JP6773243B1 - Controls, methods and programs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine a passing order of each point by a head so as to suppress a load of a motor of a control device. SOLUTION: A control device 100 includes a pedestal 105 for installing a work, a head 110 for moving on the pedestal, and a first drive mechanism for moving the head in a first axial direction of the pedestal. It includes a second drive mechanism for moving the head in the second axial direction of the pedestal, and a control unit for controlling the first drive mechanism and the second drive mechanism. When the head passes through a plurality of points of the work, the control unit calculates the movement cost when the head passes from the current point C to the next points N1, N2, N3 by drawing a curved locus. Select the point to move next to the head so that the movement cost is minimized. [Selection diagram] Fig. 1

Description

The present disclosure relates to the control device, and more specifically to the determination of the passing order of each point on the work by the head of the control device.

In control devices such as robot arms, inspection devices, pickup devices, and soldering devices, the head attached to each device may complete one task by passing through multiple points on the workbench or workpiece. .. At that time, in order to improve the work efficiency of the control device, it is important to obtain the optimum passage order of each point by the head. The "passing order" here means the order of passing through each of a plurality of points on the work.

Regarding the determination of the passing order of each point on the work by the head of the control device, for example, Japanese Patent Application Laid-Open No. 2017-181188 (Patent Document 1) states that "corresponding to a plurality of inspection ranges set on the surface side of the substrate. The front surface side irradiation means and the front surface side imaging means are sequentially moved to a position based on a predetermined inspection order, image acquisition processes related to the plurality of inspection ranges are sequentially executed, and the surface side irradiation means and the front surface side imaging means are set on the back surface side of the substrate. The back surface irradiation means and the back surface imaging means are sequentially moved to positions corresponding to a plurality of inspection ranges based on a predetermined inspection order, and image acquisition processing related to the plurality of inspection ranges is sequentially executed. With respect to the front surface side of the substrate, the inspection order is set so that the path through which the surface side irradiation means and the surface side imaging means move is the shortest path from a predetermined starting point, and / or the back surface side of the substrate. The substrate inspection apparatus is disclosed, wherein the inspection order is set so that the path through which the backside irradiation means and the backside imaging means move is the shortest path from a predetermined starting point. " (See paragraph [0025]).

Japanese Unexamined Patent Publication No. 2017-181188

According to the technique disclosed in Patent Document 1, it is not possible to determine the passing order of each point by the head so as to suppress the load on the motor of the control device. Therefore, there is a need for a technique for determining the passing order of each point by the head so as to suppress the load on the motor of the control device.

The present disclosure has been made in view of the above background, and an object in a certain aspect is to provide a technique for determining the passing order of each point by the head so as to suppress the load on the motor of the control device. There is.

In one example of the present disclosure, a control device is provided. The control device includes a pedestal for installing a work, a head for moving on the pedestal, a first drive mechanism for moving the head in the first axial direction of the pedestal, and a second head on the pedestal. A second drive mechanism for moving in the axial direction of the above, and a control unit for controlling the first drive mechanism and the second drive mechanism are provided. When the head passes through multiple points of the work, the control unit calculates the movement cost when the head passes by the operation of drawing a curved locus from the current point to the next point, and the movement cost is minimized. Select the point to move next to the head so as to.

According to the above disclosure, the control device can determine the passing order of each point suitable for the head to pass each point in a curved trajectory.

In the above disclosure, the curved locus is a locus that passes on a circle tangent to the point immediately before the head, the current point, and the next point.

According to the above disclosure, the control device can calculate the movement cost in the curve trajectory from the current point to the next point based on the point immediately before the head, the current point, and the next point. ..

In the above disclosure, the control unit obtains a point P on a line segment passing through the point immediately before the head and the current point. The distance from point P to the current point is equal to the distance from the current point to the next point, and the curve locus is the locus that passes on the point P, the current point, and the circle tangent to the next point. Is.

According to the above disclosure, the control device can reduce the error between the movement cost in the curve trajectory from the current point to the next point and the movement distance of the actual control device by using the point P. it can.

In the above disclosure, the control unit determines whether or not the immediately preceding point, the current point, and the next point are aligned on a straight line, and the immediately preceding point, the current point, and the next point are determined. When lining up on a straight line, the movement cost when the head passes from the current point to the next point by drawing a straight trajectory is calculated, and the previous point, the current point, and the next point are on the straight line. If the heads do not line up with, the movement cost when the head passes from the current point to the next point by drawing a curved locus is calculated.

According to the above disclosure, the control device can calculate the movement cost by an appropriate calculation method based on the positional relationship between the immediately preceding point, the current point, and the next point.

In the above disclosure, after determining the passing order of the points of the head, the control unit determines the passing path of the head so that the passing path when the head passes each point is equal to or larger than the minimum turning radius of the head.

According to the above disclosure, the control device can move the head based on the determined passage order while suppressing the load applied to the drive unit that drives the head.

In the above disclosure, the control unit determines the passing order of the points of the head based on the movement cost when the head passes by the motion of drawing a curved locus, and then determines the passing order of the points of the head by the 2-opt method. change.

According to the above disclosure, the control device can reduce the moving distance of the head by changing the passing order by the 2-opt method.

In the above disclosure, the control unit inputs a selection between a method of calculating the movement cost when the head passes by the operation of drawing a curved locus and a method of calculating the movement cost when the head passes by the operation of drawing a straight line locus. Accept. The calculation method of the movement cost when the head passes in a straight line is when the error tolerance of the distance from the current point to the next point is greater than 0, and when the current point is set as the apex, immediately before. The movement cost increases as the angle between the line segment connecting the point and the current point and the line segment connecting the current point and the next point decreases from 180 degrees.

According to the above disclosure, the control unit can preferentially select a point close to the traveling route of the head in the calculation method of the movement cost when passing by the operation of drawing a straight line locus.

Another example of the present disclosure provides a method of determining the passing order of each point on the work of the head in the control device. In this method, when the head passes through multiple points on the work, the step of calculating the movement cost when the head passes by the operation of drawing a curved locus from the current point to the next point, and the movement cost are It includes a step of selecting the next destination point of the head so as to be the minimum.

According to the above disclosure, it is possible to determine the passing order of each point suitable for the head to pass through each point in a curved trajectory.

In the above disclosure, the curved locus is a locus that passes on a circle tangent to the point immediately before the head, the current point, and the next point.

According to the above disclosure, the movement cost in the curve trajectory from the current point to the next point can be calculated based on the point immediately before the head, the current point, and the next point.

In the above disclosure, the method further comprises the step of finding the point P on the line segment passing through the point immediately preceding the head and the current point. The distance from point P to the current point is equal to the distance from the current point to the next point, and the curve locus is the locus that passes on the point P, the current point, and the circle tangent to the next point. Is.

According to the above disclosure, by using the point P, it is possible to reduce the error between the movement cost in the curve locus from the current point to the next point and the movement distance of the actual control device.

In the above disclosure, the method is a step of determining whether the previous point, the current point, and the next point are aligned on a straight line, the previous point, the current point, and the next point. When are lined up on a straight line, the step to calculate the movement cost when the head passes from the current point to the next point by drawing a straight trajectory, the previous point, the current point, and the next point Further includes a step of calculating the movement cost when the head passes from the current point to the next point in a curved locus when the heads do not line up on a straight line.

According to the above disclosure, the movement cost can be calculated by an appropriate calculation method based on the positional relationship between the immediately preceding point, the current point, and the next point.

In the above disclosure, the method determines the passage path of the head so that the passage path when the head passes each point is equal to or larger than the minimum turning radius of the head after the passage order of the points of the head is determined. Including further.

According to the above disclosure, the control device can move the head based on the determined passage order while suppressing the load applied to the drive unit that drives the head.

In the above disclosure, the method determines the passing order of the head points based on the movement cost when the head passes in a curved locus, and then changes the passing order of the head points by the 2-opt method. Including additional steps to do.

According to the above disclosure, the moving distance of the head can be reduced by changing the passing order by the 2-opt method.

In the above disclosure, the method inputs a selection of a method of calculating the movement cost when the head passes by the motion of drawing a curved locus and a method of calculating the movement cost when the head passes by the motion of drawing a linear locus. Includes additional accepting steps. The calculation method of the movement cost when the head passes in a straight line is when the error tolerance of the distance from the current point to the next point is greater than 0, and when the current point is set as the apex, immediately before. The movement cost increases as the angle between the line segment connecting the point and the current point and the line segment connecting the current point and the next point decreases from 180 degrees.

According to the above disclosure, in the calculation method of the movement cost when passing by the operation of drawing a straight line locus, the point close to the traveling route of the head can be preferentially selected.

In another example of the present disclosure, a program is provided for causing the control device to perform any of the above methods.

According to the above disclosure, the control device can be made to perform the method described in any of the above.

According to certain embodiments, it is possible to determine the order of passage of each point by the head so as to reduce the load on the motor of the control device.

The above and other objectives, features, aspects and advantages of this disclosure will become apparent from the following detailed description of this disclosure, which is understood in connection with the accompanying drawings.

It is a figure which shows an example of the method of determining the passing order of each point by a head 110 according to a certain embodiment. It is a figure which shows an example of the drive mechanism of the control device 100. It is a figure which shows typically an example of the structure of the control system of the control device 100 which concerns on a certain embodiment. It is a schematic diagram which shows an example of the function module included in the control device 100. It is a figure which shows an example of the passage path of the head 110 passing over a work 500. It is a figure which shows an example of the change amount of the movement cost of a linear locus based on a locus angle θT. It is a figure which shows an example of the change amount of the movement cost of a curved locus based on a locus angle θT. It is a figure which shows an example of the amount of change of the movement cost obtained by the 1st calculation method based on a distance (P, C) and a distance (C, N). It is a figure for demonstrating an example of the point P'which is the premise of the 2nd calculation method. It is a figure for demonstrating an example of the outline of the 2nd calculation method. This is the first example of the passage path of the head 110. This is a second example of the passage path of the head 110. This is a third example of the passage path of the head 110. It is a figure which shows an example of the error between the 1st calculation method and the 2nd calculation method, and the distance (actual movement distance) of the passage path of a head 110. It is a figure which shows the 1st example of the passing path of a linear locus mode and the passing path of a curved locus mode. It is a figure which shows an example of the total travel distance of the passage path of each mode shown in FIG. 15 and the load on a motor. It is a figure which shows the 2nd example of the passing path of a linear locus mode and the passing path of a curved locus mode. It is a figure which shows an example of the moving distance for each passing path and the load on a motor shown in FIG. It is a schematic diagram which shows an example of the 3rd calculation method. An example of the passing order determined by the control device 100 using the third calculation method is shown. It is a figure which shows an example of the procedure of the movement cost calculation of a control device 100.

Hereinafter, embodiments of the technical concept according to the present disclosure will be described with reference to the drawings. In the following description, the same parts are designated by the same reference numerals. Their names and functions are the same. Therefore, the detailed description of them will not be repeated.

<A. Application example>

FIG. 1 is a diagram showing an example of a method of determining the passing order of each point by the head 110 according to the present embodiment. An example of a situation in which the present invention is applied will be described with reference to FIG. In the following description, the passing order means the passing order of each point on the work of the head 110.

(A-1. Device configuration)

The method of determining the passing order of each point in the head 110 according to the present embodiment is suitably applicable to the control device 100 illustrated in FIG. The control device 100 includes a head 110 that is moved by a drive mechanism of at least two axes (X-axis and Y-axis), and a pedestal 105.

The head 110 moves on the pedestal 105. The head 110 here includes an arbitrary configuration such as a tip of a robot arm, a camera or sensor of an inspection device, and a grip portion of a pickup device. Further, the control device 100 may include a drive mechanism for adjusting the distance (Z-axis) of the head 110 from the pedestal 105.

The drive mechanism may be, for example, a linear motion mechanism such as a CNC (Computerized Numerical Control) machine tool, or a mechanism including joints in which a plurality of motors such as a robot arm or a scalar device are combined. In a certain aspect, the control device 100 may include a mechanism for simultaneously adjusting two axes (X-axis and Y-axis) by combining a plurality of motors.

In a certain aspect, the control device 100 includes a drive mechanism having an arbitrary number of axes such as a repair device such as a liquid crystal panel, a CNC machine tool, a robot arm, an inspection device, a pickup device, an assembly device, and a soldering device, and a head. It may be a device.

(A-2. Selection criteria for passing order)

The head 110 moves a plurality of points on the pedestal 105 according to its use. For example, assume that the control device 100 is a substrate inspection device, and that the substrate to be inspected (hereinafter, the one installed on the pedestal 105 is referred to as a "work") has four inspection points. In that case, the head 110 moves on the path 120 passing through the plurality of points (inspection points) (A) to (D) on the pedestal 105. The control device 100 may use an algorithm such as the nearest neighbor method to determine the passing order at points (A) to (D) of the head 110. An algorithm for finding the shortest distance, such as the nearest neighbor method, determines the passing order based on the movement cost. Therefore, it can be said that the movement cost is a criterion for selecting the passing order.

In order to improve the work efficiency of the control device 100, a route that minimizes the moving distance of the head 110 may be obtained, and the head 110 may pass the route. In the example of FIG. 1, if the head 110 passes through the shortest path connecting the points (A) to (D) with a straight line, the work efficiency of the control device 100 is maximized. In other words, the passage order may be determined by using the straight line distance between each point as the movement cost.

However, the shortest distance in the linear movement gives a large load to the motor that drives the drive mechanism, which is not preferable in consideration of the life of the machine. Therefore, it is desirable that the head 110 moves while drawing a gentle arc locus in order to reduce the load on the motor.

Therefore, in the method of determining the passing order of each point by the head 110 according to the present embodiment, the moving distance on the curve is based on the premise that the head 110 moves from the current point to the next point in a curved locus. Determine the minimum pass order. The "point" here may be represented by the coordinates on the pedestal 105. In other words, the "point (X)" on the pedestal 105 is the "coordinate (X)". In the following description, the "Nth point" means the point through which the head 110 passes through the Nth point.

(A-3. Cost calculation between points)

In the method of determining the passing order of each point by the head 110 according to the present embodiment, the next destination of the head 110 is determined by the following procedure. It is assumed that the control device 100 has already determined the passing order of the head 110 to the Nth point, and then determines the N + 1th point (N + 1th movement destination).

In the first step, the control device 100 stores the coordinates of the current point (C), which is the Nth movement destination, and the point (P) immediately before, which is the N-1th movement destination. In the second step, the control device 100 selects the next point (N) which is a candidate for the N + 1th operation destination.

In the third step, the controller 100 determines the current point (C) based on the size of the circle passing the previous point (P), the current point (C), and the next point (N). ) To the next point (N) is calculated. More specifically, the control device 100 calculates the movement cost from the current point (C) to the next point (N) based on the distance of the arc from the point (C) to the point (N). The movement cost increases as the locus angle θ _T in FIG. 1 increases. The locus angle θ _T is an angle with respect to the line segment PC. In other words, the movement cost increases as the angle between the line segment (PC) and the line segment (CN) when the point (C) is the apex becomes acute.

In the example of FIG. 1, each movement cost from the current point (C) to the points (N1) to (N3) at the same distance is "movement cost (point (C) -point" based on the locus angle θ _T. (N1)) <Movement cost (point (C) -point (N2)) <Movement cost (point (C) -point (N3)) ". Therefore, the control device 100 selects the point (N1) as the next movement destination. The control device 100 repeats the processes from the first step to the third step until the passing order of all the points is determined. The detailed calculation method of the calculation cost will be described later.

When selecting the first movement destination, since the immediately preceding point (P) cannot exist, the control device 100 may set the point closest to the initial position of the head as the first movement destination. In a certain aspect, the control device 100 may determine the passing order of each point by the head 110 based on the movement cost, and then further modify the passing order by using a 2-opt method or the like.

(A-4. Operation of head 110)

After the head 110 determines the passing order of each point, the control device 100 causes the head 110 to pass each point in accordance with the determined passing order. At that time, the head 110 moves between each point while drawing a curved locus equal to or larger than the minimum turning radius that the head 110 can move. The minimum turning radius that the head 110 can move is determined by the motor and the drive mechanism that drive the head 110. From this point onward, for the sake of distinction, the order of points through which the head 110 passes is referred to as a “passing order”. On the other hand, the path drawn when the head 110 passes each point is called a "passing path".

The head 110 does not need to move by drawing the locus of the arc obtained at the time of the cost calculation, and may pass through each point with a certain degree of curvilinear movement according to the determined passing order. The above-mentioned movement cost is only an approximate value of the movement cost when the head 110 passes through each point on the curved locus, and the distance of the actual passage path of the head 110 needs to match the movement cost (distance of the arc). There is no.

As described above, the control device 100 according to the present embodiment determines the passing order of each point by the head 110 based on the movement cost when the head 110 moves in a curved locus. By this process, the control device 100 can suppress the load on the motor and the drive mechanism for driving the head 110, and can efficiently move the head 110 to improve the work efficiency of the control device 100.

The method of determining the passing order of each point by the head 110 according to the present embodiment is as follows for a device (liquid crystal panel repair device, screw tightening device, soldering device, etc.) in which the points to be circulated by the head 110 are predetermined. It can be preferably applied.

<B. Hardware configuration>

Next, with reference to FIGS. 2 to 4, the hardware configuration of the control device 100 to which the method of determining the passage route according to the present embodiment can be applied will be described. In the following description, the control device 100 will be described as a device including a three-axis linear motion mechanism, but the configuration of the control device 100 is not limited to this. In a certain aspect, the control device 100 may be a device including an arbitrary drive shaft including a robot arm, a scalar device, and the like.

FIG. 2 is a diagram showing an example of a drive mechanism of the control device 100. The control device 100 includes an X-axis drive mechanism 201X, a Y-axis drive mechanism 201Y, a Z-axis drive mechanism 201Z, a pedestal 105, and a head 110. When each drive mechanism is generically referred to, it may be expressed as "drive mechanism 201". The control device 100 can move the head 110 in a three-dimensional space by driving the drive mechanisms 201X to 201Z in combination.

The drive mechanism 201 is a drive mechanism for moving the head 110, and is driven by an arbitrary motor such as a servo motor or a stepping motor. The drive mechanism 201 transmits the power of the motor to the head 110 or the housing portion to which the head 110 is attached via a power transmission component such as a ball screw, a belt, or a link mechanism.

In the example shown in FIG. 1, the head 110 is connected to the Z-axis drive mechanism 201Z via a power transmission component. By driving the drive mechanism 201Z, the position of the head 110 in the Z direction is adjusted. Further, the drive mechanism 201Z is connected to the Y-axis drive mechanism 201Y via a power transmission component. By driving the drive mechanism 201Y, the positions of the drive mechanism 201Z and the head 110 in the Y-axis direction are adjusted. Further, the drive mechanism 201Y is connected to the X-axis drive mechanism 201X via a power transmission component. By driving the drive mechanism 201X, the positions of the drive mechanism 201Y, the drive mechanism 201Z, and the head 110 in the X direction are adjusted.

The pedestal 105 is a place for installing the work, and may be provided with screw holes, jigs, clamps, or the like for fixing the work. The pedestal 105 is generally rectangular, and one of the four corners of the pedestal 105 is the coordinate (0,0) of the XY axis of the head 110. The control device 100 can specify the position of the head 110 in the coordinates.

The head 110 can be attached with some work tool. As an example, the head 110 may be set with any tool such as a cutting tool, an inspection camera, a pickup arm, a soldering iron or an electric screwdriver. The position of the head 110 is adjusted by the drive mechanism 201, and some work (inspection, screw tightening, etc.) is executed on the work.

FIG. 3 is a diagram schematically showing an example of the configuration of the control system of the control device 100 according to the present embodiment. The control device 100 includes a drive mechanism 201, a head 110, a control unit 301, a communication unit 302, a storage unit 303, an input unit 304, and an output unit 305.

The drive mechanism 201 includes a motor that is a power source for driving the drive mechanism 201, and a motor driver that controls the motor. More specifically, the drive mechanism 201X is provided with a motor (Mx) and a motor driver (Dx). The drive mechanism 201Y is provided with a motor (My) and a motor driver (Dy). The drive mechanism 201Z is provided with a motor (Mz) and a motor driver (Dz). In certain aspects, each motor and motor driver may be built into drive mechanism 201. In other aspects, each motor and motor driver may be installed outside the drive mechanism 201.

The head 110 includes a tool control unit 310 for controlling a tool attached to the tip of the head 110, and a tool 320. The tool 320 may be removable. In some aspects, the tool 320 may be any tool such as a cutting tool, an inspection camera, a pickup arm, a soldering iron or an electric screwdriver. The tool control unit 310 controls the operation of the tool 320 based on a command from the control unit 301. In some aspects, the tool control unit 310 may be included in the tool 320.

The control unit 301 controls the entire control device 100. The control unit 301 may include a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory). In certain aspects, the RAM and / or ROM may be provided outside the control unit 301.

The CPU executes or refers to various programs and data read into the RAM. In a certain aspect, the CPU may be an embedded CPU, an FPGA (Field-Programmable Gate Array), or a combination thereof or the like.

The RAM stores a program executed by the CPU and data referenced by the CPU. In some aspects, the RAM may be realized by DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory).

The ROM is a non-volatile memory and may store a program executed by the CPU. In that case, the CPU executes the program read from the ROM into the RAM. In some aspects, the ROM may be implemented by an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory.

The communication unit 302 is a communication interface for the drive mechanism 201 and the head 110. The control unit 301 transmits a control signal to each of the motor driver and the tool control unit 310 via the communication unit 302. Further, the communication unit 302 can receive various information such as the rotation speed of the motor from each of the motor driver and the tool control unit 310.

The storage unit 303 is a non-volatile memory, and can store data even when the power of the control device 100 is turned off. The storage unit 303 may store any program and data executed or referenced by the CPU. In a certain aspect, the storage unit 303 may be realized by an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The CPU can read various programs from the storage unit 303 into the RAM as needed and execute the read programs.

The input unit 304 is an interface for receiving various input operations from the outside. The input unit 304 may be connected to any input device such as a keyboard, mouse, touchpad or gamepad. In a certain aspect, the input unit 304 may be a communication port and may receive a command from an external computer or the like. The control unit 301 can control the drive mechanism 201 and the head 110 based on the command. In another aspect, the input unit 304 may be an emergency stop button. When the emergency stop button is pressed, the control device 100 forcibly stops the operation of the drive mechanism 201 and the head 110.

The output unit 305 is an interface for outputting some information to the outside. The output unit 305 may be connected to any output device such as a cathode ray tube display, a liquid crystal display or an organic EL (electro-luminescence) display. In a certain aspect, the output interface 306 may be realized by a USB terminal, a D-sub terminal, a DVI (Digital Visual Interface) terminal, an HDMI (registered trademark) (High-Definition Multimedia Interface) terminal, and the like. In another aspect, the output unit 305 may transmit a signal to an external computer.

FIG. 4 is a schematic view showing an example of a functional module included in the control device 100. The functional modules shown in FIG. 4 may be realized as software, and these functional modules may be executed by the control unit 301.

The control device 100 includes a motor command control unit 400, a prediction synchronization calculation unit 430, and a trigger command control unit 450 as functional modules. The motor command control unit 400 includes a motor command unit generation unit 401, a motor command correction unit 402, and a motor command unit 403. The trigger command control unit 450 includes a trigger command generation unit 451, a trigger command correction unit 452, and a trigger command unit 453.

The motor command unit generation unit 401 generates coordinates (Px, Py, Pz) of the target position of the head 110, and outputs a position command based on the target position to the motor command correction unit 402. The control unit 301 calculates the target locus of the head 110 based on the passing order of each point determined by the route selection based on the present embodiment.

The motor command correction unit 402 has an X-axis position correction unit, a Y-axis position correction unit, and a Z-axis position correction unit, and the X-axis command position corresponding to the X coordinate (Px) of the target position is the X-axis position. The Y-axis command position that is input to the correction unit and corresponds to the Y coordinate (Py) of the target position is input to the Y-axis position correction unit, and the Z-axis command position that corresponds to the Z coordinate (Pz) of the target position is the Z-axis position. It is input to the correction unit.

The motor command unit 403 transmits a command to the motor drivers Dx, Dy and Dz based on the output of the motor command correction unit 402. In one aspect, the command transmitted to each motor driver may be the amount of pulse or current output to the motor, the amount of rotation of the motor, the number of steps of the motor, or a command to any motor.

The prediction synchronization calculation unit 430 reads and acquires drive parameters (parameters such as position loop gain of each axis) from the motor drivers Dx, Dy, and Dz. Further, the prediction synchronization calculation unit 430 acquires the response delay times of the motor drivers Dx, Dy and Dz, respectively. The prediction synchronization calculation unit 430 calculates the prediction position synchronization correction parameter including the response delay time based on the acquired information, and outputs the prediction position synchronization correction parameter to the motor command correction unit 402. The motor command correction unit 402 corrects the command to the motor driver based on the acquired predicted position synchronization correction parameter.

The trigger command generation unit 451 synchronizes the motors of each axis with the position commands Cx, Cy, and Cz based on the X-axis command position, the Y-axis command position, and the Z-axis command position corrected by the motor command correction unit 402. Calculate the response time T. Further, the trigger command generation unit 451 generates a trigger command for operating the tool 320 at that time T, and outputs the trigger command to the trigger command correction unit 452.

In the trigger command correction unit 452, the work object such as a part of the work is set based on the time T in which the motors of each axis respond in synchronization and the mechanically predetermined reaction time of the motors of each axis. The time T2 at which the working position of the tool 320 is reached is calculated. Further, the trigger command correction unit 452 corrects the trigger command by adding the predicted position synchronization correction parameter to the time T2.

Based on the trigger command output from the trigger command correction unit 452, the trigger command unit 453 transmits the corrected trigger command to the tool control unit 310 so that the tool 320 responds to the time T1.

<C. How to calculate travel costs>

Next, with reference to FIGS. 5 to 10, the first calculation method of the movement cost between each point by the head 110 according to the present embodiment will be described in detail. FIG. 5 is a diagram showing an example of a passage path of the head 110 passing over the work 500. It is assumed that the work 500 is a substrate on which components are mounted, and points 501 to 508 are points to be inspected by a camera mounted on the head 110. The control device 100 determines the passing order of each point based on the calculation of the movement cost. The method of calculating the movement cost includes a method of calculating the movement cost of the straight locus and a method of calculating the movement cost of the curved locus. In one aspect, the method of calculating the movement cost may include only the method of calculating the movement cost of the curve locus.

FIG. 6 is a diagram showing an example of the amount of change in the movement cost of the linear locus based on the locus angle θ _T. In the example shown in FIG. 6, the control device 100 has already determined “immediately preceding point P → current point C” as the passing order of the head 110. The control device 100 calculates the movement cost from the point C to the points N1 to N3 (collectively referred to as "point N") which are candidates for the next movement destination.

また、グラフ６００に示されるように、ポイントＣから次のポイントＮまでの直線軌跡の移動コストは、軌跡角度θ_Ｔに関係なく一定となる。そのため、制御装置１００は、次の移動先としてポイントＮ１〜Ｎ３のいずれを選択してもよいことになる。 In the case of a straight locus, if the distances from point C to each of points N1 to N3 are equal, the calculation formula for the movement cost of the straight locus from point C to each of the next points N1 to N3 regardless of the locus angle θ _T. Is expressed by the following formula.

Further, as shown in the graph 600, the moving cost of the linear locus from the point C to the next point N is constant regardless of the locus angle θ _T. Therefore, the control device 100 may select any of the points N1 to N3 as the next movement destination.

FIG. 7 is a diagram showing an example of the amount of change in the movement cost of the curved locus based on the locus angle θ _T. In the example shown in FIG. 7, the control device 100 has already determined “immediately preceding point P → current point C” as the passing order of the head 110. The control device 100 calculates the movement cost from the point C to the points N1 to N3 which are candidates for the next movement destination.

また、グラフ７００に示されるように、ポイントＣから次のポイントＮまでの曲線軌跡の移動コストは、軌跡角度θ_Ｔに比例して増加する。そのため、制御装置１００は、次の移動先として、最も軌跡角度θ_Ｔが小さいポイントＮ１を選択すべきことがわかる。 In the case of a curved locus, if the distances from the points C to each of the points N1 to N3 are equal, the movement cost increases in proportion to the locus angle θ _T. This is because as the trajectory angle θ _T increases, the circumference of the circle passing through the points P, C, and N also increases. The calculation formula of the movement cost of the curve locus from the point C to each of the following points N1 to N3 is expressed by the following formula.

Further, as shown in the graph 700, the moving cost of the curved locus from the point C to the next point N increases in proportion to the locus angle θ _T. Therefore, it can be seen that the control device 100 should select the point N1 having the smallest locus angle θ _T as the next movement destination.

The control device 100 according to the present embodiment can use the calculation formula of the movement cost of the straight locus and the calculation formula of the movement cost of the curved locus in combination. More specifically, when the immediately preceding point P, the current point C, and the next point N are aligned on a straight line (when the locus angle θ _T = 0), the control device 100 determines the linear locus. The movement cost from point C to point N is calculated by the movement cost calculation formula. On the contrary, when the immediately preceding point P, the current point C, and the next point N are not aligned on a straight line (when the locus angle θ _T ≠ 0), the control device 100 determines the moving cost of the curved locus. The movement cost from point C to point N is calculated by the calculation formula.

By this process, the control device 100 can generate a passage path (a path only for linear movement and curved movement) of each point by the head 110 based on the passing order of each point by the head 110 after the determination. The passage path is a path that suppresses the load applied to the drive mechanism 201 that drives the head 110 and the motor.

Further, the generated passage path is obtained by algorithms such as the nearest neighbor method and the 2-opt method, and the passage path is as short as possible while suppressing the load applied to the drive mechanism 201 and the motor.

<D. Improvement of calculation method of movement cost of curve locus>

Next, a second calculation method of the movement cost of the curve locus will be described with reference to FIGS. 8 to 14. The second calculation method differs from the first calculation method in that the error between the movement cost obtained by the calculation and the actual movement distance of the head 110 is smaller. The first calculation method is the distance from the immediately preceding point P to the current point C (hereinafter, the distance between the two points is expressed as, for example, "distance (P, C)") and the next point from the current point C. Depending on the combination with the distance to N (C, N), the error in travel cost may change significantly. On the other hand, in the second calculation method, even if the combination of the distance (P, C) and the distance (C, N) changes, the error of the travel cost changes only slightly.

FIG. 8 is a diagram showing an example of the amount of change in the travel cost obtained by the first calculation method based on the distance (P, C) and the distance (C, N). The combination pattern of the distance (P, C) and the distance (N, C) is divided into the following patterns (1) to (3).

Pattern (1) is a case where the distance (P, C) and the distance (C, N) are equal. In this case, as shown in Graph 810, the movement cost increases in proportion to the locus angle θ _T. Pattern (2) is the case where the distance (P, C) is longer than the distance (C, N). In this case, as shown in Graph 820, the movement cost once increases in proportion to the locus angle θ _T and then decreases. Pattern (3) is the case where the distance (P, C) is shorter than the distance (C, N). In this case, as shown by graph 830, the movement cost is not increased almost regardless trajectory angle theta _T to some extent, rapidly increases when the trajectory angle theta _T is constant over the angle.

On the other hand, the actual moving distance of the head 110 is the value closest to the moving cost shown in the graph 810. The head 110 moves in a curved locus in order to suppress the load on the drive mechanism 201 and the motor. Therefore, the sharper the angle formed by the points P, C, and N, the larger the head 110 turns and the farther away from the straight line of the minimum route. Therefore, the actual moving distance of the head 110 increases in proportion to the locus angle θ _T.

However, depending on the combination of the distance (P, C) and the distance (C, N), the movement cost may not be exactly proportional to the locus angle θ _T , as shown by the graph 820 or 830. Therefore, the error between the calculated movement cost of the control device 100 and the actual movement distance of the head 110 may increase. Therefore, the second calculation method provides a method of suppressing this error.

FIG. 9 is a diagram for explaining an example of the point P'which is a premise of the second calculation method. The control device 100 has already determined "previous point P-> current point C" as the passing order of the head 110. The control device 100 calculates the movement cost from the point C to the point N, which is a candidate for the next movement destination. Further, it is assumed that the distance (P, C) and the distance (C, N) are different.

In this case, the control device 100 selects the point P'on the line segment PC in order to use the second calculation method. At this time, the distance (P', C) and the distance (C, N) are equal. Next, the control device 100 finds the center point of the circle tangent to the points P', C, and N. The control device 100 calculates the movement cost from the point C to the point N based on the points P'and the circles tangent to the points P', C, and N.

FIG. 10 is a diagram for explaining an example of an outline of the second calculation method. When the points P, C, and N are not aligned in a straight line, the control device 100 obtains the point P'as shown in FIG. Next, the control device 100 sets the length of the arc from point C to point N (hereinafter referred to as “arc (CN)”) in the circle tangent to points P', C, and N from point C to point N. Calculated as travel cost. The formula for calculating the movement cost of the arc (CN) is expressed by the formula (Equation 2). However, R is the radius of the circle tangent to the points P', C, and N. When the points P, C, and N are aligned in a straight line, the control device 100 calculates the movement cost from the point C to the point N using the formula (Equation 1).

Next, with reference to FIGS. 11 to 14, each of the movement cost calculated by the first calculation method and the movement cost calculated by the second calculation method is relative to the passage path of the actual head 110. Explain how much error there is.

FIG. 11 is a first example of a passage path of the head 110. The head 110 departs from Start and moves on the work 1101 in the order of points (P1) to (P3) and End. It can be seen that the distances (P1, P2) are longer than the distances (P2, P3). This corresponds to the pattern (2) in FIG. As an example, the head 110 is assumed to move on the passing path 1102.

FIG. 12 is a second example of the passage path of the head 110. The head 110 departs from Start and moves on the work 1201 in the order of points (P1) to (P4) and End. The distance (P2, P3) is a length close to the distance (P3, P4). This corresponds to the pattern (1) in FIG. As an example, the head 110 is assumed to move on the passage path 1202.

FIG. 13 is a third example of the passage path of the head 110. The head 110 departs from Start and moves on the work 1301 in the order of points (P1) to (P5) and End. It can be seen that the distance (P3, P4) is shorter than the distance (P4, P5). This corresponds to the pattern (3) in FIG. As an example, the head 110 is assumed to move on the passage path 1302.

FIG. 14 is a diagram showing an example of an error between the first calculation method and the second calculation method and the distance (actual movement distance) of the passage path of the head 110. Graph 1404A shows the difference between the movement cost according to the first calculation method and the distance of the passage path of the head 110 in the route shown in FIG. Graph 1404B shows the difference between the movement cost according to the first calculation method and the distance of the passage path of the head 110 in the route shown in FIG. Graph 1404C shows the difference between the movement cost according to the first calculation method and the distance of the passage path of the head 110 in the route shown in FIG.

Graph 1405A shows the difference between the movement cost according to the second calculation method and the distance of the passage path of the head 110 in the route shown in FIG. Graph 1405B shows the difference between the movement cost by the second calculation method and the distance of the passage path of the head 110 in the route shown in FIG. Graph 1405C shows the difference between the movement cost by the second calculation method and the distance of the passage path of the head 110 in the route shown in FIG. It can be said that the difference here is an error in the travel cost with respect to the distance of the passage path of the head 110.

With reference to the above graphs 1404A to 1404C, when the control device 100 uses the first calculation method, the error of the movement cost may increase in the passage order including the patterns (2) and (3) of FIG. Recognize.

On the other hand, referring to the graphs 1405A to 1405C described above, it can be seen that when the control device 100 uses the second calculation method, the error of the travel cost is substantially constant for all the passage routes.

Graph 1401 shows the distance of the passage path of the head 110. Graph 1402 shows the error in travel cost when the first calculation method is used. Graph 1403 shows the error in travel cost when the second calculation method is used. As is clear from the graphs 1401 to 1403, the control device 100 can calculate the movement cost between the points on the work by the head 110 with high accuracy by using the second calculation method.

It is assumed that the control device 100 stores in the storage unit 303 a program for causing the control unit 301 to execute the first calculation method and the second calculation method. The control device 100 can read these programs from the storage unit 303 into the RAM and execute them, if necessary.

<E. Changes in motor load due to movement cost calculation method>

Next, with reference to FIGS. 15 to 18, how the load applied to the motor changes by using the calculation of the movement cost of the curved locus will be described. In the following description, a route based on the passage order obtained by calculating the movement cost of the linear locus is referred to as a "passage route in the linear locus mode". A route based on the passage order obtained by calculating the movement cost of the curve locus is called a "curve locus mode passage route".

FIG. 15 is a diagram showing a first example of a passage path in the linear locus mode and a passage path in the curved locus mode. In the example shown in FIG. 15, the head 110 passes through points (1)-(7) on the work 1501.

The passage path 1502A is a passage route in the linear locus mode. The passage path 1502B is a passage path in the curve locus mode. It can be seen that the passage path 1502B draws a relatively gentle curve with respect to the passage route 1502A. Therefore, the head 110 moves in a gentle curve, and the load on the motor that drives the drive mechanism 201 is suppressed.

FIG. 16 is a diagram showing an example of the total travel distance of the passage path of each mode shown in FIG. 15 and the load on the motor. Referring to FIG. 16, the total movement distance of the head 110 in the passage path in the curved trajectory mode is slightly increased as compared with the total movement distance of the head 110 in the passage path in the straight trajectory mode.

Further, the maximum acceleration of the head 110 in the passing path in the curved trajectory mode is significantly smaller than the maximum acceleration of the head 110 in the passing path in the linear trajectory mode. From this, it can be seen that the passing path in the curved locus mode is a smoother and more efficient path than the passing path in the straight locus mode.

FIG. 17 is a diagram showing a second example of a passage path in the linear locus mode and a passage path in the curved locus mode. In the example shown in FIG. 15, the head 110 passes through points (1)-(21) on the work 1501.

The passage path 1702A is a passage route in the linear locus mode. The passage path 1702B is a passage route in the curved locus mode. It can be seen that the passage path 1702B draws a relatively gentle curve with respect to the passage route 1702A. Therefore, the head 110 moves in a gentle curve, and the load on the motor that drives the drive mechanism 201 is suppressed.

FIG. 18 is a diagram showing an example of the moving distance and the load on the motor for each passing path shown in FIG. Referring to FIG. 18, the total moving distance of the head 110 in the passing path in the curved orbit mode is smaller than the total moving distance of the head 110 in the passing path in the straight orbit mode.

Further, the maximum acceleration of the head 110 in the passing path in the curved trajectory mode is significantly smaller than the maximum acceleration of the head 110 in the passing path in the linear trajectory mode. From this, it can be seen that the passing path in the curved locus mode is a smoother and more efficient path than the passing path in the straight locus mode.

As can be seen from the comparison results of FIGS. 16 and 18 above, the control device 100 can significantly reduce the load applied to the motor that drives the drive mechanism 201 by using the passage path in the curved trajectory mode. .. In addition, the control device 100 can reduce the total movement distance depending on the location and number of points on the work by using the passage path in the curved trajectory mode.

<F. Improvement of route selection of straight trajectory>

Next, a third calculation method of the improved movement cost of the linear locus will be described with reference to FIGS. 19 to 21. The third calculation method is different from the first and second calculation methods in that the movement cost between each point is defined by the linear locus and the locus angle θ _T.

誤差許容値は、ポイントＣ，Ｎ間の誤差の許容値である。例えば、あるワーク上に通過すべきポイントが均等に格子状に並んでいるとする。しかし、製造誤差等により、各ポイント間の距離がわずかに変化することがある。誤差許容値は、このポイント間の距離の誤差の許容範囲を示す。図１９の例では、「誤差許容値＝０．５５」である。 FIG. 19 is a schematic diagram showing an example of the third calculation method. In the example of FIG. 19, the control device 100 has already determined the passage route to the points P and C, and then calculates the movement cost from the point C to the point N1 or N2. In the third calculation method, for example, when the points to be passed in a grid pattern are aligned on the work, the passing route can be efficiently determined. The calculation formula of the movement cost in the third calculation method is expressed by the following formula.

The error tolerance is an error tolerance between points C and N. For example, suppose that the points to be passed on a certain work are evenly arranged in a grid pattern. However, the distance between each point may change slightly due to manufacturing errors and the like. The error tolerance indicates the tolerance of the error of the distance between these points. In the example of FIG. 19, “error tolerance = 0.55”.

As shown in (Equation 3), in the third calculation method, the movement cost increases as the locus angle θ _T increases. That is, the sharper the angle created by the line segment (PC) and the line segment (PN) when C is the apex, the higher the movement cost.

In the example of FIG. 19, "distance (C, N1) = 40, locus angle at points P, C, N1 = 0", "distance (C, N2) = 39.5, locus angle at points P, C, N2". = 90 ". Therefore, it can be seen that the point N2 is closer to the point C than the point N1. However, since the locus angle at points P, C, and N2 is larger than the locus angle at points P, C, and N1, in the third calculation method, the movement cost from point C to point N1 is from point C to point. It is smaller than the travel cost to N2. By calculating the movement cost based on the third calculation method, the control device 100 can preferentially select a point at which the head 110 does not bend when moving.

FIG. 20 shows an example of the passage order determined by the control device 100 using the third calculation method. In the example of FIG. 20, the control device 100 passes over the points (1) to (25) on the work 2001. The passage path 2002A is generated based on the passage order determined by the control device 100 by the nearest neighbor method using the movement cost obtained by the third calculation method. It can be seen that the control device 100 determines the passing order so that the head 110 can be moved in a straight line as much as possible. The passage path 2002B is the result of the control device 100 applying the 2-opt method to the passage path 2002A.

As described above, the control device 100 according to the present embodiment calculates the movement cost between each point on the work by using any of the first to third calculation methods. Based on the movement cost, the control device 100 determines the passing order of each point of the head 110 by an algorithm such as the nearest neighbor method or the 2-opt method.

<G. Internal processing of control device 100>

FIG. 21 is a diagram showing an example of a procedure for calculating the movement cost of the control device 100. In a certain aspect, the control unit 301 may read the program for performing the process of FIG. 21 into the RAM from the storage unit 303 and execute the program. In other aspects, some or all of the processing may also be realized as a combination of circuit elements configured to perform the processing.

In step S2105, the control unit 301 selects a method for calculating the movement cost. When the method of calculating the linear locus is selected by the user's input in the program, the control unit 301 shifts the control to step S2110. Alternatively, when the control unit 301 selects the method of calculating the linear locus based on the positional relationship between the immediately preceding point P, the current point C, and the next point N, the control unit 301 shifts the control to step S2110. Otherwise (when the curve locus calculation method is selected by the user's input in the program, or when the control unit 301 selects the curve locus calculation method based on the positional relationship of points P, C, N). , The control unit 301 shifts the control to step S2120.

In step S2110, the control unit 301 calculates the locus angles at points P, C, and N. In step S2115, the control unit 301 calculates the movement cost from the point C to the point N by using the equation (6) of (Equation 3) in the third calculation method.

In step S2120, the control unit 301 calculates the locus angles at points P, C, and N. In step S2125, the control unit 301 determines whether or not “trajectory angle ≠ 0”, that is, whether or not points P, C, and N do not exist in a straight line. When the control unit 301 determines that “trajectory angle ≠ 0” (YES in step S2125), the control unit 301 shifts control to step S2130. If not (NO in step S2125), the control unit 301 shifts control to step S2135.

In step S2130, the control unit 301 calculates the movement cost from the point C to the point N by the equation (2) of (Equation 2). In a certain aspect, the control unit 301 may calculate the movement cost from the point C to the point N by the first calculation method based on the points P, C, and N. Further, in another aspect, the control unit 301 may calculate the movement cost from the point C to the point N by the second calculation method based on the points P', C, and N. In step S2135, the control unit 301 calculates the movement cost from the point C to the point N by the equation (1) of (Equation 1).

As described above, the control device 100 according to the present embodiment uses the calculation formula of the movement cost of the linear locus and the calculation formula of the movement cost of the curved locus in combination to be used between the points on the work. Calculate the travel cost. Based on this movement cost, the control device 100 determines the passing order of each point of the head 110 by an algorithm such as the nearest neighbor method or the 2-opt method. By this process, the control device 100 can determine the passing order of more points of efficiency while suppressing the load applied to the drive mechanism 201 and the motor for driving the head 110.

<H. Addendum>

The present embodiment as described above includes the following technical ideas.
[Structure 1]
A pedestal (105) for installing the work and
A head (110) that moves on the pedestal and
A first drive mechanism (201X) for moving the head in the first axial direction of the pedestal, and
A second drive mechanism (201Y) for moving the head in the second axial direction of the pedestal, and
A control unit (301) that controls the first drive mechanism and the second drive mechanism is provided.
The control unit
When the head passes through a plurality of points of the work, the movement cost when the head passes by the operation of drawing a curved locus from the current point (C) to the next point (N) is calculated.
A control device that selects a point to move next to the head so that the movement cost is minimized.
[Structure 2]
The control device according to configuration 1, wherein the curved locus is a locus that passes on a circle in contact with a point (P) immediately before the head, the current point, and the next point.
[Structure 3]
The control unit obtains a point P (P') on a line segment passing through the point immediately before the head and the current point.
The distance from the point P to the current point is equal to the distance from the current point to the next point.
The control device according to configuration 1, wherein the curved locus is a locus that passes on a circle in contact with the point P, the current point, and the next point.
[Structure 4]
The control unit
It is determined whether or not the immediately preceding point, the current point, and the next point are aligned on a straight line.
When the immediately preceding point, the current point, and the next point are aligned on a straight line, the movement cost when the head passes from the current point to the next point in a straight line locus. Calculate and
When the immediately preceding point, the current point, and the next point are not aligned on a straight line, when the head passes from the current point to the next point in an operation of drawing a curved locus. The control device according to configuration 2 or 3, which calculates the travel cost.
[Structure 5]
The control unit
After determining the passing order of the points of the head, the passing path of the head is determined so that the passing path when the head passes each point is equal to or larger than the minimum turning radius of the head. The control device according to any one.
[Structure 6]
The control unit
After determining the passing order of the points of the head based on the movement cost when the head passes by the operation of drawing the curved locus, the passing order of the points of the head is changed by the 2-opt method. The control device according to any one of.
[Structure 7]
The control unit
The input of selection between the calculation method of the movement cost when the head passes by the operation of drawing a curved locus and the calculation method of the movement cost when the head passes by the operation of drawing a straight line locus is accepted.
The method of calculating the movement cost when the head passes in a straight line is when the error tolerance of the distance from the current point to the next point is larger than 0 and the current point is set as the apex. The movement cost increases as the angle between the line segment connecting the immediately preceding point and the current point and the line segment connecting the current point and the next point decreases from 180 degrees, according to the configuration 2 or 3. The control device described.
[Structure 8]
It is a method of finding the passing order of each point on the work of the head in the control device.
When the head passes through a plurality of points on the work, the step of calculating the movement cost when the head passes by the operation of drawing a curved locus from the current point to the next point, and
A method comprising the step of selecting the next destination point of the head so that the movement cost is minimized.
[Structure 9]
The method according to configuration 8, wherein the curved locus is a locus that passes on a circle in contact with the point immediately before the head, the current point, and the next point.
[Structure 10]
The method further comprises the step of finding a point P on a line segment passing through the point immediately preceding the head and the current point.
The distance from the point P to the current point is equal to the distance from the current point to the next point.
The method according to configuration 8, wherein the curved locus is a locus that passes on a circle in contact with the point P, the current point, and the next point.
[Structure 11]
A step of determining whether or not the immediately preceding point, the current point, and the next point are aligned on a straight line.
When the immediately preceding point, the current point, and the next point are aligned on a straight line, the movement cost when the head passes from the current point to the next point in a straight line locus. And the steps to calculate
When the immediately preceding point, the current point, and the next point are not aligned on a straight line, when the head passes from the current point to the next point in an operation of drawing a curved locus. 9. The method of configuration 9 or 10, further comprising calculating the cost of travel.
[Structure 12]
After determining the passing order of the points of the head, the configuration further includes a step of determining the passing path of the head so that the passing path when the head passes each point is equal to or larger than the minimum turning radius of the head. The method according to any one of 8 to 11.
[Structure 13]
After determining the passing order of the points of the head based on the movement cost when the head passes by the motion of drawing the curved locus, a step of changing the passing order of the points of the head by the 2-opt method is further added. The method according to any of configurations 8-12, comprising.
[Structure 14]
The method is a step of accepting input for selection between a method of calculating the movement cost when the head passes by the operation of drawing a curved locus and a method of calculating the movement cost when the head passes by the operation of drawing a linear locus. Including
The method of calculating the movement cost when the head passes in a straight line is when the error tolerance of the distance from the current point to the next point is larger than 0 and the current point is set as the apex. In configuration 9 or 10, the movement cost increases as the angle between the line segment connecting the immediately preceding point and the current point and the line segment connecting the current point and the next point decreases from 180 degrees. The method described.
[Structure 15]
A program for causing a control device to execute the method according to any one of configurations 8 to 14.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present disclosure is shown by the scope of claims rather than the above description, and it is intended that all modifications are included in the meaning and scope equivalent to the scope of claims. In addition, the disclosure contents described in the embodiments and the respective modifications are intended to be implemented alone or in combination as much as possible.

100 control device, 105 pedestal, 110 head, 120 paths, 201 drive mechanism, 301 control unit, 302 communication unit, 303 storage unit, 304 input unit, 305 output unit, 306 output interface, 310 tool control unit, 320 tool, 400 Motor command control unit, 401 motor command generation unit, 402 motor command correction unit, 403 motor command unit, 430 prediction synchronization calculation unit, 450 trigger command control unit, 451 trigger command generation unit, 452 trigger command correction unit, 453 trigger command Department.

Claims (13)

A pedestal for installing the work and
A head that moves on the pedestal and
A first drive mechanism for moving the head in the first axial direction of the pedestal, and
A second drive mechanism for moving the head in the second axial direction of the pedestal, and
A control unit that controls the first drive mechanism and the second drive mechanism is provided.
The control unit
When the head passes through a plurality of points of the work, the movement cost when the head passes by the operation of drawing a curved locus from the current point to the next point is calculated.
The movement cost is selected point of the next destination of the head so as to minimize
The curve locus is a locus that passes on a circle in contact with a point immediately before the head, the current point, and the next point . A pedestal for installing the work and
A head that moves on the pedestal and
A first drive mechanism for moving the head in the first axial direction of the pedestal, and
A second drive mechanism for moving the head in the second axial direction of the pedestal, and
A control unit that controls the first drive mechanism and the second drive mechanism is provided.
The control unit
When the head passes through a plurality of points of the work, a point P on a straight line passing through the point immediately before the head and the current point is obtained.
The movement cost when the head passes through the motion of drawing a curved locus from the current point to the next point is calculated.
Select the next destination point of the head so that the movement cost is minimized.
The distance from the point P to the current point is equal to the distance from the current point to the next point.
The curved locus is a locus that passes on a circle in contact with the point P, the current point, and the next point. The control unit
It is determined whether or not the immediately preceding point, the current point, and the next point are aligned on a straight line.
When the immediately preceding point, the current point, and the next point are aligned on a straight line, the movement cost when the head passes from the current point to the next point in a straight line locus. Calculate and
When the immediately preceding point, the current point, and the next point are not aligned on a straight line, when the head passes from the current point to the next point in an operation of drawing a curved locus. The control device according to claim 1 or 2 , which calculates a travel cost. The control unit
After the determination of the path sequence of points of the head, the head is such that passage path as it passes through each point becomes a minimum turning radius than the head, which determines the passage path of the head, according to claim 1 to 3 The control device according to any one of. The control unit
The claim that the passing order of the points of the head is changed by the 2-opt method after the passing order of the points of the head is determined based on the moving cost when the head passes by the operation of drawing the curved locus. The control device according to any one of 1 to 4 . The control unit
The input of selection between the calculation method of the movement cost when the head passes by the operation of drawing a curved locus and the calculation method of the movement cost when the head passes by the operation of drawing a straight line locus is accepted.
The method of calculating the movement cost when the head passes in a straight line is when the error tolerance of the distance from the current point to the next point is larger than 0 and the current point is set as the apex. The movement cost increases as the angle between the line segment connecting the immediately preceding point and the current point and the line segment connecting the current point and the next point decreases from 180 degrees, according to claim 1 or 2. The control device described in. It is a method of finding the passing order of each point on the work of the head in the control device.
When the head passes through a plurality of points on the work, the step of calculating the movement cost when the head passes by the operation of drawing a curved locus from the current point to the next point, and
Look including the step of the movement cost is selected points of the next destination of the head so as to minimize
A method in which the curved locus is a locus that passes on a circle in contact with a point immediately before the head, the current point, and the next point . It is a method of finding the passing order of each point on the work of the head in the control device.
When the head passes through a plurality of points on the work, a step of finding a point P on a straight line passing through the point immediately before the head and the current point, and
A step of calculating the movement cost when the head passes by the operation of drawing a curved locus from the current point to the next point, and
Including the step of selecting the next destination point of the head so as to minimize the movement cost.
The distance from the point P to the current point is equal to the distance from the current point to the next point.
The method, wherein the curved locus is a locus that passes on a circle tangent to the point P, the current point, and the next point. A step of determining whether or not the immediately preceding point, the current point, and the next point are aligned on a straight line.
When the immediately preceding point, the current point, and the next point are aligned on a straight line, the movement cost when the head passes from the current point to the next point in a straight line locus. And the steps to calculate
When the immediately preceding point, the current point, and the next point are not aligned on a straight line, when the head passes from the current point to the next point in an operation of drawing a curved locus. The method of claim 7 or 8 , further comprising the step of calculating the transfer cost. After determining the passing order of the points of the head, the claim further includes a step of determining the passing path of the head so that the passing path when the head passes each point is equal to or larger than the minimum turning radius of the head. Item 8. The method according to any one of Items 7 to 9 . After determining the passing order of the points of the head based on the movement cost when the head passes by the motion of drawing the curved locus, a step of changing the passing order of the points of the head by the 2-opt method is further added. The method according to any one of claims 7 to 10 , including. The method is a step of accepting input for selection between a method of calculating the movement cost when the head passes by the operation of drawing a curved locus and a method of calculating the movement cost when the head passes by the operation of drawing a linear locus. Including
The method of calculating the movement cost when the head passes in a straight line is when the error tolerance of the distance from the current point to the next point is larger than 0 and the current point is set as the apex. The movement cost increases as the angle between the line segment connecting the immediately preceding point and the current point and the line segment connecting the current point and the next point decreases from 180 degrees, according to claim 7 or 8. The method described in. A program for causing a control device to execute the method according to any one of claims 7 to 12 .

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