8, YES), the control device 2 ends a series of processing.
In this case, the control device 2 calculates when the tip of the electrode rod 10 has finished moving on the correction path, so that when the calculation accuracy is high, the number of times of calculation of the correction path can be reduced. In this case, since the curvature of the locus of the movement of the tip of the electrode rod 10 is large, the shape of the hole formed by processing the workpiece 200 by the electrode rod 10 is different from the movement path of the tip of the electrode rod 10. At the time of correction, after deviating from the shape specified by the target route, the shape becomes substantially the same as the shape specified by the target route target route.

As described above, according to the control device 2 included in the drilling system 1 according to the first embodiment, the tip information acquisition unit 101 included in the control device 2 acquires the position, angle, and curvature of the tip of the electrode rod 10 at the current position. . The connection position setting unit 102 acquires a position, an angle, and a curvature at the connection position. The correction path setting unit 103 connects the current position and the connection position of the tip of the electrode rod 10 based on the position, angle, and curvature at the current position of the tip of the electrode rod 10 and the position, angle, and curvature at the connection position. Calculate a polynomial. The correction path setting unit 103 determines whether the maximum curvature of the correction path indicated by the calculated polynomial is within a preset limit range. When it is determined that the maximum curvature indicated by the polynomial calculated by the correction path setting unit 103 is within the preset limit range, the operation amount determination unit 104 determines the electrode based on the polynomial and the target path read from the storage unit 4. The operation amount is determined so that the advance angle of the tip of the rod 10 becomes a tangent of the polynomial and the future actual path of the tip of the electrode rod 10 passes on the corrected path indicated by the calculated polynomial. The operation amount determination unit 104 outputs the determined operation amount to the drilling device 3. The tip of the electrode rod 10 provided in the drilling device 3 receives an operation amount from the operation amount determination unit 104 provided in the control device 2 and operates based on the input operation amount.
By doing so, it is possible to provide a technique for realizing the finished workpiece with higher processing accuracy.

  The processing of the drilling system 1 according to the first embodiment has been described assuming that the tip information acquisition unit 101 acquires the position, angle, and curvature of the tip of the electrode rod 10 at the current position. In addition, the connection position setting unit 102 has described the processing of the drilling system 1 according to the first embodiment as acquiring the position, angle, and curvature at the connection position. However, the processing of the drilling system 1 is not limited thereto. The tip information acquisition unit 101 acquires a position and an angle at the current position of the tip of the electrode rod 10 that do not include a curvature, and the connection position setting unit 102 acquires a position and an angle at the connection position that do not include a curvature. May be. In this case, the correction path setting unit 103 connects the current position and the connection position of the tip of the electrode rod 10 based on the position and angle of the tip of the electrode rod 10 at the current position and the position and angle of the connection position. Calculate a polynomial of degree or higher.

<Second embodiment>
FIG. 6 is a diagram illustrating an example of a drilling system 1 including the control device 2 according to the second embodiment.
The drilling system 1 according to the second embodiment includes the same functional blocks as the drilling system 1 according to the first embodiment, except that the control device 2 includes the state estimation unit 105.
The state estimating unit 105 includes a state observer, and estimates processing tool tip information including the position of the tip of the electrode rod 10 as a processing tool, the advance angle, and the curvature. The state estimation unit 105 outputs the estimated processing tool tip information to the tip information obtaining unit 101. Then, the tip information acquisition unit 101 acquires the processing tool tip information from the state estimation unit 105.

FIG. 7 is a diagram illustrating a state observer included in the state estimation unit 105 of the control device 2 according to the second embodiment.
The control device 2 according to the second embodiment shown in FIG. 7 directly or indirectly obtains a state x indicating the position, angle, and curvature of the tip of the electrode rod 10 to be controlled from a physical quantity acquired by a sensor or the like. If it is not possible to obtain the above, the estimation is performed based on the input u (in this case, the rate of change of the flow rate) and the output y (in this case, the position) using a state observer having the same configuration as the control target and an amplification unit.

  In the controlled object shown in FIG. 7, a state equation represented by the following equation (1) is established.

  In the state observer shown in FIG. 7, a state equation represented by the following equation (2) is established.

  Note that the gain H of the amplifying unit is, as is well known in control theory, based on, for example, the pole arrangement method and the estimation error e (= ξ−x) becomes zero at de / dt = (A−HC) e. Decide to converge.

FIG. 8 is an example of a processing flow of the drilling system 1 including the control device 2 according to the second embodiment of the present invention.
Next, processing of the drilling system 1 according to the second embodiment will be described.
The processing performed by the drilling system 1 according to the second embodiment described here is to estimate the position, angle, and curvature of the tip of the electrode rod 10 at the current position based on control theory.
Here, the processing of step S9 performed before the processing of step S1, which is different from the processing of the drilling system 1 according to the first embodiment, will be described.

  The state estimation unit 105 included in the control device 2 of the drilling system 1 has the state observer shown in FIG. 7, and estimates the position, angle, and curvature of the tip of the electrode rod 10 at the current position using the state observer. (Step S9). For example, Equation (1), which is a state equation for a control target included in the state estimating unit 105, becomes Equation (3) below.

Here, x is a position. x 'is an angle. x ′ ′ is the curvature. v _ξ is the electrode feed speed. _Kcurv is a proportional constant between flow rate and curvature.
The state estimating unit 105 calculates a flow rate-curvature proportionality constant _Kcurv .
Equation (2), which is a state equation in the state observer included in the state estimating unit 105, is represented by the following equation (4).

In the equation (4), the gain Ho is obtained based on the pole arrangement method. In equation (4), pole is a pole set based on the time constant of the state observer.
The state estimating unit 105 estimates the position, angle, and curvature of the tip of the electrode rod 10 in the state observer based on the calculated flow rate-curvature proportionality constant _Kcurv .
The state estimation unit 105 outputs the position, angle, and curvature of the tip of the electrode rod 10 in the estimated state observer to the tip information acquisition unit 101. Then, the drilling system 1 performs the process of step S1 following the process of step S9.

As described above, according to the control device 2 included in the drilling system 1 according to the second embodiment, the state estimation unit 105 included in the control device 2 includes the state observer, and the current position of the tip of the electrode rod 10 as a processing tool. The processing tool tip information including the position at, the advance angle, and the curvature is estimated. The tip information acquisition unit 101 acquires the position, angle, and curvature of the tip of the electrode rod 10 at the current position from the state estimation unit 105. The connection position setting unit 102 acquires a position, an angle, and a curvature at the connection position. The correction path setting unit 103 connects the current position and the connection position of the tip of the electrode rod 10 based on the position, angle, and curvature at the current position of the tip of the electrode rod 10 and the position, angle, and curvature at the connection position. Calculate a polynomial. The correction path setting unit 103 determines whether the maximum curvature of the correction path indicated by the calculated polynomial is within a preset limit range. When it is determined that the maximum curvature indicated by the polynomial calculated by the correction path setting unit 103 is within the preset limit range, the operation amount determination unit 104 determines the electrode based on the polynomial and the target path read from the storage unit 4. The operation amount is determined so that the advance angle of the tip of the rod 10 becomes a tangent of the polynomial and the future actual path of the tip of the electrode rod 10 passes on the corrected path indicated by the calculated polynomial. The operation amount determination unit 104 outputs the determined operation amount to the drilling device 3. The tip of the electrode rod 10 included in the drilling device 3 receives an operation amount from the operation amount determination unit 104 included in the control device 2 and operates based on the input operation amount.
By doing so, it is possible to provide a technique for realizing the finished workpiece with higher processing accuracy. Further, in this case, even if a sensor or the like cannot acquire the physical quantity for acquiring the position, angle, and curvature of the tip of the electrode rod 10 at the current position, the position of the tip of the electrode rod 10 at the current position can be obtained. , Angle and curvature can be estimated.

  In the above embodiment, the control device 2 included in the drilling system 1 has been described as being controlled by the configuration shown in FIG. However, the invention is not so limited. The control device 2 simultaneously performs state feedback, and determines the gain of the state estimator so that the estimation error including the feedback becomes zero. Then, the state estimation unit 105 included in the control device 2 may estimate the position, angle, and curvature of the tip of the electrode rod 10 at the current position.

  The storage unit 4 according to the present invention may be provided anywhere as long as appropriate information is transmitted and received. In addition, the storage unit 4 may include a plurality of data in a range where appropriate information is transmitted and received, and may store data in a distributed manner.

  Although the embodiment of the present invention has been described, the control device 2 has a computer system inside. The process of the above-described processing is stored in a computer-readable recording medium in the form of a program, and the computer reads and executes the program to perform the above-described processing. Here, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to a computer via a communication line, and the computer that has received the distribution may execute the program.

Further, the program may be for realizing a part of the functions described above.
Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  While some embodiments of the present invention have been described, these embodiments have been presented by way of example only, and not limitation. Also, various omissions, replacements, and changes can be made without departing from the spirit of the invention.

DESCRIPTION OF SYMBOLS 1 ... Perforation processing system 2 ... Control apparatus 3 ... Perforation processing apparatus 10 ... Electrode rod 11 ... Tip surface 20 ... Drive part 101 ... Tip information acquisition part 102 ... Connection position setting unit 103 Correction path setting unit 104 Operation amount determination unit 105 State estimation unit 200 Workpiece 201 Processing hole 202 Inner wall surface L Electrolyte

Claims (8)

A system for drilling a workpiece, comprising:
A drilling tool configured to advance within the workpiece, such that a bend is formed in the workpiece;
A tip information acquisition unit configured to acquire the position of the drilling tool,
A control device configured to communicate with the tip information acquisition unit,
The control device determines a position of the drilling tool having at least a horizontal component, which is determined by a difference between a position of the drilling tool on an actual path and a desired position on a target path inside the workpiece. A system configured to identify differences. A system for drilling a workpiece, comprising:
A drilling tool, configured to travel through the interior of the workpiece along a tool path, such that a bend is formed in the workpiece;
A state estimating unit configured to estimate the position of the drilling tool along the tool path,
A control device configured to communicate with the state estimating unit,
The control device compares an estimated position of the drilling tool on the tool path with a target path, and is determined by a difference between the estimated position inside the workpiece and a desired position on the target path, at least. A system configured to determine a difference in position of the drilling tool having a horizontal component . Further comprising a drive configured to send a flow of electrolytic fluid through the drilling tool;
The electrolytic fluid flow is discharged toward the workpiece in the processing hole,
The system according to claim 1. A driving unit coupled to the drilling tool,
The driving unit is configured to advance the drilling tool along the tool path,
The drive unit is configured to communicate with the control device,
The drive unit is configured to correct a direction of the drilling tool in the machining hole based on a difference between the positions of the drilling tool,
The system according to claim 2 . A computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece, comprising:
When the computer-executable command is executed, the control device instructs the driving unit to move the drilling tool through the inside of the workpiece along a tool path, and the processing unit performs a drilling operation on the workpiece. To form
Instruct the tip information acquisition unit to specify the position of the drilling tool, specify the position of the drilling tool along the tool path,
The position of the drilling tool, determined by the difference when comparing the desired position on the target path, to specify the difference in the position of the drilling tool, a computer-readable storage medium ,
The computer-executable instructions further cause the control device to execute a corrective action along the calculated correction path if the maximum curvature of the correction path calculated from the position difference is smaller than a predetermined threshold. ,
Computer readable storage medium . A computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece, comprising:
When the computer-executable command is executed, the control device instructs the driving unit to move the drilling tool through the inside of the workpiece along a tool path, and the processing unit performs a drilling operation on the workpiece. To form
Instruct the state estimating unit to estimate the position of the drilling tool, to estimate the position of the drilling tool along the tool path,
The position of the drilling tool, determined by the difference when comparing the desired position on the target path, to specify the difference in the position of the drilling tool, a computer-readable storage medium ,
The computer-executable instructions further cause the control device to execute a corrective action along the calculated correction path if the maximum curvature of the correction path calculated from the position difference is smaller than a predetermined threshold. ,
Computer readable storage medium .   A computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece, comprising:
  When the computer-executable instruction is executed, the control device instructs the driving unit to move the drilling tool through the inside of the workpiece along a tool path, and the processing unit performs a machining hole on the workpiece. To form
  Instruct the tip information acquisition unit to specify the position of the drilling tool, specify the position of the drilling tool along the tool path,
  The position of the drilling tool, determined by the difference when comparing the desired position on the target path, to specify the difference in the position of the drilling tool, a computer-readable storage medium,
  The computer-executable instruction further causes the control device to cause the maximum curvature to be smaller than the predetermined threshold when the maximum curvature of the corrected path calculated from the position difference is larger than a predetermined threshold. Have the corrective action taken along the corrected, corrective path,
Computer readable storage medium.   A computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece, comprising:
  When the computer-executable instruction is executed, the control device instructs the driving unit to move the drilling tool through the inside of the workpiece along a tool path, and the processing unit performs a machining hole on the workpiece. To form
  Instruct the state estimating unit to estimate the position of the drilling tool, to estimate the position of the drilling tool along the tool path,
  The position of the drilling tool, determined by the difference when comparing the desired position on the target path, to specify the difference in the position of the drilling tool, a computer-readable storage medium,
  The computer-executable instruction further causes the control device to cause the maximum curvature to be smaller than the predetermined threshold when the maximum curvature of the correction path calculated from the position difference is larger than a predetermined threshold. Have the corrective action taken along the corrected, corrective path,
Computer readable storage medium.

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