Apparatus for generating image data of a movement trajectory, control apparatus and method

Abstract

The present application provides a device, a control device and a method for generating image data of a moving track of an industrial machine. In the case where a defect is generated on a processed surface of a workpiece when the workpiece is worked by the industrial machine, the device makes it easy to determine the cause of the defect. The device for generating image data of a moving track of an industrial machine includes a moving track generation unit that generates a moving track of the industrial machine when a workpiece is worked, a operation information acquisition unit that acquires operation information of the industrial machine when the workpiece is worked, and an image data generation unit that generates image data in which a first point on the moving track corresponding to a change point of first operation information and a second point on the moving track corresponding to a change point of second operation information different from the first operation information are emphasized displayed in visually different display forms.

Description

Technical Field

[0001] This invention relates to an apparatus, control device, and method for generating image data of the movement trajectory of industrial machinery. Background Technology

[0002] Devices for generating the movement trajectory of industrial machinery that operates on a workpiece are known (e.g., Japanese Patent No. 5731463). When a workpiece is operated on by industrial machinery, defects sometimes occur on the machined surface of the workpiece. Conventionally, a technique has been sought that makes it easy to determine the cause of such defects. Summary of the Invention

[0003] In one aspect of this disclosure, an apparatus for generating image data of the movement trajectory of industrial machinery includes: a movement trajectory generation unit that generates the movement trajectory of the industrial machinery when performing operations on a workpiece; an operation information acquisition unit that acquires operation information of the industrial machinery when performing operations on the workpiece; and an image data generation unit that generates image data that emphasizes a first point and a second point on the movement trajectory in visually different display formats, wherein the first point is a point on the movement trajectory corresponding to a change point of first operation information, and the second point is a point on the movement trajectory corresponding to a change point of second operation information, and the second operation information is different from the first operation information.

[0004] In other aspects of this disclosure, a method for generating image data of the movement trajectory of industrial machinery includes generating the movement trajectory of the industrial machinery when performing operations on a workpiece, acquiring the operation information of the industrial machinery when performing operations on the workpiece, and generating image data that emphasizes a first point and a second point on the movement trajectory in visually different display forms. The first point is a point on the movement trajectory corresponding to a change point of first operation information, and the second point is a point on the movement trajectory corresponding to a change point of second operation information, which is different from the first operation information.

[0005] According to this disclosure, when a defect occurs on the machined surface of a workpiece during operation by industrial machinery, the operator can easily determine the cause of the defect. Attached Figure Description

[0006] Figure 1 It is a block diagram of a mechanical system involved in one implementation method.

[0007] Figure 2 This is a perspective view of the workpiece involved in one implementation method.

[0008] Figure 3 Yes Figure 2 The image shows the movement trajectory of industrial machinery when the workpiece is being operated.

[0009] Figure 4 yes Figure 3 A magnified view of region B.

[0010] Figure 5 This shows an example of time-series data showing operational information.

[0011] Figure 6 This shows an example of time-series data showing operational information.

[0012] Figure 7 Showing will Figure 1 The image data generated by the image data generation unit shown is an example of image visualization.

[0013] Figure 8 yes Figure 7 A magnified view of region B.

[0014] Figure 9 Other examples are shown where image data generated by the image data generation unit is visualized.

[0015] Figure 10 This illustrates yet another example of how image data generated by the image data generation unit is visualized.

[0016] Figure 11 This is a block diagram of the mechanical system involved in other embodiments.

[0017] Figure 12 yes Figure 7 A magnified view of region B.

[0018] Figure 13 Showing will Figure 11 The image data generated by the image data generation unit shown is an example of image visualization.

[0019] Figure 14 This example illustrates how image data representing the difference between the movement trajectory and the movement trajectory has been visualized. Detailed Implementation

[0020] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Furthermore, in the various embodiments described below, the same elements are labeled with the same reference numerals, and repeated descriptions are omitted. First, refer to... Figure 1 To illustrate one embodiment, we will describe a mechanical system 10. The mechanical system 10 includes industrial machinery 12 and a control device 14.

[0021] Industrial machinery 12 includes machine tools (lathes, milling machines, machining centers, etc.) or industrial robots (vertical joint robots, horizontal joint robots, parallel link robots, etc.) used to perform specified operations on workpieces. Industrial machinery 12 has a moving mechanism 16 and a tool 18. The moving mechanism 16 has at least one electric motor 20, and the moving mechanism 16 causes the tool 18 to move relative to the workpiece being worked on.

[0022] The electric motor 20 is, for example, a servo motor. The control device 14 sends a command to the electric motor 20 to drive the moving mechanism 16, thereby moving the tool 18 relative to the workpiece. The tool 18 is, for example, a cutting tool, a laser processing head, a welding torch, a paint applicator, etc., used to perform specified operations (machining, laser processing, welding, coating, etc.) on the workpiece.

[0023] As an example, when the industrial machinery 12 is a machine tool, the moving mechanism 16 moves the worktable on which the workpiece is mounted horizontally and moves the spindle head on which the tool 18 (cutting tool) is mounted vertically. As another example, when the industrial machinery 12 is an industrial robot (joint robot), the moving mechanism 16 has a rotating body mounted on a robot base that is rotatable about a vertical axis, a robot arm mounted on the rotating body that is rotatable, and a wrist mounted at the top of the robot arm. The moving mechanism 16 moves the tool 18 mounted on the wrist to any position in three-dimensional space.

[0024] The control device 14 controls the operation of the industrial machinery 12. Specifically, the control device 14 is a computer having a processor 22, a memory 24, and an I / O interface 26. The processor 22 has a CPU or GPU, etc., and performs computational processing to execute various functions described later. The processor 22 is communicatively connected to the memory 24 and the I / O interface 26 via a bus 28.

[0025] The memory 24 has ROM or RAM, etc., to temporarily or permanently store various data. Under the control of the processor 22, the I / O interface 26 communicates with external devices to receive data from and send data to those devices. In this embodiment, the display device 30 and the input device 32 are communicatively connected to the I / O interface 26 in a wireless or wired manner.

[0026] The display device 30 has an LCD or OLED display, etc. The processor 22 sends image data to the display device 30 via the I / O interface 26 and causes the display device 30 to display the image. The input device 32 has a keyboard, mouse, or touch sensor, etc., and sends the operator's input information to the processor 22 via the I / O interface 26. In addition, the display device 30 and the input device 32 can be integrated with the control device 14 or installed separately from the control device 14.

[0027] In this embodiment, the processor 22 functions as an apparatus 50 for generating image data of the movement trajectory of the industrial machinery 12. The function of the apparatus 50 will now be described. The processor 22 generates the movement trajectory MP of the industrial machinery 12 when performing operations on a workpiece. For example, the processor 22 generates the movement trajectory MP of the tool 18 (specifically, the tool tip point or TCP (tool center point)) moved by the moving mechanism 16 relative to the workpiece.

[0028] In this embodiment, the processor 22 generates a movement trajectory MP1 (first movement trajectory) specified by a job program WP for performing a task on the workpiece. The job program WP is a computer program (e.g., a G-code program) that includes multiple command statements, which specify multiple target positions that the tool 18 should be positioned relative to the workpiece, small line segments connecting two adjacent target positions, or target speeds of the tool 18 relative to the workpiece, etc.

[0029] The processor 22 parses the work program WP and generates instructions to be sent to the motor 20 to perform the work on the workpiece. In this way, the processor 22 uses the tool 18 to perform work on the workpiece by causing the moving mechanism 16 to move according to the work program WP. The work program WP is stored in the memory 24.

[0030] Processor 22 generates a three-dimensional movement trajectory MP1 by parsing the work program WP. The movement trajectory MP1 is a collection of minute line segments defined by the work program WP, and is the movement trajectory controlled by the moving mechanism 16 (tool 18). For example, suppose industrial machinery 12 forms a movement trajectory using tool 18... Figure 2 Workpiece A.

[0031] In this case, Figure 3 and Figure 4 The diagram shows an example of the movement trajectory MP1 of the tool 18 relative to the workpiece A when the connection A3 between the base A1 and the main body A2 of the workpiece A is formed. Furthermore, Figure 4 It is Figure 3 The magnified image obtained by magnifying region B. Figure 4The lines shown constitute the movement trajectory MP1, and the outer surface of the connecting part A3 is defined by the movement trajectory MP1.

[0032] Processor 22 generates such a movement trajectory MP1 according to the job program WP. Furthermore, in Figure 3 and Figure 4 The example shown illustrates the movement trajectory MP1 during the formation of the connecting portion A3 in workpiece A. However, it should be understood that the processor 22 can also generate the movement trajectory MP1 for forming the base portion A1 and the main body portion A2 of workpiece A according to the work program WP. Thus, in this embodiment, the processor 22 serves as the movement trajectory generation unit 52 for generating the movement trajectory MP1. Figure 1 And thus, to perform its function.

[0033] Processor 22 acquires operational information of industrial machinery 12 during operation on workpiece A. In this embodiment, processor 22 acquires operational information from job program WP. The operational information acquired from job program WP includes, for example, the position P of tool 18 relative to workpiece A. T1 Speed ​​V T1 acceleration a T1 α of swiftness T1 and the direction of movement d T1 The position (rotation angle) of the rotating shaft of motor 20 M1 Speed ​​(rotational speed) V M1 Acceleration (angular acceleration) a M1 α (angular jerkness) M1 and direction of movement (direction of rotation) d M1 Information on the operating mode RM of industrial machinery 12.

[0034] The processor 22 parses the job program WP and, based on the information of each command statement contained in the job program WP (target position, small line segment, target velocity, etc.), obtains time series data as operational information. This time series data shows the position P in a time series format. T1 and P M1 Speed ​​V T1 and V M1 acceleration a T1 and a M1 α of swiftness T1 and α M1 , direction of movement d T1 and d M1 And the change of the operating mode RM relative to time t. Therefore, the processor 22 serves as the operating information acquisition unit 54 for acquiring operating information. Figure 1 And thus, to perform its function.

[0035] exist Figure 5 and Figure 6 The image shows an example of a graph illustrating time-series data of operational information. Figure 5 Example showing the position P of tool 18 T1 The time series data line L1 and the velocity V of the representation tool 18 T1 The time series data is represented by line L2, with the horizontal axis representing time t and the vertical axis representing position P and velocity V. On the other hand, Figure 6 Line L4 is shown as an example of time series data representing operating mode RM, with the horizontal axis representing time t and the vertical axis representing operating mode RM.

[0036] exist Figure 5 In the example shown, tool 18 gradually decelerates and moves towards position P0. After reaching position P0 at time t0, it accelerates away from position P0. That is, in this case, the velocity V during the specified time δt including time t0 is... T1 The change is Figure 5 δV T1 The movement direction d of tool 18 T1 The change is 180° (i.e., reversed).

[0037] Here, Figure 5 The line L3 shown in the lower region of the graph represents the difference Δ between the movement trajectory MP1 of tool 18 obtained from the work procedure WP and the actual movement trajectory MP2 of tool 18 when the moving mechanism 16 operates according to the work procedure WP. MP As shown by line L3, in the direction of movement d T1 The time point t0 with a large change (e.g., a reversal of the direction of movement) (strictly speaking, the time point immediately preceding time point t0), as shown by arrow C in the figure, differs by Δ. MP It gets bigger.

[0038] At position P T1 and P M1 Speed ​​V T1 and V M1 acceleration a T1 and a M1 α of swiftness T1 and α M1 , direction of movement d M1 The time point at which the change δ1 increases may also experience a similar difference Δ. MP The phenomenon of increasing. At the point in time when the change δ1 increases, i.e., the difference Δ... MPAt the point when the time is increased, the actual position (or trajectory) of tool 18 relative to the workpiece during operation will deviate from the target position (or trajectory) specified by the machining program, and defects may occur on the machining surface of workpiece A (for example, when machining workpiece A, unwanted lines or patterns may be formed on the machining surface of the workpiece).

[0039] On the other hand, Figure 6 In the example shown, the operating mode RM of the industrial machinery 12 switches from a first operating mode RM1 to a second operating mode RM2. Here, the first operating mode RM1 is, for example, a positioning mode. This positioning mode, for example, involves the moving mechanism 16 causing the tool 18 to move at a speed V when the tool 18 is not working on the workpiece. T1_P Operation mode that moves to the start point of the operation. In this positioning mode, the control gain G, used to determine the response speed of the processor 22 to the control of the moving mechanism 16, is... C Set as G C =G C_P Additionally, the time constant τ for the acceleration and deceleration of tool 18 by the moving mechanism 16 is set to τ = τ P .

[0040] On the other hand, the second operating mode RM2 is, for example, a work mode. This work mode, for example, involves the moving mechanism 16 causing the tool 18 to move at a speed V. T1_W ( <V T1_P This is an operating mode in which the tool 18 is moved and used to perform operations on the workpiece. In this operating mode, the control gain G is... C Set as G C =G C_W (>G C_P The time constant τ is set to τ = τ W (<τ P Therefore, the responsiveness of the control of the moving mechanism 16 in the operation mode is higher than that in the positioning mode.

[0041] At the time t0 when the operating mode RM of industrial machinery 12 switches between the first operating mode RM1 and the second operating mode RM2, tool 18 vibrates, resulting in a difference Δ as shown by arrow C in the figure. MP It can easily become larger. In addition, it can be that the first operating mode RM1 is the work mode and the second operating mode RM2 is the positioning mode, or it can be that the first operating mode RM1 and the second operating mode RM2 are any operating modes different from the work mode and the positioning mode.

[0042] In this embodiment, the processor 22 obtains the location P. T1 and P M1 Speed ​​V T1 and V M1 acceleration aT1 and a M1 α of swiftness T1 and α M1 and the direction of movement d T1 and d M1 The position P within a specified time δt in time series data T1 and P M1 Speed ​​V T1 and V M1 acceleration a T1 and a M1 α of swiftness T1 and α M1 and the direction of movement d T1 and d M1 The change δ1 of each exceeds the specified threshold δ th1 The points of change.

[0043] Specifically, for position P T1 and P M1 Processor 22, for example, from position P T1 and P M1 In time series data, the change (i.e., distance) between two locations within a specified time period δt exceeds a threshold δ. th1 The point of change is identified, and the time point t0 at which the change occurs is obtained.

[0044] Additionally, regarding speed V T1 and V M1 acceleration a T1 and a M1 and tachycardia T1 and α M1 Processor 22, for example, from speed V T1 and V M1 acceleration a T1 and a M1 and tachycardia T1 and α M1 Retrieving velocity V within a specified time δt from time series data T1 and V M1 acceleration a T1 and a M1 and tachycardia T1 and α M1 The absolute value of the change exceeds the threshold δ th1 The point of change is identified, and the time point t0 at which the change occurs is obtained.

[0045] Additionally, regarding the movement direction d of tool 18 T1 For example, processor 22 calculates the direction of movement d at the first time point t1. T1_t1 The direction of movement d at the second time point t2T1_t2 Let the inner product IP be used as the direction of movement d during the time δt (=t2-t1) from the first time point t1 to the second time point t2 (>t1). T1 The amount of change. For example, when the direction of movement d... T1_t1 and d T1_t2 Let d be a unit vector and the direction of movement be d. T1_t1 With d T1_t2 When the angle between them is set to θ, the inner product can be calculated as IP = cosθ (-1 ≤ IP ≤ 1).

[0046] From the direction of movement d T1_t1 Change to the direction of movement d T1_t2 The greater the change in angle θ between 0° and 180°, the smaller the inner product IP is within the range of -1 ≤ IP ≤ 1. Processor 22 moves from the direction d... T1 In time series data, the inner product IP decreases beyond the specified threshold δ. th1 The point of change is identified, and the time point t0 at which this change occurs is obtained.

[0047] Alternatively, processor 22 can calculate the direction of movement d. T1_t1 With the direction of movement d T1_t2 The angle θ between them is used as the direction of movement d within time δt. T1 The change in the direction of movement d T1 Retrieving the angle θ from time series data that exceeds the specified threshold δ th1 The point of change is identified, and the time point t0 at which this change occurs is obtained.

[0048] In addition, regarding the direction of movement (rotation direction) d of the rotating shaft of motor 20 M1 Processor 22, for example, in the direction of movement d M1 When a reversal occurs, the direction of movement is determined as d. M1 The change exceeds the specified threshold δ th1 (=180°), from the direction of movement d M1 Retrieve the direction of movement d from the time series data M1 Find the point of reversal and obtain the time point t0 at which the reversal occurred.

[0049] On the other hand, for operating mode RM, processor 22 obtains time-series data from operating mode RM ( Figure 6 The processor 22 retrieves the point of change from the first operating mode RM1 to the second operating mode RM2 from the time series data, and obtains the time point t0 at which the change occurred. In this way, the processor 22 obtains the position P in the time series data. T1 and P M1 Speed ​​V T1 and VM1 acceleration a T1 and a M1 α of swiftness T1 and α M1 , direction of movement d T1 and d M1 The processor 22, as the change point of the operating mode RM, and the time point t0 at which the change point occurs. Therefore, the processor 22 acts as the change point acquisition unit 56. Figure 1 And thus, to perform its function.

[0050] Next, processor 22 determines the multiple operational information P on the movement trajectory MP1. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 The points corresponding to the changes in RM are respectively. In this embodiment, the processor 22 acquires a total of 11 types of operational information, namely position P. T1 and P M1 Speed ​​V T1 and V M1 acceleration a T1 and a M1 α of swiftness T1 and α M1 , direction of movement d T1 and d M1 And the operating mode RM.

[0051] Therefore, for these 11 types of operational information P T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 And RM, processor 22 retrieves and determines the point on the movement trajectory MP1 corresponding to the time point t0 that generated the change point of these operational information. Here, operational information P T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1The processor 22 is able to determine the command statement of the job program WP corresponding to time point t0, and also the point on the movement trajectory MP1 corresponding to time point t0, as the time series data of RM is associated with the command statement contained in the job program WP.

[0052] In this way, processor 22 determines the movement trajectory MP1 and the operation information P. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 And the multiple points corresponding to the changes in RM. In addition, the processor 22 generates image data ID1, which is data that emphasizes the identified multiple points on the movement trajectory MP1 in visually different display forms.

[0053] exist Figure 7 and Figure 8 The image shown is an example of an image with image data ID1. Figure 7 In the example shown, arrow D1 is used to emphasize the movement trajectory MP1 and the first operational information (e.g., the acceleration a of tool 18). T1 The point corresponding to the change point of ) is shown by arrow D2. Additionally, arrow D2 emphasizes the movement trajectory MP1 and its correspondence with the second operational information (e.g., the direction of movement d of the rotation axis of motor 20). M1 The point corresponding to the change point of ) is also highlighted by arrow D3. Additionally, the point corresponding to the third operational information (e.g., the speed V of tool 18) on the movement trajectory MP1 is emphasized. T1 The point corresponding to the point of change. Furthermore, Figure 8 It is Figure 7 The magnified image obtained by magnifying region B in the image.

[0054] Arrows D1, D2, and D3 shown in image data ID1 are displayed with different colors, shapes, and visual effects (such as flashing), making them visually identifiable. Therefore, the operator can visually identify which operational information each arrow D1, D2, and D3 corresponds to.

[0055] Furthermore, for ease of understanding, in Figure 7 The image data ID1 shown illustrates three types of operational information (e.g., a). T1 d M1 V T1 The examples highlight the points corresponding to the changes in ), but it's also possible to display the 11 types of operational information P.T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Both RM and other elements emphasize the points corresponding to the points of change.

[0056] Thus, in image data ID1, points corresponding to multiple changes in different operational information on the movement trajectory MP1 are emphasized on the movement trajectory MP1 in visually distinct display formats. Therefore, processor 22, as the image data generation unit 58 that generates image data ID1, Figure 1 And thus, to perform its function.

[0057] As described above, in this embodiment, the processor 22 functions as the movement trajectory generation unit 52, the operation information acquisition unit 54, the change point acquisition unit 56, and the image data generation unit 58 of the device 50. These movement trajectory generation unit 52, operation information acquisition unit 54, change point acquisition unit 56, and image data generation unit 58 constitute the device 50.

[0058] The processor 22 sends the generated image data ID1 to the display device 30 via the I / O interface 26, and the display device 30 displays it. Figure 7 and Figure 8 The image data ID1 shown is an example. Furthermore, the processor 22 can also display the image shown on the display device 30 based on the input information input to the input device 32. Figure 7 The image shown is Figure 8 Switch between the magnified images shown.

[0059] According to this embodiment, if a defect occurs on the machined surface of workpiece A when the operator performs operations on workpiece A using industrial machinery 12, the cause of the defect can be easily determined. More specifically, it is assumed that the location of the defect on the machined surface of workpiece A when the operator performs operations on workpiece A using industrial machinery 12 according to machining program WP coincides with (or is close to) the location of the point highlighted in image data ID1.

[0060] In this situation, the operator can immediately determine the corresponding operational information P at a point that coincides with (or is close to) the location of the defect on workpiece A. T1 P M1 V T1 V M1 a T1 a M1 α T1 αM1 d T1 d M1 And which point of change in RM. Therefore, the operator can estimate the cause of the defect because of the determined operational information P. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Or parameters associated with RM.

[0061] As a result, the operator can modify the processing procedure WP or the determined operating information P. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Or parameters associated with RM (command statements in the machining program, control gain G) C (or time constant τ, etc.), which can improve the working accuracy of workpiece A and shorten the start-up time of mechanical system 10.

[0062] Furthermore, the processor 22 can also process various operational information P based on the input information input to the input device 32. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 And in RM, select the points to be highlighted in the image of image data ID1, and only highlight the points corresponding to the selected operational information in the image.

[0063] Reference Figure 9 To illustrate this method. In Figure 9 The image data ID1 shown contains operation information selection image data 60. This operation information selection image data 60 is used to enable operation information P. T1 P M1 V T1 V M1 a T1 a M1α T1 α M1 d T1 d M1 And the selected image data of RM, and display operation information P T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 And RM.

[0064] In addition, Figure 9 In the example shown, regarding the operational information P T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 The RM and RM are respectively set with checkboxes, which are configured to select the operation information P. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Alternatively, a checkmark may be displayed in the checkbox of RM.

[0065] The operator visually recognizes the image data ID1 displayed on the display device 30 and operates the input device 32 (e.g., a mouse) to input the operational information P that they want to emphasize. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Or the input information for RM.

[0066] The processor 22 highlights and displays the selected operating information P based on the input information input to the input device 32. T1 P M1 V T1 V M1 aT1 a M1 α T1 α M1 d T1 d M1 Or the point corresponding to RM, and in the selected operation information P T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Alternatively, a checkmark may be displayed in the RM's checkbox. Additionally, in Figure 9 In the example shown, the operation information V is displayed. T1 The selected case. Based on this structure, the operator can easily select the point on the movement trajectory MP1 corresponding to the point of change in the desired operational information and highlight it.

[0067] Furthermore, the processor 22 can also, based on the input information input to the input device 32, generate operation information P corresponding to the points highlighted in the image data ID1. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Alternatively, the associated parameters of RM are displayed in image data ID1. (See reference...) Figure 10 To illustrate this approach.

[0068] exist Figure 10 The image data ID1 shown contains parameter image data 62. This parameter image data 62 is image data displaying the type of operational information and associated parameters related to that operational information. For example, a position P is an associated parameter. T1 and P M1 Speed ​​V T1 and V M1 acceleration a T1 and a M1 α of swiftness T1 and α M1 , direction of movement d T1 and d M1 And the setting value of the operating mode RM, control gain G C Or the time constant τ, etc.

[0069] exist Figure 10In the example shown, parametric image data 62 displays the types of operational information corresponding to the points highlighted by arrow D3 (i.e., tool speed V). T1 ), and V as the operational information T1 The control gain G of the associated parameter C The value of the control gain G C The identification number, the value of the time constant τ, and the identification number of that time constant τ, along with the corresponding machining program WP command statement (containing information such as the target position coordinates and the length of the minute line segment). For example... Figure 10 As shown, for the control gain G C The control gain G is assigned an identification number based on the time constant τ, and the control gain G can be retrieved based on this identification number. C Information on the setting of time constant.

[0070] The operator visually recognizes the image data ID1 displayed on the display device 30 and operates the input device 32 (e.g., a mouse) to input information for selecting the points (arrows D1, D2, D3) highlighted in the image data ID1. The processor 22, based on the input information input to the input device 32, processes the operation information P corresponding to the selected point (arrows D1, D2, D3). T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Alternatively, the associated parameters of RM are displayed in image data ID1.

[0071] Based on this structure, assuming that the location of a defect on workpiece A coincides with (is close to) the location of a point highlighted in image data ID1, the operator can refer to operational information P, which may be the cause of the defect. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Alternatively, you can use the associated parameters of RM to verify the cause in more detail.

[0072] Next, refer to Figure 11The mechanical system 100 involved in other embodiments will be described below. The mechanical system 100 differs from the mechanical system 10 described above in that it is an industrial machine 102. Specifically, the industrial machine 102 not only has a moving mechanism 16 and a tool 18, but also a sensor 104.

[0073] Sensor 104, for example, is a rotation detection sensor such as an encoder or Hall element, or a force sensor such as a torque sensor or force sensor, used to detect the position P of the rotating shaft of motor 20. M2 The torque applied to the rotating shaft, or the force applied to the moving mechanism 16. Sensor 104 will detect the position P. M2 The torque or force is sent as feedback information FB to the processor 22 via the I / O interface 26.

[0074] The processor 22 receives feedback information FB detected by the sensor 104 when the industrial machinery 102 is operated according to the work procedure WP. For example, the processor 22 acquires the feedback information FB detected by the sensor 104 when the industrial machinery 102 is operated according to the work procedure WP to actually perform work on the workpiece A using the tool 18.

[0075] Alternatively, the processor 22 may acquire feedback information FB, which is information detected by the sensor 104 when the industrial machinery 102 is operated according to the work procedure WP without performing actual work using the tool 18 (e.g., without starting the tool 18 or with the tool 18 removed from the moving mechanism 16).

[0076] Processor 22 bases its data on feedback information FB (specifically, position P) from sensor 104. M2 Find the position P of tool 18 relative to workpiece A when the industrial machinery 102 operates according to the work procedure WP. T2 Then, processor 22 functions as a motion trajectory generation unit 52, generating the trajectory of industrial machinery 102 from position P in three-dimensional space. T2 The starting trajectory MP2 (second trajectory).

[0077] The movement trajectory MP2 corresponds to the actual movement trajectory of the moving mechanism 16 when the industrial machinery 102 operates according to the work procedure WP. Figure 3 and Figure 12 An example of the movement trajectory MP2 is shown below. Furthermore, Figure 12 It is Figure 3 The magnified image obtained by magnifying region B. Figure 12 The lines shown constitute the movement trajectory MP2.

[0078] In addition, the processor 22 functions as an operation information acquisition unit 54, and is used to obtain the position P from the feedback information FB. T2 and P M2 Speed ​​V T2 and V M2 acceleration a T2 and a M2 α of swiftness T2 and α M2 , direction of movement d T2 and d M2 The time-series data is used as operational information. Here, the position P of tool 18 relative to workpiece A is... T2 Speed ​​V T2 acceleration a T2 α of swiftness T2 and the direction of movement d T2 The speed V of the rotating shaft of motor 20 M2 acceleration a M2 α of swiftness M2 and the direction of movement d M2 It can be based on the feedback information FB (position P of the rotation axis) from sensor 104 M2 Find the answer.

[0079] Then, the processor 22 functions as the change point acquisition unit 56, and works with the aforementioned operating information P. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 Similarly, the method for obtaining the change point is to obtain the position P. T2 and P M2 Speed ​​V T2 and V M2 acceleration a T2 and a M2 α of swiftness T2 and α M2 and the direction of movement d T2 and d M2 The position P in time series data within a specified time δt T2 and P M2 Speed ​​V T2 and V M2 acceleration a T2 and a M2 α of swiftness T2 and α M2 and the direction of movement d T2and d M2 The respective changes δ2 exceed the specified threshold δ th2 The points of change.

[0080] Processor 22 acquires position P from time series data T2 and P M2 Speed ​​V T2 and V M2 acceleration a T2 and a M2 α of swiftness T2 and α M2 and the direction of movement d T2 and d M2 The points on the movement trajectory MP2 corresponding to the points of change and the time point t0 at which the point of change occurs are used to determine the points of change.

[0081] Here, the operation information P T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 and d M2 The time-series data and the movement trajectory MP2 are acquired based on the feedback information FB and are correlated with each other via time t. Therefore, the processor 22 can retrieve and determine the operational information P on the movement trajectory MP2 that is obtained from the feedback information FB. T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 and d M2 The point corresponding to the time point t0 when the change occurs.

[0082] Then, the processor 22 functions as the image data generation unit 58, generating image data ID2, which is the image data ID2 that combines the movement trajectory MP2 with the operation information P. T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 and d M2The points corresponding to the changes are highlighted on the movement trajectory MP2 using visually distinct display methods. Figure 7 and Figure 13 The image shows an example of image data ID2.

[0083] exist Figure 7 In the example shown, arrow D1 is used to emphasize the movement trajectory MP2 and the first operational information (e.g., the acceleration a of tool 18). T2 The point corresponding to the change point of ) is shown. Additionally, arrow D2 is used to emphasize the movement trajectory MP2 and its relationship to the second operational information (e.g., the direction of movement d of the rotation axis of motor 20). M2 The point corresponding to the change point of ) is also highlighted by arrow D3. Additionally, the point corresponding to the third operational information (e.g., the movement speed V of tool 18) on the movement trajectory MP2 is emphasized. T2 The point corresponding to the point of change.

[0084] Arrows D1, D2, and D3 shown in image data ID2 are displayed with different colors, shapes, and visual effects (such as flashing), making them visually identifiable. Therefore, the operator can visually identify which operational information each arrow D1, D2, and D3 in image data ID2 corresponds to.

[0085] Furthermore, for ease of understanding, in Figure 7 The image data ID2 shown illustrates three types of operational information (e.g., a). T2 d M2 V T2 The examples highlight the points corresponding to the changes in ), but it's also possible to display examples for all 10 types of operational information P. T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 and d M2 All points corresponding to the points of change are highlighted.

[0086] Thus, in image data ID2, points on the movement trajectory MP2 corresponding to multiple operational information changes that are different from those obtained from feedback information FB are highlighted on the movement trajectory MP2 in visually different display formats. Furthermore, processor 22 can also, based on input information input to input device 32, display the image displayed by display device 30. Figure 7 The image shown is Figure 12Switching between the magnified images shown. According to this embodiment, when an operator performs workpiece A on the machined surface of workpiece A while operating the industrial machinery 102, the cause of the defect can be easily determined.

[0087] In addition, such as Figure 9 As shown, the processor 22 of the mechanical system 100 can also process multiple operating information Ps based on the input information input to the input device 32. T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 and d M2 Select the points to highlight in the image data ID2, and only highlight the points corresponding to the selected operational information in the image.

[0088] In addition, such as Figure 10 As shown, the processor 22 of the mechanical system 100 can also, based on the input information input to the input device 32, process the operation information P corresponding to the points highlighted in the image data ID2. T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 Or d M2 The associated parameters are displayed in image data ID2.

[0089] In addition, the processor 22 of the mechanical system 100 can also obtain the position P. T1 and P M1 Speed ​​V T1 and V M1 acceleration a T1 and a M1 α of swiftness T1 and α M1 , direction of movement d T1 and d M1 and time series data of operating mode RM, and location P T2 and P M2 Speed ​​V T2 and V M2 acceleration a T2 and a M2 α of swiftness T2 and α M2 , direction of movement dT1 and d M1 Time series data is used as operational information.

[0090] In this case, the processor 22 can also highlight the movement trajectory MP2 and the operation information P in the image data ID2. T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 and d M2 The points corresponding to the changes are highlighted, and the movement trajectory MP2 and the operation information P are emphasized. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 And the points corresponding to the changes in RM.

[0091] Additionally, in the mechanical system 100, the processor 22 can also generate both movement trajectories MP1 and MP2, display the movement trajectories MP1 and MP2 in the image data ID2, and emphasize the operation information P on the movement trajectory MP1. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 and the points corresponding to the changes in RM, as well as the movement information P on the movement trajectory MP2 (or movement trajectory MP1). T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 and d M2 The point corresponding to the point of change.

[0092] In addition, processor 22 can also obtain the difference Δ between movement trajectory MP1 and movement trajectory MP2. MP And display the difference Δ in image data ID2.MP .exist Figure 14 This method is shown in the diagram. Furthermore, in... Figure 14 For ease of understanding, a movement trajectory MP1 and a movement trajectory MP2 corresponding to the movement trajectory MP1 are shown.

[0093] For example, processor 22 will calculate the difference Δ between the movement trajectory MP1 and the movement trajectory MP2. MP The corresponding region E is displayed as a colored region (e.g., a red region). Additionally, the processor 22 can also, based on the input information input to the input device 32, determine the difference Δ in the image data ID2. MP (That is, region E) is enlarged for display.

[0094] Furthermore, in the above-described embodiment, as operation information P T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 P T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 Or d M2 Not limited to Figure 5 The processor 22 can acquire time-series data of discrete numerical data arranged in a time series, in addition to the continuous analog signal time-series data shown. Alternatively, the processor 22 can acquire simple numerical data as operational information instead of time-series data.

[0095] In addition, as operational information RM, it is not limited to Figure 6 The time-series data shown can, for example, be used to obtain instructions for switching the operating mode RM of industrial machinery 12 or information about time t0 as operating information RM. Furthermore, in the above embodiment, the change point acquisition unit 56 can be omitted. In this case, for example, the operator can obtain the operating information P from the time-series data. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 dT1 d M1 RM, P T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 Or d M2 The points of change for these operational information are manually identified and entered into the time series data.

[0096] Furthermore, in the above-described embodiment, it is described how the movement trajectory MP and the operation information P are controlled by arrows D1, D2, and D3. T1 P M1 V T1 V M1 a T1 a M1 α T1 α M1 d T1 d M1 RM, P T2 P M2 V T2 V M2 a T2 a M2 α T2 α M2 d T2 d M2 The points corresponding to the points of change are highlighted. However, this is not a limitation; points on the movement trajectory MP corresponding to the points of change can be highlighted using any display format (e.g., colored dots, triangles, or squares). The present disclosure has been described above through embodiments, but it is not intended to limit the invention as defined in the claims.

Claims

1. An apparatus that generates image data of a movement locus of an industrial machine, comprising: a movement locus generation unit that generates a movement locus of the industrial machine when a workpiece is worked; an operation information acquisition unit that acquires time series data that shows a change in operation information of the industrial machine during working of the workpiece with respect to time in a time series; a change point acquisition unit that acquires a first change point of a first change in operation information from the time series data, determines a first time point at which the first change point occurs in the time series data, determines a first point on the movement locus that corresponds to the determined first time point, and acquires a second change point of a second change in operation information different from the first operation information from the time series data, determines a second time point at which the second change point occurs in the time series data, and determines a second point on the movement locus that corresponds to the determined second time point; and an image data generation unit that generates image data in which the determined first point and second point are displayed in visually different display forms on the movement locus. 2.The apparatus according to claim 1, wherein the operation information includes a position, a speed, an acceleration, a jerk, a moving direction, or an operation mode of the industrial machine. 3.The apparatus according to claim 2, wherein the time series data shows a change in the position, the speed, the acceleration, the jerk, the moving direction, or the operation mode with respect to time in a time series. 4.The apparatus according to claim 3, wherein the change point acquisition unit acquires, in the time series data: the first change point or the second change point at which a change amount of the position, the speed, the acceleration, the jerk, or the moving direction within a prescribed time exceeds a prescribed threshold; or the first change point or the second change point at which a first operation mode is switched to a second operation mode. 5.The apparatus according to any one of claims 1 to 4, wherein the operation information acquisition unit acquires the operation information from a work program for performing work on the workpiece; or acquires the operation information from feedback information detected when the industrial machine is operated in accordance with the work program. 6.The apparatus according to any one of claims 1 to 4, wherein the movement locus generation unit generates the following loci: a first movement locus prescribed by a work program for performing work on the workpiece; and a second movement locus when the industrial machine is operated in accordance with the work program, and the image data generation unit generates the image data that displays the first movement locus and the second movement locus. 7.The apparatus according to claim 5, wherein the movement locus generation unit generates the following loci: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ by a first movement locus prescribed by a work program for performing a work on the workpiece; and a second movement locus of the industrial machine when the industrial machine is operated in accordance with the work program, the image data generation section generates the image data showing the first movement locus and the second movement locus.

8. The apparatus according to claim 6, wherein the image data generation section generates the image data in a manner that enables enlarged display of a difference between the first movement locus and the second movement locus.

9. The apparatus according to claim 7, wherein the image data generation section generates the image data in a manner that enables enlarged display of a difference between the first movement locus and the second movement locus.

10. A control apparatus comprising the apparatus according to any one of claims 1 to 9, which is a control apparatus of the industrial machine.

11. A method of generating image data of a movement locus of an industrial machine, wherein a movement locus of the industrial machine when a work is performed on a workpiece, acquiring time series data showing, in a time series, a change in operation information of the industrial machine during performance of the work on the workpiece with respect to time, retrieving, from the time series data, a first change point of a first change in operation information, determining, in the time series data, a first time point at which the first change point is generated, and determining a first point on the movement locus corresponding to the determined first time point, retrieving, from the time series data, a second change point of a second change in operation information different from the first change in operation information, determining, in the time series data, a second time point at which the second change point is generated, and determining a second point on the movement locus corresponding to the determined second time point generating image data in which the determined first point and second point are emphasized on the movement locus in visually different display forms.

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