Trajectory determination system, trajectory determination method, and program

Abstract

The present disclosure addresses the problem of keeping a maximum trajectory error and a takt time within allowable ranges desired by a user. This trajectory determination system (1) comprises an acquisition unit (131) and a determination unit (134). The acquisition unit (131) acquires control information pertaining to a control target (30). The determination unit (134) determines a target trajectory for the control target (30) on the basis of trajectory characteristics of the control target (30), the trajectory characteristics being obtained on the basis of the control information and indicating the relationship between the maximum trajectory error that is allowed as an error in the trajectory of the control target (30) and the takt time for the control target (30).

Description

Orbit determination system, orbit determination method and program

[0001] The present disclosure generally relates to an orbit determination system, an orbit determination method, and a program, and more particularly to an orbit determination system, an orbit determination method, and a program for determining the orbit of a controlled object.

[0002] 2. Description of the Related Art Conventionally, a technique for controlling the trajectory of a control target when machining a corner portion is known (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a numerical control device (trajectory determination system) that calculates corner speed so that it is equal to or less than an allowable amount of inner turn during movement around a corner. This numerical control device calculates the corner speed from the allowable amount of inner turn, the acceleration of pre-interpolation acceleration / deceleration, the acceleration / deceleration time constant of post-interpolation acceleration / deceleration, and the directional angle between the direction of the command path in the pre-corner block and the direction of the command path in the post-corner block, so that the amount of inner turn caused by the accumulation of post-interpolation acceleration / deceleration is equal to or less than the allowable amount of inner turn.

[0004] By using the numerical control device (trajectory determination system) disclosed in Patent Document 1, the maximum trajectory error at the corner can be kept within the range desired by the user. However, there are cases where machining cannot be completed within the takt time desired by the user.

[0005] JP 2013-069123 A

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide an orbit determination system, an orbit determination method, and a program that can keep the maximum orbit error and takt time within an acceptable range desired by a user.

[0007] According to an aspect of the present disclosure, there is provided an orbit determination system including: an acquisition unit; and a determination unit. The acquisition unit acquires control information for a control object. The determination unit determines a target orbit for the control object based on orbit characteristics obtained based on the control information, the orbit characteristics indicating a relationship between a maximum orbit error allowable as an error in the orbit of the control object and a takt time for the control object.

[0008] An orbit determination method according to one aspect of the present disclosure includes an acquisition step and a determination step. In the acquisition step, control information of a control object is acquired. In the determination step, a target trajectory for the control object is determined based on trajectory characteristics obtained based on the control information, the trajectory characteristics indicating a relationship between a maximum trajectory error allowable as an error in the trajectory of the control object and a takt time for the control object.

[0009] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the orbit determination method.

[0010] FIG. 1 is a block diagram showing the configuration of an orbit determination system according to an embodiment and the configuration of an integrated system including the orbit determination system. FIG. 2A is a conceptual diagram illustrating the relationship between the movement speed along the X1 axis and the movement speed along the Y1 axis when the overlap time is 0. FIG. 2B is a conceptual diagram illustrating the trajectory of a stage included in a controlled object when the overlap time is 0. FIG. 3A is a conceptual diagram illustrating the relationship between the movement speed along the X1 axis and the movement speed along the Y1 axis when the overlap time is greater than 0. FIG. 3B is a conceptual diagram illustrating the trajectory of a stage included in the controlled object when the overlap time is greater than 0. FIG. 4 is a graph showing trajectory characteristics. FIG. 5 is a screen diagram showing an example of a display of the orbit characteristics and a target trajectory in the controlled object. FIG. 6 is a screen diagram showing an example of a change in the display of the orbit characteristics and the target trajectory in the controlled object. FIG. 7 is a flowchart showing the operation of the controlled object. FIG. 8 is a screen diagram showing an example of a display of the orbit characteristics and the target trajectory in a first modification.

[0011] The embodiments and modifications described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiments and modifications. Various modifications other than the following embodiments and modifications are possible depending on the design, etc., as long as they do not deviate from the technical concept of the present disclosure.

[0012] (Embodiment) Hereinafter, an orbit determination system 1 according to this embodiment will be described with reference to Figs.

[0013] (1) Overview As shown in Fig. 1, the orbit determination system 1 includes an acquisition unit 131 and a determination unit 134. The acquisition unit 131 acquires control information for the control object 30. The determination unit 134 determines a target orbit for the control object 30 based on orbit characteristics of the control object 30 obtained based on the control information. The orbit characteristics indicate the relationship between the maximum orbit error allowable as an error in the orbit of the control object 30 and the takt time for the control object 30.

[0014] With this configuration, the target trajectory is determined based on the trajectory characteristics that indicate the relationship between the maximum trajectory error and the takt time, so that the maximum trajectory error and the takt time can be set within the allowable range desired by the user. In this embodiment, the takt time is the time it takes for the control object 30 to move from the start position to the destination position.

[0015] In this embodiment, the control target 30 will be described assuming, as an example, that it is a two-axis stage (machine) that is a two-axis machine (multi-axis machine) with an X axis and a Y axis. The two-axis stage is a positioning stage with two axes: an "X axis" that moves left and right, and a "Y axis" that moves back and forth.

[0016] As shown in FIG. 1 , the integrated system 1000 includes an orbit determination device 10 as an orbit determination system 1 , a control device 20 , and a controlled object 30 .

[0017] The control device 20 is, for example, a motion controller, and controls the trajectory of the control object 30 based on the target trajectory determined by the orbit determination device 10 serving as the orbit determination system 1. That is, the control device 20 controls the left-right movement and the front-back movement of the control object 30 based on the target trajectory determined by the orbit determination device 10.

[0018] 1, the control target 30 includes a stage 31 (base), an X-axis 32 that can move the stage 31 in the X-axis direction, and a Y-axis 33 that can move the stage 31 in the Y-axis direction. A processing machine (such as a laser processing machine, a cutting machine, or a coating device) is placed on the stage 31.

[0019] As shown in FIG. 1, the X-axis 32 includes a first motor M1 (servo motor) and an X-axis amplifier A1 that drives and controls the first motor M1. The first motor M1 is, for example, a rotary motor, but may also be a linear motor. As shown in FIG. 1, the Y-axis 33 includes a second motor M2 (servo motor) and a Y-axis amplifier A2 that drives and controls the second motor M2. The second motor M2 is, for example, a rotary motor, but may also be a linear motor. The X-axis 32 and Y-axis 33 are synchronously controlled so that the stage 31 moves to a predetermined X-Y coordinate position.

[0020] The control device 20 executes motion control of the control target 30 (synchronous control of the X-axis 32 and the Y-axis 33) based on the target trajectory determined by the orbit determination device 10. The control device 20 is communicatively connected to the control target 30. Specifically, the control device 20 is communicatively connected to each of the X-axis amplifier A1 and the Y-axis amplifier A2 individually. The control device 20 is also communicatively connected to the orbit determination device 10.

[0021] (2) Configuration (2.1) Orbit Determination Device Here, the configuration of the orbit determination device 10 will be described.

[0022] As shown in FIG. 1, the orbit determination device 10 includes a display unit 11, an operation unit 12, and a control unit 13.

[0023] The orbit determination device 10 includes a computer system having, for example, one or more processors and a memory. The processor executes a program stored in the memory, causing the computer system to function as the control unit 13. The program executed by the processor is pre-recorded in the memory of the computer system here, but may also be provided by being recorded on a non-transitory recording medium such as a memory card, or via a telecommunications line such as the Internet.

[0024] The display unit 11 is a thin display device such as a liquid crystal display or an organic electroluminescence (EL) display. The display unit 11 displays information related to trajectory characteristics. The display unit 11 displays, for example, a graph G1 (see FIGS. 4 and 5 ) representing the trajectory characteristics as the information related to the trajectory characteristics. Furthermore, the display unit 11 displays a target trajectory H1 (see FIG. 5 ) for the control object 30 determined based on the trajectory characteristics. In this embodiment, as shown in FIG. 5 , the display unit 11 displays the target trajectory H1 together with the graph G1 representing the trajectory characteristics. Hereinafter, the graph G1 may be referred to as the trajectory characteristic G1.

[0025] The operation unit 12 includes a keyboard, a mouse, etc., and accepts operations by a user. When the display unit 11 displays the trajectory characteristic G1, the operation unit 12 accepts a combination of a takt time and a maximum trajectory error included in the trajectory characteristic G1 as a specified point.

[0026] The orbit determination device 10 may include a touch panel display. In this case, the touch panel display functions as the display unit 11 and the operation unit 12.

[0027] As shown in FIG. 1 , the control unit 13 includes an acquisition unit 131 , a generation unit 132 , a display processing unit 133 , a determination unit 134 , and an output unit 135 .

[0028] The acquisition unit 131 acquires control information of the control target 30. For example, the acquisition unit 131 acquires the control information from a storage medium such as a memory. The control information includes a feed rate, a maximum acceleration, and multiple target coordinates. The multiple target coordinates include one corner coordinate and one end point coordinate. The corner coordinate is a coordinate that represents a position (corner) where the stage 31 turns. The end point coordinate is a coordinate that represents the final position when the stage 31 moves in one control by the control device 20. The control information is expressed in NC (Numerically Controlled) code. That is, the maximum acceleration and multiple target coordinates are expressed in NC code.

[0029] The generation unit 132 generates the track characteristics G1 based on the control information acquired by the acquisition unit 131. That is, the generation unit 132 generates the track characteristics G1 based on the feed rate and the maximum acceleration. In other words, the track characteristics G1 are generated based on the feed rate and the maximum acceleration.

[0030] In this embodiment, the generation unit 132 calculates the time (takt time) T from the start point including one corner to the end point using the following formula (1). Here, the variable a in formula (1) represents the maximum acceleration. The variable v in formula (1) represents the feed speed. The variable t in formula (1) ｃ represents the overlap time. In the following description, the overlap time is referred to as the overlap time t ｃ The overlap time t ｃ is the time when the movement of the stage 31 along the X1 axis (see FIGS. 2B and 3B) and the movement of the stage 31 along the Y1 axis (see FIGS. 2B and 3B) overlap.

[0031]

[0032] Furthermore, the generation unit 132 calculates the maximum trajectory error e using the following equation (2): ｍａｘ Here, the variable θ in equation (2) is calculated. １ represents the angle between the X axis and the X1 axis (see FIGS. 2B and 3B). ２ represents the angle between the X axis and the Y1 axis (see FIGS. 2B and 3B). Hereinafter, the angle between the X axis and the X1 axis will be referred to as angle θ １ , the angle θ between the X axis and the Y1 axis ２ It may be written as follows.

[0033]

[0034] The generation unit 132 calculates the overlap time t ｃ By changing the tact time T and the maximum trajectory error e ｍａｘ The generating unit 132 calculates a plurality of pairs of the calculated takt time T and the maximum trajectory error e ｍａｘ The set of and is plotted on a two-dimensional plane with the vertical axis representing the maximum trajectory error and the horizontal axis representing the takt time, and the trajectory characteristic G1 is generated (obtained).

[0035] 2A to 3B show the overlap time t ｃ and the trajectory of the stage 31.

[0036] FIG. 2A shows the overlap time t ｃ represents the moving speed of the stage 31 when is "0". Specifically, the line segment G11 from time "0" to "t1" in FIG. 2A represents the moving speed in the X1-axis direction. The line segment G21 from time "t1" to "t2" in FIG. 2A represents the moving speed in the Y1-axis direction. ｃ is "0", the stage 31 moves in the X1-axis direction from time "0" to "t1", and then stops moving. After that, the stage 31 moves in the Y1-axis direction from time "t1" to "t2". As a result, the overlap time t ｃ When is "0", the trajectory of the stage 31 is formed by a straight line L1 and a straight line L2, as shown in FIG. 2B.

[0037] FIG. 3A shows the overlap time t ｃ represents the moving speed of the stage 31 when is greater than "0". Specifically, the line segment G11 from time "0" to "t11" in FIG. 3A represents the moving speed in the X1-axis direction. The line segment G21 from time "t21" to "t22" in FIG. 3A represents the moving speed in the Y1-axis direction. ｃ is greater than "0", so that the movement of the stage 31 in the X1-axis direction and the movement of the stage 31 in the Y1-axis direction overlap from time "t21" to "t11". As a result, the overlap time t ｃ When is greater than "0", the trajectory L3 of the stage 31 has a curved trajectory at the corner where the stage 31 turns, as shown in FIG. 3B. In this case, the length (distance) from the tip of the curve to the X1 axis is equal to the maximum trajectory error e ｍａｘ (See FIG. 3B) and is calculated using equation (2).

[0038] Here, from equation (1), the overlap time t ｃ When the time is shortened, the tact time T becomes longer, and the overlap time t ｃ It can be seen that the longer the overlap time t, the shorter the tact time T. ｃ When is shortened, the maximum trajectory error e ｍａｘis small, and the overlap time t ｃ When the time becomes longer, the maximum trajectory error e ｍａｘ As a result, the generation unit 132 generates the track characteristic G1 as shown in FIG.

[0039] The display processing unit 133 displays the trajectory characteristics G1 on the display unit 11. The display processing unit 133 also displays the target trajectory H1 on the display unit 11. Here, the display processing unit 133 displays the target trajectory H1 determined by the determination unit 134 on the display unit 11. As shown in FIG. 5 , the display processing unit 133 displays the target trajectory H1 together with the trajectory characteristics G1 on the display unit 11. The display processing unit 133 displays the trajectory characteristics G1 on the display unit 11 in a first display region R1. The display processing unit 133 displays a specified point P1 on the display unit 11 in the first display region R1. Here, the specified point P1 is a point on the trajectory characteristics G1, and is a point accepted by a user's operation of the operation unit 12. For example, the user designates a point on the trajectory characteristics G1 corresponding to a combination of a desired takt time and a maximum trajectory error as the specified point P1 with a pointer displayed on the display unit 11 by operating a mouse or the like included in the operation unit 12. Furthermore, if the orbit determination device 10 is equipped with a touch panel display, the user designates a point on the orbit characteristic G1 corresponding to the combination of the desired takt time and the maximum orbit error as the designated point P1 by touching the display unit 11. The display processing unit 133 displays the target orbit H1 on the display unit 11 in the second display region R2. The target orbit H1 displayed on the display unit 11 is calculated based on the overlap time t obtained from the designated point P1. ｃ The second display area R2 shows a target trajectory H1 of the stage 31 when the same trajectory characteristic G1 and specified point P1 are applied to the three corners C1, C2, and C3.

[0040] The determination unit 134 determines a target trajectory H1 for the control object 30 based on the trajectory characteristic G1 of the control object 30. Here, the trajectory characteristic G1 is a characteristic obtained based on control information, and indicates the relationship between a maximum trajectory error that is allowable as an error in the trajectory of the control object 30 and the takt time for the control object 30. More specifically, the determination unit 134 obtains a combination of the maximum trajectory error and the takt time desired by the user based on the trajectory characteristic G1, and determines a target trajectory H1 according to the obtained combination.

[0041] The target trajectory H1 is a feed rate, a maximum acceleration, and an angle θ １ , θ ２ and the maximum trajectory error e ｍａｘ The angle θ is determined using １ can be calculated from the starting point and corner coordinates. ２ is calculated from the corner coordinates and the end point coordinates. ｍａｘ is the maximum acceleration, angle θ １ , θ ２ and overlap time t ｃ The feed rate, the maximum acceleration, and the target coordinates (corner coordinates, end point coordinates) are included in the control information acquired by the acquisition unit 131. Therefore, in order to determine the target trajectory H1, the determination unit 134 uses the overlap time t ｃ It is necessary to determine (calculate)

[0042] Hereinafter, the overlap time t ｃ The determination (calculation) of will be explained.

[0043] The determination unit 134 acquires the designated point P1 received by the user through operation of the operation unit 12 when the trajectory characteristic G1 is displayed on the display unit 11. The determination unit 134 applies the control information and the acquired designated point P1 to the following formula (3) or formula (4) to determine the overlap time t ｃ Calculate.

[0044]

[0045]

[0046] When using the formula (3), the determining unit 134 determines the overlap time t using the feed rate and maximum acceleration included in the control information and the tact time T included in the specified point P1. ｃ When using the formula (4), the determination unit 134 calculates the maximum trajectory error e ｍａｘ and the overlap time t ｃ Calculate.

[0047] The determination unit 134 determines the calculated overlap time t ｃ The acquisition unit 131 adds the above-mentioned control information to the control information acquired by the acquisition unit 131 to generate new control information as command data. The determination unit 134 determines the target trajectory H1 by generating the command data. At this time, the display processing unit 133 displays the target trajectory H1 according to the generated command data on the display unit 11. Here, the overlap time t ｃ is expressed as an NC code. That is, the control information and the command data are the same type of code.

[0048] The output unit 135 outputs command data corresponding to the target trajectory H1 to the control device 20 that controls the controlled object 30 based on the command data.

[0049] The determination unit 134 acquires a designated point P1 designated by a user when the track characteristic G1 is displayed on the display unit 11, and determines an overlap time t ｃ The target trajectory H1 is determined by determining the overlap time t corresponding to the new specified point P1. The determined target trajectory H1 is displayed on the display unit 11. In this embodiment, after the target trajectory H1 is displayed, the determination unit 134 is configured to be able to acquire the specified point P1 again. The determination unit 134 acquires a new specified point P1 that is different from the specified point P1 that was previously accepted. When the determination unit 134 acquires the new specified point P1, the determination unit 134 determines the overlap time t corresponding to the new specified point P1. ｃA new target trajectory H1 is determined by determining the specified point P1. The determined new target trajectory H1 is then displayed on the display unit 11. That is, when the user designates the specified point P1 multiple times, the determination unit 134 determines the target trajectory H1 according to the latest designated point P1 (the last designated designated point P1). The target trajectory H1 according to the latest designated point P1 (the last designated designated point P1) is displayed on the display unit 11.

[0050] For example, as shown in FIG. 6 , when designated points P11, P12, and P13 are designated in this order using the trajectory characteristic G1 displayed in the first display area R1, a target trajectory H1 corresponding to the last designated point P13 among the designated points P11 to P13 is displayed in the second display area R2. In FIG. 6 , the target trajectory H1 of the stage 31 is displayed when the same trajectory characteristic G1 and designated point P13 are applied to three corners C31, C32, and C33. That is, the target trajectories at the three corners C11, C12, and C13 corresponding to the designated point P11 and the target trajectories at the three corners C21, C22, and C23 corresponding to the designated point P12 are not displayed. For ease of explanation, the target trajectories at the three corners C11, C12, and C13 corresponding to the designated point P11 and the target trajectories at the three corners C21, C22, and C23 corresponding to the designated point P12, which are not displayed, are shown by dashed lines in FIG.

[0051] (2.2) Control Device The control device 20 has, for example, a computer system having one or more processors and a memory. The processor executes a program stored in the memory, causing the computer system to realize the functions of the control device 20. The program executed by the processor is pre-recorded in the memory of the computer system here, but may also be provided by being recorded on a non-transitory recording medium such as a memory card, or may be provided via a telecommunications line such as the Internet.

[0052] The control device 20 is communicatively connected to the controlled object 30. Specifically, the control device 20 is communicatively connected to each of the X-axis amplifier A1 and the Y-axis amplifier A2. The control device 20 is also communicatively connected to the orbit determination device 10.

[0053] The control device 20 controls the trajectory of the control object 30 based on the target trajectory H1 determined by the orbit determination device 10. That is, the control device 20 controls the left-right and front-back movements of the control object 30 based on the target trajectory H1 determined by the orbit determination device 10. More specifically, the control device 20 executes motion control of the control object 30 (synchronous control of the X-axis 32 and the Y-axis 33) based on command data received from the orbit determination device 10.

[0054] (2.3) Controlled Object As described above, the controlled object 30 is, for example, a two-axis stage (machining machine) that is a two-axis machine (multi-axis machine) having an X axis and a Y axis.

[0055] The control object 30 moves left and right and forward and backward by driving the first motor M1 and the second motor M2 under the control of the control device 20 based on command data (synchronous control of the X axis 32 and the Y axis 33).

[0056] (3) Operation Here, the operation of the orbit determination device 10 will be described with reference to FIG.

[0057] The acquisition unit 131 acquires control information of the control target 30 (step S1). For example, the acquisition unit 131 acquires the control information from a storage medium such as a memory.

[0058] The generating unit 132 generates the track characteristic G1 based on the control information acquired by the acquiring unit 131 (step S2). Specifically, the generating unit 132 calculates the overlap time t ｃ By changing the tact time T and the maximum trajectory error e ｍａｘ The generating unit 132 calculates a plurality of pairs of the calculated takt time T and the maximum trajectory error e ｍａｘ The set of and is plotted on a two-dimensional plane with the vertical axis representing the maximum trajectory error and the horizontal axis representing the takt time, to generate a trajectory characteristic G1.

[0059] The display processing unit 133 causes the track characteristic G1 generated in step S2 to be displayed on the display unit 11 (step S3).

[0060] The determination unit 134 performs a determination process (step S4). That is, the determination unit 134 performs a process of determining a target trajectory H1. The determination unit 134 acquires a designated point P1 accepted by a user's operation on the operation unit 12 while the trajectory characteristic G1 is displayed on the display unit 11. The determination unit 134 applies the control information and the acquired designated point P1 to the above-described formula (3) or formula (4) to determine the overlap time t ｃ The determination unit 134 calculates the calculated overlap time t ｃ The target trajectory H1 is determined by generating new control information as command data by adding the above-mentioned control information to the control information acquired in step S1. At this time, the display processing unit 133 causes the display unit 11 to display the target trajectory H1 according to the generated command data.

[0061] The output unit 135 performs an output process (step S5). The output unit 135 outputs the command data corresponding to the target trajectory H1 to the control device 20, which controls the trajectory of the controlled object 30 based on the command data.

[0062] (4) Advantages As described above, the orbit determination system 1 of this embodiment includes the acquisition unit 131 and the determination unit 134. The acquisition unit 131 acquires control information for the control object 30. The determination unit 134 determines a target orbit for the control object 30 based on the orbit characteristic G1 of the control object 30 obtained based on the control information. The orbit characteristic G1 indicates the relationship between the maximum orbit error allowable as an error in the orbit of the control object 30 and the takt time for the control object 30.

[0063] According to this configuration, the target trajectory is determined based on the trajectory characteristics that indicate the relationship between the maximum trajectory error and the takt time, so that the maximum trajectory error and the takt time can be set within the allowable range desired by the user.

[0064] (5) Modifications Modifications are listed below. The modifications described below can be applied in appropriate combination with the above-described embodiment.

[0065] (5.1) Modification 1 In the above embodiment, as an example of displaying the track characteristics G1, a case where one track characteristic G1 is applied to a plurality of corners (three in the illustrated example) is shown in FIGS.

[0066] The display processing unit 133 may cause the display unit 11 to display a plurality of trajectory characteristics that correspond one-to-one to the trajectories of a plurality of locations (corners) of the control object 30 .

[0067] In this case, the determination unit 134 acquires a combination of the maximum trajectory error and the takt time desired by the user for each of the plurality of trajectory characteristics, and determines a target trajectory according to the acquired combination of the maximum trajectory error and the takt time for each of the plurality of trajectory characteristics.

[0068] For example, Fig. 8 shows an example in which three trajectory characteristics corresponding one-to-one to the trajectories of three corners are displayed on the display unit 11. The display processing unit 133 causes the display unit 11 to display three trajectory characteristics G41, G42, and G43 corresponding one-to-one to the trajectories of three corners C41, C42, and C43 in the first display region R1. The display processing unit 133 causes the display unit 11 to display three specified points P41, P42, and P43 for each of the three trajectory characteristics G41, G42, and G43 in the first display region R1. Note that Fig. 8 omits the display of "maximum trajectory error," which is the name of the vertical axis of the trajectory characteristics G41, G42, and G43, and "takt time," which is the name of the horizontal axis.

[0069] The display processing unit 133 displays the trajectory of the controlled object 30, including three corners C41, C42, and C43, on the display unit 11 in the second display region R2. At this time, the corner C41 corresponds to the trajectory characteristic G41, the corner C42 corresponds to the trajectory characteristic G42, and the corner C43 corresponds to the trajectory characteristic G43. Furthermore, the target trajectory corresponding to the specified point P41 is displayed at the corner C41, the target trajectory corresponding to the specified point P42 is displayed at the corner C42, and the target trajectory corresponding to the specified point P43 is displayed at the corner C43.

[0070] The user can change the designated points individually for each of the track characteristics G41, G42, and G43.

[0071] When the determination unit 134 receives a specified point multiple times individually for each of the trajectory characteristics G41, G42, and G43, it displays the target trajectory of each of the corners C41 to C43 for the specified point received last for each of the trajectory characteristics G41, G42, and G43.

[0072] (5.2) Modification 2: The control information may include a transport time. In this case, the display processing unit 133 causes the display unit 11 to display, as an initial screen, a screen including a designated point and a target trajectory corresponding to the transport time included in the control information, and trajectory characteristics.

[0073] (5.3) Modification 3 In the above embodiment, the generator 132 is configured to generate the orbit characteristics using the control information, formula (1), and formula (2), but is not limited to this configuration.

[0074] The generation unit 132 may generate trajectory characteristics using control information and a trajectory generation method using any of S-curve acceleration / deceleration, polynomial interpolation, optimization calculation, machine learning, and post-interpolation acceleration / deceleration.

[0075] (5.4) Modification 4 In the above embodiment, the trajectory from the start point where the stage 31 starts moving to the end point where the movement ends in one takt time includes one corner, but this is not limiting. The trajectory in one takt time may include multiple corners.

[0076] (5.5) Modification 5 The orbit determination system 1 may be configured to include the orbit determination device 10 and the control device 20.

[0077] (5.6) Modification 6 In the above embodiment, the control object 30 is configured as a two-axis machining device with an X-axis and a Y-axis. However, this configuration is not limited. The control object 30 is not limited to a "two-axis" configuration, and may be, for example, a three-axis machining device with an X-axis, a Y-axis, and a Z-axis, or a four-axis or five-axis machining device. Furthermore, the machining device is not limited to a "stage." For example, the control object 30 may be an articulated robot. Specifically, the control object 30 may be an arm-type vertical articulated robot. Furthermore, the control object 30 may be a control object with a different drive system. The control object 30 may be, for example, equipment such as a conveying device, or a mobile object such as an automobile, an aircraft, a drone, or a self-propelled vacuum cleaner.

[0078] Alternatively, the control target 30 may be an air conditioner, and commands related to temperature control and air volume control of the air conditioner may be executed in the control method and the control device 20. In other words, the "trajectory" referred to in this disclosure is not limited to a trajectory related to the operation of a processing machine, a mobile object, etc., but may also be a trajectory related to changes in environmental factors such as temperature and air volume.

[0079] (5.7) Modification 7 In the above embodiment, the display processing unit 133 is configured to display the orbit characteristics G1 and the target orbit H1 on the display unit 11 included in the orbit determination system 1, but is not limited to this configuration. The display processing unit 133 may also display the orbit characteristics G1 and the target orbit H1 on a display unit included in an external information terminal such as a smartphone or tablet terminal.

[0080] In this case, the orbit determination system 1 and the information terminal are configured to be able to communicate with each other. The display processing unit 133 communicates with the information terminal to display the orbit characteristics G1 and the target orbit H1 on a display unit provided in the information terminal. The determination unit 134 also receives the specified point P1 through communication with the information terminal and determines the target orbit H1 according to the received specified point P1.

[0081] (Other Modifications) The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design and the like as long as the object of the present disclosure can be achieved.

[0082] Furthermore, functions similar to those of the orbit determination system 1 may be embodied in an orbit determination method, a computer program, or a non-transitory recording medium on which a program is recorded. An orbit determination method according to one aspect includes an acquisition step and a determination step. In the acquisition step, control information of the control object 30 is acquired. In the determination step, a target orbit H1 for the control object 30 is determined based on an orbit characteristic G1 of the control object 30, the orbit characteristic G1 indicating the relationship between a maximum orbit error allowable as an error in the orbit of the control object 30 and a takt time for the control object 30, which is obtained based on the control information. A program according to one aspect causes a computer system to function as the orbit determination method described above.

[0083] The orbit determination system 1 in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the orbit determination system 1 in the present disclosure. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0084] Furthermore, it is not essential for the orbit determination system 1 that multiple functions are integrated into one housing, and the components of the orbit determination system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the orbit determination system 1 may be realized by the cloud (cloud computing) or the like.

[0085] (Summary) As described above, the orbit determination system (1) of the first aspect includes an acquisition unit (131) and a determination unit (134). The acquisition unit (131) acquires control information for a control object (30). The determination unit (134) determines a target orbit (H1) for the control object (30) based on orbit characteristics (G1) of the control object (30) obtained based on the control information. The orbit characteristics (G1) indicate the relationship between a maximum orbit error allowable as an error in the orbit of the control object (30) and the takt time for the control object (30).

[0086] According to this aspect, the target trajectory is determined based on the trajectory characteristics that indicate the relationship between the maximum trajectory error and the takt time, so that the maximum trajectory error and the takt time can be set within the allowable range desired by the user.

[0087] In the orbit determination system (1) of the second aspect, in the first aspect, the control information includes a feed rate, a maximum acceleration, and a plurality of target coordinates for the controlled object (30). The orbit characteristic (G1) is generated based on the feed rate and the maximum acceleration.

[0088] According to this aspect, the trajectory characteristic (G1) can be generated based on the feed rate and the maximum acceleration.

[0089] In the orbit determination system (1) of the third aspect, in the first or second aspect, the control information is expressed in NC code.

[0090] According to this embodiment, the track characteristic (G1) can be obtained without requiring a new code.

[0091] The orbit determination system (1) of the fourth aspect is any one of the first to third aspects, further comprising a display processing unit (133). The display processing unit (133) displays the orbit characteristic (G1) on a display unit (e.g., display unit 11).

[0092] According to this aspect, the user can visually recognize the relationship between the maximum trajectory error and the takt time.

[0093] In the orbit determination system (1) of the fifth aspect, in the fourth aspect, the display processing unit (133) further displays the target orbit (H1) on the display unit.

[0094] According to this embodiment, the user can visually recognize the target trajectory (H1) according to the maximum trajectory error and the takt time.

[0095] In the orbit determination system (1) of the sixth aspect, in the fifth aspect, the determination unit (134) acquires a combination of maximum orbit error and takt time desired by the user based on the orbit characteristics (G1), and determines a target orbit (H1) according to the acquired combination. The display processing unit (133) displays the target orbit (H1) determined by the determination unit (134) on the display unit.

[0096] According to this embodiment, the user can visually recognize the target trajectory (H1) according to the maximum trajectory error and takt time desired by the user.

[0097] In the orbit determination system (1) of the seventh aspect, in the fifth or sixth aspect, the display processing unit (133) displays the target orbit (H1) together with the orbit characteristic (G1) on the display unit.

[0098] According to this embodiment, the user can visually recognize the maximum trajectory error and takt time desired by the user, and the target trajectory (H1) at the same time.

[0099] In the orbit determination system (1) of the eighth aspect, in the fourth aspect, the display processing unit (133) displays on the display unit a plurality of orbit characteristics (G41 to G43) that correspond one-to-one to the orbits of a plurality of locations in the controlled object.

[0100] According to this embodiment, the user can visually recognize a plurality of track characteristics (G41 to G43) corresponding to each of the plurality of track locations.

[0101] In the orbit determination system (1) of the ninth aspect, in the eighth aspect, the determination unit (134) acquires a combination of maximum orbit error and takt time desired by the user for each of a plurality of orbit characteristics (G41 to G43). The determination unit (134) determines a target orbit according to the acquired combination of maximum orbit error and takt time for each of the plurality of orbit characteristics (G41 to G43).

[0102] According to this aspect, the maximum trajectory error and takt time can be set within the allowable range desired by the user for each of the trajectories at a plurality of locations.

[0103] The orbit determination system (1) of a tenth aspect is any one of the first to ninth aspects, further comprising an output unit (135). The output unit (135) outputs command data corresponding to the target orbit (H1) to a control device (20) that controls a controlled object (30) based on the command data.

[0104] According to this aspect, the control device (20) can control the controlled object (30) based on the maximum trajectory error and takt time desired by the user.

[0105] In the orbit determination system (1) of the eleventh aspect, in the tenth aspect, the control information and the command data are the same type of code.

[0106] According to this aspect, since there is no need to convert the control information into command data using other types of code, command data can be easily generated.

[0107] A twelfth aspect of the trajectory determination method includes an acquisition step and a determination step. In the acquisition step, control information for a controlled object (30) is acquired. In the determination step, a target trajectory (H1) for the controlled object (30) is determined based on trajectory characteristics (G1) of the controlled object (30) obtained based on the control information. The trajectory characteristics (G1) indicate the relationship between a maximum trajectory error allowable as an error in the trajectory of the controlled object (30) and a takt time for the controlled object (30).

[0108] According to this aspect, the maximum trajectory error and takt time can be set within the allowable range desired by the user.

[0109] A program according to a thirteenth aspect is a program for causing one or more processors to execute the orbit determination method according to the twelfth aspect.

[0110] According to this aspect, the maximum trajectory error and takt time can be set within the allowable range desired by the user.

[0111] REFERENCE SIGNS LIST 1 Orbit determination system 10 Orbit determination device 11 Display unit 20 Control device 30 Control target 131 Acquisition unit 133 Display processing unit 134 Determination unit 135 Output unit G1 Orbit characteristics (graph) G41, G42, G43 Orbit characteristics H1 Target orbit

Claims

1. An orbit determination system comprising: an acquisition unit that acquires control information of a control object; and a determination unit that determines a target orbit for the control object based on orbit characteristics obtained based on the control information, the orbit characteristics indicating the relationship between a maximum orbit error allowable as an error in the orbit of the control object and a takt time for the control object.

2. The orbit determination system according to claim 1, wherein the control information includes a feed rate, a maximum acceleration, and a plurality of target coordinates for the controlled object, and the orbit characteristics are generated based on the feed rate and the maximum acceleration.

3. The orbit determination system according to claim 1 or 2, wherein the control information is expressed in NC code.

4. An orbit determination system according to any one of claims 1 to 3, further comprising a display processing unit, wherein the display processing unit displays the orbit characteristics on a display unit.

5. The orbit determination system according to claim 4, wherein the display processing unit further displays the target orbit on the display unit.

6. The orbit determination system according to claim 5, wherein the determination unit obtains a combination of the maximum orbit error and the takt time desired by the user based on the orbit characteristics, and determines the target orbit according to the obtained combination, and the display processing unit displays the target orbit determined by the determination unit on the display unit.

7. The orbit determination system according to claim 5 or 6, wherein the display processing unit displays the target orbit together with the orbit characteristics on the display unit.

8. The orbit determination system according to claim 4, wherein the display processing unit causes the display unit to display a plurality of the orbit characteristics that correspond one-to-one to the orbits of a plurality of locations in the controlled object.

9. The orbit determination system described in claim 8, wherein the determination unit obtains a combination of the maximum orbit error and the takt time desired by a user for each of the plurality of orbit characteristics, and determines the target orbit according to the obtained combination of the maximum orbit error and the takt time for each of the plurality of orbit characteristics.

10. The orbit determination system according to any one of claims 1 to 9, further comprising an output unit that outputs command data corresponding to the target orbit to a control device that controls the controlled object based on the command data.

11. The orbit determination system according to claim 10, wherein the control information and the command data are the same type of code.

12. A trajectory determination method comprising: an acquisition step of acquiring control information of a control object; and a determination step of determining a target trajectory for the control object based on trajectory characteristics obtained based on the control information, the trajectory characteristics indicating the relationship between a maximum trajectory error allowable as an error in the trajectory of the control object and a takt time for the control object.

13. A program for causing one or more processors to execute the orbit determination method according to claim 12.

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