Processing system, processing method, and program

Abstract

A processing system (1) comprises a processing head (23), a first position control unit (Z-axis position control unit 223), a second position control unit (Y-axis position control unit 323), a displacement sensor (24), an acquisition unit (first acquisition unit 220), a correction unit (222), and a mode switching unit (221). The displacement sensor (24) is disposed in front of the processing head (23) along a second movement direction, and detects a distance to an object. The acquisition unit acquires movement information related to the relative movement of the processing head (23) with respect to the object in the second movement direction. The correction unit (222) corrects an instruction value on the basis of a detection result of the displacement sensor (24). The mode switching unit (221) switches an operation mode between a first operation mode in which correction by the correction unit (222) is performed, and a second operation mode in which correction by the correction unit (222) is not performed, on the basis of the movement information.

Description

Processing system, processing method and program

[0001] The present disclosure generally relates to a machining system, a machining method, and a program, and more particularly to a machining system, a machining method, and a program for controlling the position of a machining head.

[0002] A system for correcting the distance between a target object to be processed and a processing head is known (see Patent Document 1). The system disclosed in Patent Document 1 adjusts the distance between the target object to be processed and a laser processing head (processing head) with high precision and in real time.

[0003] The system of Patent Document 1 sequentially stores measurement values ​​(displacement information) measured by a height sensor (displacement sensor) in a memory (storage unit). The system sequentially reads the stored measurement values ​​from the memory and calculates a height adjustment value from the control target (instruction value) and the measurement value.

[0004] Japanese Patent Application Laid-Open No. 2008-212941

[0005] In the system of Patent Document 1, the distance between the object and the processing head is corrected based on the measurement value and the control target. However, in this system, the measurement value is sequentially stored in memory in order to correct the distance between the object and the processing head, which increases the processing load.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a processing system, a processing method, and a program that can reduce the processing load.

[0007] A machining system according to one aspect of the present disclosure includes a machining head, a first position control unit, a second position control unit, a displacement sensor, an acquisition unit, a correction unit, and a mode switching unit. The machining head processes an object. The first position control unit acquires an instruction value and controls a first motor based on the acquired instruction value to change the relative position of the machining head with respect to the object along a first movement direction toward the object. The second position control unit controls a second motor to change the relative position of the machining head with respect to the object along a second movement direction perpendicular to the first movement direction. The displacement sensor is disposed ahead of the machining head along the second movement direction and detects the distance to the object. The acquisition unit acquires movement information related to the relative movement of the machining head with respect to the object in the second movement direction when the second position control unit controls the second motor. The correction unit corrects the instruction value based on the detection result of the displacement sensor. The mode switching unit switches the operation mode between a first operation mode in which the correction unit performs correction and a second operation mode in which the correction unit does not perform correction, based on the movement information. When the operation mode is the first operation mode, the first position control unit controls the first motor based on the corrected instruction value so as to change the position of the machining head.

[0008] A machining system according to one aspect of the present disclosure includes a machining head, a first position control unit, a second position control unit, a displacement sensor, an acquisition unit, a correction unit, and a mode switching unit. The machining head processes an object. The first position control unit acquires an instruction value and controls a first motor based on the acquired instruction value to change the relative position of the machining head with respect to the object along a first movement direction toward the object. The second position control unit controls a second motor to change the relative position of the machining head with respect to the object along a second movement direction perpendicular to the first movement direction. The displacement sensor is disposed ahead of the machining head along the second movement direction and detects the distance to the object. The acquisition unit acquires movement information related to the relative movement of the machining head with respect to the object in the second movement direction when the second position control unit controls the second motor. The correction unit corrects the instruction value based on the detection result of the displacement sensor. The mode switching unit switches the operating mode between a first operating mode in which the detection period for the displacement sensor to detect the distance to the target object is set as a first period, and a second operating mode in which the detection period is set as a second period longer than the first period, based on the movement information.

[0009] A machining method according to one aspect of the present disclosure is used in a machining system including a machining head and a displacement sensor. The machining head machines an object. The displacement sensor is disposed ahead of the machining head along a second movement direction perpendicular to a first movement direction in which the machining head moves toward the object, and detects the distance to the object. The machining method includes a first position control step, a second position control step, an acquisition step, a correction step, and a mode switching step. In the first position control step, an instruction value is acquired, and a first motor is controlled to change the position of the machining head along the first movement direction based on the acquired instruction value. In the second position control step, a second motor is controlled to change the position of the machining head along the second movement direction. In the acquisition step, movement information related to the movement of the machining head in the second movement direction is acquired by controlling the second motor in the second position control step. In the correction step, the instruction value is corrected based on the detection result of the displacement sensor. In the mode switching step, the operation mode is switched between a first operation mode in which the correction is performed in the correction step and a second operation mode in which the correction is not performed in the correction step, based on the movement information. In the first position control step, when the operation mode is the first operation mode, the first motor is controlled based on the corrected instruction value so that the position of the machining head is changed.

[0010] A machining method according to one aspect of the present disclosure is used in a machining system including a machining head and a displacement sensor. The machining head machines an object. The displacement sensor is disposed ahead of the machining head along a second movement direction perpendicular to a first movement direction in which the machining head moves toward the object, and detects the distance to the object. The machining method includes a first position control step, a second position control step, an acquisition step, a correction step, and a mode switching step. In the first position control step, an instruction value is acquired, and a first motor is controlled to change the position of the machining head along the first movement direction based on the acquired instruction value. In the second position control step, a second motor is controlled to change the position of the machining head along the second movement direction. In the acquisition step, movement information related to the movement of the machining head in the second movement direction is acquired by controlling the second motor in the second position control step. In the correction step, the instruction value is corrected based on the detection result of the displacement sensor. In the mode switching step, the operation mode is switched between a first operation mode in which the detection period for the displacement sensor to detect the distance to the object is set to a first period, and a second operation mode in which the detection period is set to a second period longer than the first period, based on the movement information.

[0011] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute any of the above processing methods.

[0012] According to the present disclosure, it is possible to reduce the processing load.

[0013] Fig. 1 is a block diagram showing the configuration of a processing system according to an embodiment, Fig. 2 is a schematic configuration diagram of the processing system, and Fig. 3 is a flowchart showing the operation of the processing system.

[0014] 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.

[0015] (Embodiment) Hereinafter, a processing system 1 according to this embodiment will be described with reference to Figs.

[0016] (1) Overview As shown in FIG. 1 , the machining system 1 includes a machining head 23, a Z-axis position control unit 223 (first position control unit), a Y-axis position control unit 323 (second position control unit), a displacement sensor 24, a first acquisition unit 220 (acquisition unit), a correction unit 222, and a mode switching unit 221. The machining head 23 machines an object 50 (see FIG. 2 ). The Z-axis position control unit 223 acquires an instruction value and controls the first motor 200 based on the acquired instruction value to change the relative position of the machining head 23 with respect to the object 50 along a first movement direction D1 (see FIG. 2 ), which is the direction toward the object 50. The Y-axis position control unit 323 controls the second motor 300 to change the relative position of the machining head with respect to the object along a second movement direction D2, which is a direction perpendicular to the first movement direction D1. The displacement sensor 24 is disposed ahead of the machining head 23 along the second movement direction D2 and detects the distance from the object 50. The first acquisition unit 220 acquires movement information related to the relative movement of the machining head with respect to the target object 50 in the second movement direction D2 under the control of the second motor 300 by the Y-axis position control unit 323. The correction unit 222 corrects the instruction value based on the detection result of the displacement sensor 24. The mode switching unit 221 switches the operation mode between a first operation mode in which the correction unit 222 performs correction, and a second operation mode in which the correction unit 222 does not perform correction, based on the displacement information. When the operation mode is the first operation mode, the Z-axis position control unit 223 controls the first motor 200 to change the position of the machining head 23 based on the corrected instruction value.

[0017] According to this configuration, when the operating mode is the second operating mode, the indication value is not corrected, and therefore the detection result of the displacement sensor 24 does not need to be stored in a storage unit (e.g., storage unit 210). This reduces the processing load. In this disclosure, "orthogonal (perpendicular)" refers not only to a state in which the angle between two elements is exactly 90 degrees, but also to a state in which the two elements intersect within a certain margin of error. In other words, the angle between two perpendicular elements falls within a certain range of deviation from 90 degrees (for example, 10 degrees or less). In other words, in this disclosure, "orthogonal" includes a case in which the angle between the two elements is between 80 degrees and 100 degrees.

[0018] In this embodiment, the control target 20 (plant) will be described assuming, as an example, that it is a processing machine. The processing machine is a positioning stage having two axes: a "Y-axis" that moves back and forth, and a "Z-axis" that moves up and down. The control target 20 may be, for example, a coating device other than a processing machine.

[0019] As shown in FIG. 1 , the processing system 1 includes a control device 10 and a controlled object 20 .

[0020] The control device 10 is, for example, a motion controller, and controls the operation during machining of the control target 20. That is, the control device 10 controls the forward / backward movement and the up / down movement of the control target 20.

[0021] The controlled object 20 is, for example, a processing machine (such as a laser processing machine or a cutting machine). The controlled object 20 includes a processing head 23, a displacement sensor 24, a Z axis 21 that can move the processing head 23 and the displacement sensor 24 in the Z axis direction, and a Y axis 22 that can move the processing head 23 and the displacement sensor 24 in the Y axis direction.

[0022] The machining head 23 and the displacement sensor 24 are provided on a Z-axis pole 2 that extends along the first movement direction D1 (Z-axis direction). The Z-axis pole 2 is provided on an X-axis pole 4 that extends along a third direction D3 that is perpendicular to both the first movement direction D1 and the second movement direction D2 (Y-axis direction). The X-axis pole 4 is provided on two Y-axis poles 3 that extend along the second movement direction D2. One of the two ends of the X-axis pole 4 that extend along the third direction D3 is provided on one of the two Y-axis poles 3. The other of the two ends of the X-axis pole 4 that extend along the third direction D3 is provided on the other of the two Y-axis poles 3.

[0023] As shown in Fig. 1, the Z-axis 21 includes a first motor 200 (servo motor) and a first motor drive device 201 that drives and controls the first motor 200. The first motor 200 is, for example, a rotary motor, but may also be a linear motor. As shown in Fig. 1, the Y-axis 22 includes two second motors 300 (servo motors) and a second motor drive device 301 that drives and controls the two second motors 300 so that they are driven synchronously. Each second motor 300 is, for example, a rotary motor, but may also be a linear motor.

[0024] The two second motors 300 are driven synchronously, causing the X-axis pole 4 to move along the second movement direction D2. That is, the Z-axis pole 2 is moved along the second movement direction D2 when the second motor 300 is driven. In other words, the machining head 23 and the displacement sensor 24 are moved along the second movement direction D2 when the second motor 300 is driven.

[0025] When the first motor 200 is driven, the machining head 23 and the displacement sensor 24 move along the first movement direction D1.

[0026] The control device 10 executes operation control of the control target 20. The control device 10 is connected to the control target 20 so as to be able to communicate with them. In particular, the control device 10 is connected to each of the first motor driving device 201 and the second motor driving device 301 so as to be able to communicate with them individually.

[0027] (2) Configuration (2.1) Control Device The control device 10 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 10. 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.

[0028] The control device 10 controls the operation of the control target 20. That is, the control device 10 controls the forward / backward movement and the up / down movement of the control target 20. More specifically, the control device 10 executes the operation control of the control target 20 by transmitting instruction information for controlling the control target 20 to each of the first motor driving device 201 and the second motor driving device 301.

[0029] Here, the instruction information (hereinafter referred to as first instruction information) transmitted to the first motor drive device 201 includes an instruction value. That is, the control device 10 outputs the instruction value. The instruction value is a first movement amount (movement distance) by which the machining head 23 is moved along the first movement direction D1.

[0030] Furthermore, the instruction information (hereinafter referred to as second instruction information) transmitted to the second motor drive device 301 includes movement information. The movement information is information related to the relative movement of the machining head 23 with respect to the object 50 in the second movement direction D2 in the control of the second motor 300 by the Y-axis position control unit 323. In this embodiment, the movement information includes a second movement amount (movement distance) and movement speed for moving the machining head 23 along the second movement direction D2. The second movement amount is the relative movement amount of the machining head 23 with respect to the object 50 in the second movement direction D2. The movement speed is the relative movement speed of the machining head 23 with respect to the object 50 in the second movement direction D2. Hereinafter, the "second movement amount" may be simply referred to as the "movement amount."

[0031] (2.2) Controlled object As shown in FIG. 1, the controlled object 20 includes a machining head 23, a displacement sensor 24, a Z axis 21 that can move the machining head 23 and the displacement sensor 24 in the Z axis direction, and a Y axis 22 that can move the machining head 23 and the displacement sensor 24 in the Y axis direction.

[0032] The processing head 23 processes the object 50. The object 50 is, for example, a glass substrate. However, the object 50 may also be a metal plate, a resin material, or the like.

[0033] The displacement sensor 24 is disposed ahead of the machining head 23 along the second movement direction D2 and detects the distance to the target object 50. The displacement sensor 24 is, for example, an optical displacement sensor. The displacement sensor 24 is configured to be able to communicate with the first motor drive device 201. The displacement sensor 24 is connected to the machining head 23 via a connecting portion. Note that, although the displacement sensor 24 is configured as an optical displacement sensor in this embodiment, it is not limited to this configuration. The displacement sensor 24 may be a linear proximity sensor, an ultrasonic displacement sensor, or a contact-type displacement sensor.

[0034] The Z-axis 21 includes a first motor 200 and a first motor drive device 201. The Y-axis 22 includes one or more second motors 300 and a second motor drive device 301. In this embodiment, the Y-axis 22 includes two second motors 300 and two second motor drive devices 301.

[0035] The first motor 200 is driven by a first motor driving device 201 to move the machining head 23 and the displacement sensor 24 in a first movement direction D1.

[0036] The second motor 300 is driven by a second motor driving device 301 to move the machining head 23 and the displacement sensor 24 in the second movement direction D2.

[0037] The configurations of the first motor driving device 201 and the second motor driving device 301 will be described below.

[0038] (2.2.1) First Motor Driving Device The first motor driving device 201 is configured to be able to communicate with the control device 10 and the displacement sensor 24 .

[0039] As shown in FIG. 1, the first motor driving device 201 includes a storage unit 210 and a control unit 211 .

[0040] The first motor drive device 201 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 211. The program executed by the processor is pre-recorded in the memory of the computer system in this example, 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.

[0041] The storage unit 210 is configured by a device selected from a read-only memory (ROM), a random access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), etc. The storage unit 210 stores the detection results of the displacement sensor 24. Specifically, the storage unit 210 stores the detection results of the displacement sensor 24 in chronological order.

[0042] As shown in FIG. 1 , the control unit 211 includes a first acquisition unit 220 , a mode switching unit 221 , a correction unit 222 , and a Z-axis position control unit 223 .

[0043] The first acquisition unit 220 acquires movement information related to the relative movement of the machining head 23 with respect to the target object 50 in the second movement direction D2 under the control of the second motor 300 by (the Y-axis position control unit 323 of) the second motor driving device 301. In this embodiment, the first acquisition unit 220 acquires the movement information from the second motor driving device 301.

[0044] Furthermore, the first acquisition unit 220 receives first instruction information from the control device 10. That is, the first acquisition unit 220 acquires the first instruction information from the control device 10.

[0045] Furthermore, the first acquisition unit 220 receives the detection results of the displacement sensor 24 from the displacement sensor 24, and stores the received detection results in chronological order in the storage unit 210. That is, the storage unit 210 stores the detection results received by the first acquisition unit 220 in chronological order.

[0046] The mode switching unit 221 switches the operation mode between a first operation mode in which the correction unit 222 performs correction and a second operation mode in which the correction unit 222 does not perform correction, based on the movement information.

[0047] When the operation mode is the second operation mode and the movement speed in the second movement direction D2 is equal to or greater than a first predetermined value, the mode switching unit 221 switches the operation mode from the second operation mode to the first operation mode.

[0048] When the operation mode is the second operation mode and the movement amount in the second movement direction D2 is equal to or greater than a second predetermined value, the mode switching unit 221 switches the operation mode from the second operation mode to the first operation mode.

[0049] The mode switching unit 221 switches the operation mode from the first operation mode to the second operation mode when the operation mode is the first operation mode and the movement speed is equal to or less than a third predetermined value, where the third predetermined value is a value smaller than the first predetermined value.

[0050] When the operation mode is the first operation mode and the movement amount in the second movement direction D2 is equal to or less than a fourth predetermined value, the mode switching unit 221 switches the operation mode from the first operation mode to the second operation mode, where the fourth predetermined value is smaller than the second predetermined value.

[0051] In the present embodiment, when the operation mode is the first operation mode, the displacement sensor 24 performs a process of detecting the distance to the object 50. When the operation mode is the second operation mode, the displacement sensor 24 stops the process of detecting the distance to the object 50. That is, when the operation mode is the first operation mode, the first acquisition unit 220 stores the detection result of the displacement sensor 24 in the storage unit 210. When the operation mode is the second operation mode, the first acquisition unit 220 does not perform a process of detecting the distance to the object 50, and therefore does not store the detection result in the storage unit 210. In other words, the storage unit 210 stores the detection result of the displacement sensor 24 when the operation mode is the first operation mode, and does not store the detection result of the displacement sensor 24 when the operation mode is the second operation mode.

[0052] The correction unit 222 corrects the instruction value included in the first instruction information based on the detection result detected by the displacement sensor 24 and stored in the memory unit 210. The correction unit 222 corrects the instruction value so that the difference between the detection result of the displacement sensor 24 and the instruction value becomes "0". The correction unit 222 corrects the instruction value when the operation mode is the first operation mode, and does not correct the instruction value when the operation mode is the second operation mode. The first motor drive device 201 drives and controls the first motor 200 based on the corrected instruction value when the operation mode is the first operation mode. When the operation mode is the second operation mode, the first motor drive device 201 drives and controls the first motor 200 based on the uncorrected instruction value, i.e., the instruction value output from the control device 10.

[0053] Here, the displacement sensor 24 is disposed ahead of the machining head 23 along the second movement direction D2. Therefore, a positional deviation occurs in the second movement direction D2 between the displacement sensor 24 and the machining head 23. Therefore, a difference occurs between the first position (detection point) of the displacement sensor 24 in the second movement direction D2 when the displacement sensor 24 measures the distance to the object 50 at a certain time and the second position (position) of the machining head 23 in the second movement direction D2 at that time, and therefore a time lag occurs until the machining head 23 reaches the first position.

[0054] Therefore, the correction unit 222 uses the distance and movement speed between the machining head 23 and the displacement sensor 24 to calculate an arrival time, which is the time it takes for the machining head 23 to reach the first position where the displacement sensor 24 detected the distance to the target object 50. The correction unit 222 corrects the instruction value using the detection result when a delay time corresponding to the arrival time has elapsed since receiving the detection result from the displacement sensor 24. For example, the delay time may be the same as the arrival time. Alternatively, the delay time may be shorter than the arrival time, taking into account the communication time from when the displacement sensor 24 outputs the detection result until the first motor drive device 201 receives it, and the calculation time for correcting the instruction value.

[0055] The Z-axis position control unit 223 acquires the instruction value contained in the first instruction information and controls the first motor 200 so that the relative position of the machining head 23 with respect to the object 50 is changed along the first movement direction D1, which is the direction toward the object 50, based on the acquired instruction value.

[0056] When the operation mode is the first operation mode, the Z-axis position control unit 223 controls the first motor 200 so that the position of the machining head 23 is changed based on the corrected instruction value.

[0057] (2.2.2) Second Motor Driving Device The second motor driving device 301 has a control unit 311 as shown in FIG.

[0058] The second motor drive device 301 includes, 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 function as the control unit 311. The program executed by the processor is pre-recorded in the memory of the computer system in this example, 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.

[0059] As shown in FIG. 1, the control unit 311 includes a second acquisition unit 320, a Y-axis position control unit 323, and an output processing unit 324.

[0060] The second acquisition unit 320 receives second instruction information including movement information from the control device 10 .

[0061] The Y-axis position control unit 323 controls the second motor 300 so as to change the relative position of the machining head 23 with respect to the target object 50 along the second movement direction D2. The Y-axis position control unit 323 controls the second motor 300 based on the movement speed included in the second instruction information.

[0062] The output processing unit 324 outputs the movement information included in the second instruction information received by the second acquisition unit 320 to the first motor driving device 201 .

[0063] (3) Operation Here, the operation of the machining system 1 will be described with reference to Fig. 3. At the start of processing, the second operation mode is set as the operation mode.

[0064] The first acquisition unit 220 of the first motor driving device 201 performs an acquisition process (step S1). The first acquisition unit 220 acquires movement information from the second motor driving device 301. The first acquisition unit 220 also acquires first instruction information from the control device 10.

[0065] The mode switching unit 221 determines whether the movement speed included in the movement information is equal to or greater than a first predetermined value (step S2).

[0066] When it is determined that the moving speed is equal to or greater than the first predetermined value ("Yes" in step S2), the mode switching unit 221 switches the operation mode from the second operation mode to the first operation mode (step S3).

[0067] The first motor drive device 201 performs a first control process (step S4). Specifically, the correction unit 222 corrects the instruction value included in the first instruction information based on the detection result of the displacement sensor 24. The Z-axis position control unit 223 controls the first motor 200 based on the corrected instruction value so as to change the position of the machining head 23.

[0068] The first acquisition unit 220 of the first motor driving device 201 performs an acquisition process (step S5). The first acquisition unit 220 acquires the next movement information from the second motor driving device 301. The first acquisition unit 220 also acquires the next first instruction information from the control device 10.

[0069] The mode switching unit 221 determines whether the movement speed included in the movement information is equal to or less than a third predetermined value (step S6).

[0070] If it is determined that the movement speed included in the movement information is equal to or less than the third predetermined value ("Yes" in step S6), the mode switching unit 221 switches the operation mode from the first operation mode to the second operation mode (step S7). When the operation mode is switched from the first operation mode to the second operation mode in step S7, the process proceeds to step S10, which will be described later.

[0071] If it is determined that the movement speed included in the movement information is not less than the third predetermined value ("No" in step S6), the mode switching unit 221 determines whether the movement amount (second movement amount) included in the movement information is less than the fourth predetermined value (step S8).

[0072] If it is determined that the movement amount (second movement amount) included in the movement information is less than or equal to the fourth predetermined value ("Yes" in step S8), the mode switching unit 221 switches the operation mode from the first operation mode to the second operation mode (step S7).

[0073] If the mode switching unit 221 determines that the movement speed included in the movement information is not equal to or less than the fourth predetermined value ("No" in step S8), the process returns to step S4.

[0074] If it is determined that the movement speed is not greater than or equal to the first predetermined value ("No" in step S2), the mode switching unit 221 determines whether the movement amount (second movement amount) included in the movement information is greater than or equal to the second predetermined value (step S9).

[0075] If the mode switching unit 221 determines that the movement amount (second movement amount) is equal to or greater than the second predetermined value ("Yes" in step S9), the process proceeds to step S3.

[0076] If the mode switching unit 221 determines that the movement amount (second movement amount) is not equal to or greater than the second predetermined value ("No" in step S9), the first motor driving device 201 performs a second control process (step S10). Specifically, the Z-axis position control unit 223 of the first motor driving device 201 controls the first motor 200 so as to change the position of the machining head 23 based on the uncorrected instruction value.

[0077] (4) Advantages As described above, the machining system 1 of this embodiment includes the machining head 23, the Z-axis position control unit 223 (first position control unit), the Y-axis position control unit 323 (second position control unit), the displacement sensor 24, the first acquisition unit 220 (acquisition unit), the correction unit 222, and the mode switching unit 221. The machining head 23 machines the target object 50. The Z-axis position control unit 223 acquires an instruction value and controls the first motor 200 based on the acquired instruction value to change the relative position of the machining head 23 with respect to the target object 50 along a first movement direction D1, which is the direction toward the target object 50. The Y-axis position control unit 323 controls the second motor 300 to change the relative position of the machining head with respect to the target object along a second movement direction D2, which is a direction perpendicular to the first movement direction D1. The displacement sensor 24 is disposed ahead of the machining head 23 along the second movement direction D2 and detects the distance to the target object 50. The first acquisition unit 220 acquires movement information related to the relative movement of the machining head with respect to the target object 50 in the second movement direction D2 under the control of the second motor 300 by the Y-axis position control unit 323. The correction unit 222 corrects the instruction value based on the detection result of the displacement sensor 24. The mode switching unit 221 switches the operation mode between a first operation mode in which the correction unit 222 performs correction, and a second operation mode in which the correction unit 222 does not perform correction, based on the displacement information. When the operation mode is the first operation mode, the Z-axis position control unit 223 controls the first motor 200 to change the position of the machining head 23 based on the corrected instruction value.

[0078] According to this configuration, when the operation mode is the second operation mode, the indication value is not corrected, and therefore there is no need to store the detection result of the displacement sensor 24 in the storage unit 210. Therefore, the processing load can be reduced.

[0079] (5) Modifications Modifications are listed below. The modifications described below can be applied in appropriate combination with the above-described embodiment.

[0080] (5.1) Modification 1 In the above embodiment, the mode switching unit 221 is configured to determine whether to switch the operation mode using the second movement amount (movement amount) and movement speed in the second movement direction D2 included in the movement information included in the instruction information (second instruction information) output from the control device 10. However, the present invention is not limited to this configuration.

[0081] The movement amount (second movement amount) and movement speed may be actual measured values. The movement amount (second movement amount) and movement speed included in the movement information may be information obtained from measurement results of the operation of the second motor 300. For example, the second motor drive device 301 acquires the rotation speed of the second motor 300 and measures (calculates) the second movement amount (movement amount) and movement speed of the machining head 23 in the second movement direction D2 based on the acquired rotation speed. The second motor drive device 301 outputs the measured second movement amount and movement speed of the machining head 23 to the first motor drive device 201. The first acquisition unit 220 acquires the second movement amount and movement speed of the machining head 23 measured by the second motor drive device 301, i.e., movement information. In other words, the first acquisition unit 220 acquires the movement information obtained from information related to the operation of the second motor 300. The correction unit 222 determines whether to switch the operation mode using the movement information (second movement amount and movement speed) acquired by the first acquisition unit 220. That is, the correction unit 222 determines whether to switch the operation mode using the second movement amount (movement amount) and movement speed measured by the second motor driving device 301.

[0082] (5.2) Modification 2 In the above embodiment, the first operation mode is an operation mode in which the correction unit 222 corrects the indication value, and the second operation mode is an operation mode in which the correction unit 222 does not correct the indication value. However, the present invention is not limited to this configuration.

[0083] Both the first operation mode and the second operation mode may be operation modes in which the indication value is corrected. In this case, the first operation mode may be an operation mode in which the detection period for the displacement sensor 24 to detect the distance to the object 50 is set as a first period, and an operation mode in which the detection period is set as a second period longer than the first period.

[0084] In this case, the memory unit 210 stores the detection results detected in the first detection cycle when the operation mode is the first operation mode, and stores the detection results detected in the second detection cycle when the operation mode is the second operation mode. The correction unit 222 corrects the indication value based on the distance to the object 50 detected by the displacement sensor 24 in the first cycle when the operation mode is the first operation mode. The correction unit 222 corrects the indication value based on the distance to the object 50 detected by the displacement sensor 24 in the second cycle when the operation mode is the second operation mode.

[0085] The machining system 1 according to the second modification includes a machining head 23, a Z-axis position control unit 223 (first position control unit), a Y-axis position control unit 323 (second position control unit), a displacement sensor 24, a first acquisition unit 220, a correction unit 222, and a mode switching unit 221. The machining head 23 machines an object 50. The Z-axis position control unit 223 acquires an instruction value and controls the first motor 200 based on the acquired instruction value to change the relative position of the machining head 23 with respect to the object 50 along a first movement direction D1, which is a direction toward the object 50. The Y-axis position control unit 323 controls the second motor 300 to change the relative position of the machining head 23 with respect to the object 50 along a second movement direction D2, which is a direction perpendicular to the first movement direction D1. The displacement sensor 24 detects the distance to the object 50 in the first movement direction. The first acquisition unit 220 acquires movement information related to the relative movement of the machining head 23 with respect to the object 50 in the second movement direction D2 under the control of the second motor 300 by the Y-axis position control unit 323. The correction unit 222 corrects the indication value based on the detection result of the displacement sensor 24. The mode switching unit 221 switches the operation mode between a first operation mode in which the detection period for the displacement sensor 24 to detect the distance to the object 50 is set to a first period, and a second operation mode in which the detection period is set to a second period longer than the first period, based on the movement information.

[0086] According to this configuration, when the operation mode is the second operation mode, the detection period is set to the second period, which is longer than the first period, so that the frequency with which the storage unit (e.g., storage unit 210) stores the detection results is reduced compared to the first period, thereby reducing the processing load.

[0087] (5.3) Modification 3 In the above embodiment, the mode switching unit 221 is configured to determine whether to switch the operation mode using the movement amount (second movement amount) and movement speed of the machining head 23 along the second movement direction D2. However, the present invention is not limited to this configuration.

[0088] The mode switching unit 221 may use the acceleration of the movement of the machining head 23 along the second movement direction D2 to determine whether to switch the operation mode. That is, the mode switching unit 221 uses the relative acceleration of the machining head 23 with respect to the object 50 in the second movement direction D2 to determine whether to switch the operation mode.

[0089] In this case, the movement information includes the relative acceleration of the machining head 23 with respect to the object 50 in the second movement direction D2. When the operation mode is the second operation mode and the acceleration is equal to or greater than a fifth predetermined value, the mode switching unit 221 switches the operation mode from the second operation mode, in which correction by the correction unit 222 is not performed, to the first operation mode, in which correction by the correction unit 222 is performed. When the operation mode is the first operation mode and the acceleration is equal to or less than a sixth predetermined value, the mode switching unit 221 switches the operation mode from the first operation mode to the second operation mode. Here, the sixth predetermined value is a value smaller than the fifth predetermined value.

[0090] Furthermore, when Modification 3 is applied to Modification 2, if the operation mode is the second operation mode and the acceleration is equal to or greater than a fifth predetermined value, the mode switching unit 221 switches the operation mode from the second operation mode, in which the detection period for detecting the distance to the object 50 by the displacement sensor 24 is the second period, to the first operation mode, in which the detection period is the first period. The second period is longer than the first period. If the operation mode is the first operation mode and the acceleration is equal to or less than a sixth predetermined value, the mode switching unit 221 switches the operation mode from the first operation mode, in which the detection period is the first period, to the second operation mode, in which the detection period is the second period. Here, the sixth predetermined value is a value smaller than the fifth predetermined value.

[0091] Alternatively, the mode switching unit 221 may use all of the movement amount (second movement amount), the movement speed, and the acceleration. In this case, the mode switching unit 221 switches the operation mode to the first operation mode when the operation mode is the second operation mode and the movement speed is equal to or greater than a first predetermined value, when the movement amount (second movement amount) is equal to or greater than a second predetermined value, or when the acceleration is equal to or greater than a fifth predetermined value. The mode switching unit 221 switches the operation mode to the second operation mode when the operation mode is the first operation mode and the movement speed is equal to or less than a third predetermined value, when the movement amount (second movement amount) is equal to or less than a fourth predetermined value, or when the acceleration is equal to or less than a sixth predetermined value.

[0092] The acceleration used to determine whether to switch the operating mode may be an actual measured value. For example, the second motor drive device 301 acquires the rotation speed of the second motor 300 and measures (calculates) the acceleration of the machining head 23 based on the acquired rotation speed. The second motor drive device 301 outputs the measured acceleration of the machining head 23 to the first motor drive device 201. The correction unit 222 uses the acceleration measured by the second motor drive device 301 to determine whether to switch the operating mode.

[0093] (5.4) Modification 4 In the above embodiment, the mode switching unit 221 is configured to determine whether to switch the operation mode using both the second movement amount (movement amount) and the movement speed of the machining head 23 along the second movement direction D2. However, the present invention is not limited to this configuration.

[0094] The mode switching unit 221 may determine whether to switch the operation mode using one of the second movement amount and the movement speed of the machining head 23 along the second movement direction D2.

[0095] When the second movement amount of the machining head 23 is used to determine whether to switch the operating mode, steps S2 and S6 shown in FIG. 3 are omitted. That is, after step S1 shown in FIG. 3 is executed, the process proceeds to step S9. If the mode switching unit 221 determines in step S9 that the second movement amount is equal to or greater than the second predetermined value, the process proceeds to step S3. If the mode switching unit 221 determines in step S9 that the second movement amount is not equal to or greater than the second predetermined value, the process proceeds to step S10. Also, if the process proceeds from step S5 to step S8 and the mode switching unit 221 determines in step S8 that the second movement amount is equal to or less than the fourth predetermined value, the process proceeds to step S7. If the mode switching unit 221 determines in step S8 that the second movement amount is not equal to or less than the fourth predetermined value, the process proceeds to step S4.

[0096] When the movement speed of the machining head 23 is used to determine whether to switch the operation mode, steps S8 and S9 shown in FIG. 3 are omitted. That is, after step S1 shown in FIG. 3 is executed, step S2 is then executed. If the mode switching unit 221 determines in step S2 that the movement speed is equal to or greater than the first predetermined value, the process proceeds to step S3. If the mode switching unit 221 determines in step S2 that the second movement amount is not equal to or greater than the first predetermined value, the process proceeds to step S10. Also, if the mode switching unit 221 determines in step S6 that the second movement amount is equal to or less than the third predetermined value, the process proceeds to step S7. If the mode switching unit 221 determines in step S6 that the second movement amount is not equal to or less than the fourth predetermined value, the process proceeds to step S4.

[0097] (5.5) Modification 5 In the above embodiment, the mode switching unit 221 is configured to switch the operation mode to the first operation mode when the operation mode is the second operation mode and the movement speed is equal to or greater than a first predetermined value, or when the second movement amount is equal to or greater than a second predetermined value. Furthermore, the mode switching unit 221 is configured to switch the operation mode to the second operation mode when the operation mode is the first operation mode and the movement speed is equal to or less than a third predetermined value, or when the second movement amount is equal to or less than a fourth predetermined value. However, the present invention is not limited to these configurations.

[0098] The mode switching unit 221 may switch the operation mode to the first operation mode when the operation mode is the second operation mode and the movement speed is equal to or greater than a first predetermined value and the second movement amount is equal to or greater than a second predetermined value. Furthermore, the mode switching unit 221 may switch the operation mode to the second operation mode when the operation mode is the first operation mode and the movement speed is equal to or less than a third predetermined value and the second movement amount is equal to or less than a fourth predetermined value.

[0099] When the movement speed, the second movement amount, and the acceleration are used to determine whether to switch the operation mode, the determination may be made as follows: The mode switching unit 221 may switch the operation mode to the first operation mode in all of the following cases: when the operation mode is the second operation mode and the movement speed is equal to or greater than a first predetermined value, when the second movement amount is equal to or greater than a second predetermined value, and when the acceleration is equal to or less than a fifth predetermined value. Furthermore, the mode switching unit 221 may switch the operation mode to the second operation mode in all of the following cases: when the operation mode is the first operation mode and the movement speed is equal to or less than a third predetermined value, when the second movement amount is equal to or less than a fourth predetermined value, and when the acceleration is equal to or greater than a sixth predetermined value.

[0100] (5.6) Modification 6 In the above embodiment, the control device 10, the first motor driving device 201, and the second motor driving device 301 are configured as separate entities, but the present invention is not limited to this configuration.

[0101] The control device 10, the first motor driving device 201, and the second motor driving device 301 may be included in the same device (system).

[0102] (5.7) Modification 7 In the above embodiment, the controlled object 20 (machining machine) is configured such that the displacement sensor 24 is disposed in front of the machining head along the second movement direction D2, but the present invention is not limited to this configuration.

[0103] The controlled object 20 (machining machine) may have another displacement sensor arranged in addition to the displacement sensor 24 on the opposite side of the machining head 23 from the displacement sensor 24 in the second movement direction D2.

[0104] In this case, even when the machining head 23 moves in the direction opposite to the second movement direction D2, the operation mode can be switched.

[0105] (5.8) Modification 8 In the above embodiment, the Y-axis 22 is configured to have two second motors 300, but this configuration is not limited to this. The Y-axis 22 may have one second motor 300. In other words, the second motor drive device 301 may control the drive of one second motor 300 to move the machining head 23 in the second movement direction D2.

[0106] (5.9) Modification 9 In the above embodiment, the machining head 23 is configured not to move in the third direction D3, but the present invention is not limited to this configuration.

[0107] The machining head 23 may be configured to move in the third direction D3. In this case, the first motor drive device 201 may determine whether to switch the operation mode using the second movement amount and movement speed of the machining head 23 along the third direction D3. The first motor drive device 201 may also determine whether to switch the operation mode using the acceleration of the machining head 23 along the third direction D3.

[0108] (5.10) Modification 10 In the above embodiment, the second motor drive device 301 is configured to move the machining head 23, i.e., the X-pole 4, along the second movement direction D2. However, the present invention is not limited to this configuration.

[0109] The second motor driving device 301 may move the object 50 in the direction opposite to the second movement direction D2. In this case, the second motor 300 moves the object 50 in the direction opposite to the second movement direction D2 under the control of the second motor driving device 301. The second motor driving device 301 (the Y-axis position control unit 323) controls the second motor 300 so that the object 50 moves in the direction opposite to the second movement direction D2, thereby changing the relative position of the machining head 23 with respect to the object 50 along the second movement direction D2. In other words, the second motor driving device 301 (the Y-axis position control unit 323) controls the second motor 300 so that the relative position of the machining head 23 with respect to the object 50 is changed along the second movement direction D2.

[0110] (5.11) Modification 11 In the above embodiment, the third predetermined value is smaller than the first predetermined value, but the present invention is not limited to this configuration.

[0111] The third predetermined value may be the same as the first predetermined value. In this case, in step S6 shown in FIG. 3 , the mode switching unit 221 determines whether the movement speed included in the movement information is less than the third predetermined value. If it is determined that the movement speed is less than the third predetermined value, the process proceeds to step S7. Thereafter, if it is determined that the movement speed is not less than the third predetermined value in the first operation mode, the process proceeds to step S8.

[0112] In the above embodiment, the fourth predetermined value is smaller than the second predetermined value, but the present invention is not limited to this.

[0113] The fourth predetermined value may be the same as the second predetermined value. In this case, in step S8 shown in FIG. 3, the mode switching unit 221 determines whether the movement speed included in the movement information is less than the fourth predetermined value. If it is determined that the movement speed is less than the fourth predetermined value, the process proceeds to step S7. Thereafter, if it is determined that the movement speed is not less than the fourth predetermined value in the first operation mode, the process proceeds to step S4.

[0114] Furthermore, in the third modification, the sixth predetermined value is set to be smaller than the fifth predetermined value, but the present invention is not limited to this.

[0115] The sixth predetermined value may be the same as the fifth predetermined value. In this case, when the operation mode is the first operation mode and the acceleration is less than the sixth predetermined value, the mode switching unit 221 switches the operation mode from the first operation mode to the second operation mode.

[0116] (5.12) Modification 12 In the above-described embodiment, when the operation mode is the first operation mode, the displacement sensor 24 performs processing to detect the distance to the object 50, and when the operation mode is the second operation mode, the displacement sensor 24 stops processing to detect the distance to the object 50. However, the present invention is not limited to this configuration.

[0117] The displacement sensor 24 may perform processing to detect the distance to the target object 50 regardless of whether the operation mode is the first operation mode or the second operation mode. In this case, the first acquisition unit 220 stores the detection result of the displacement sensor 24 in the storage unit 210 when the operation mode is the first operation mode. The first acquisition unit 220 does not store the detection result of the displacement sensor 24 in the storage unit 210 when the operation mode is the second operation mode. That is, similar to the above embodiment, the storage unit 210 stores the detection result of the displacement sensor 24 when the operation mode is the first operation mode, and does not store the detection result of the displacement sensor 24 when the operation mode is the second operation mode.

[0118] (5.13) Modification 13 In the above embodiment, the machining system 1 is configured to determine whether to switch the operating mode based on the amount of movement (second movement amount) of the machining head 23 along the second movement direction D2, but is not limited to this configuration.

[0119] The mode switching unit 221 of the machining system 1 may determine whether to switch the operation mode based on the movement amount (first movement amount) of the machining head 23 along the first movement direction D1. In this case, the mode switching unit 221 switches the operation mode from the second operation mode to the first operation mode when the operation mode is the second operation mode and the movement amount (first movement amount) in the first movement direction D1 is equal to or greater than a seventh predetermined value. The mode switching unit 221 switches the operation mode from the first operation mode to the second operation mode when the operation mode is the first operation mode and the first movement amount is equal to or less than an eighth predetermined value. Here, the eighth predetermined value is a value smaller than the seventh predetermined value.

[0120] The seventh and eighth predetermined values ​​may be the same value. In this case, when the operation mode is the first operation mode and the first movement amount is less than the seventh predetermined value, the mode switching unit 221 switches the operation mode from the first operation mode to the second operation mode.

[0121] The machining system 1 of the modified example 13 is effective when the amount of change in the first movement amount is large.

[0122] (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.

[0123] Furthermore, functions similar to those of the machining system 1 may be embodied as a machining method, a computer program, a non-transitory recording medium on which a program is recorded, or the like. A machining method according to one aspect is used in a machining system 1 including a machining head 23 and a displacement sensor 24. The machining head 23 machines an object 50. The displacement sensor 24 is disposed ahead of the machining head 23 along a second movement direction D2 perpendicular to a first movement direction D1 in which the machining head 23 moves toward the object 50, and detects the distance to the object 50. The machining method includes a first position control step, a second position control step, an acquisition step, a correction step, and a mode switching step. In the first position control step, an instruction value is acquired, and the first motor 200 is controlled to change the position of the machining head 23 along the first movement direction D1 based on the acquired instruction value. In the second position control step, the second motor 300 is controlled to change the position of the machining head 23 along the second movement direction D2. In the acquisition step, movement information related to the movement of the machining head 23 in the second movement direction D2 is acquired in the control of the second motor 300 in the second position control step. In the correction step, the instruction value is corrected based on the detection result of the displacement sensor 24. In the mode switching step, the operation mode is switched between a first operation mode in which correction is performed in the correction step and a second operation mode in which correction is not performed in the correction step based on the movement information. In the first position control step, when the operation mode is the first operation mode, the first motor 200 is controlled based on the corrected instruction value so that the position of the machining head 23 is changed. A program according to one aspect is a program for causing a computer system to function as the above-mentioned machining method.

[0124] Another machining method according to one aspect is used in a machining system 1 including a machining head 23 and a displacement sensor 24. The machining head 23 machines an object 50. The displacement sensor 24 is disposed ahead of the machining head 23 along a second movement direction D2 perpendicular to a first movement direction D1 in which the machining head 23 moves toward the object 50, and detects the distance from the object 50. The machining method includes a first position control step, a second position control step, an acquisition step, a correction step, and a mode switching step. In the first position control step, an instruction value is acquired, and the first motor 200 is controlled to change the position of the machining head 23 along the first movement direction D1 based on the acquired instruction value. In the second position control step, the second motor 300 is controlled to change the position of the machining head 23 along the second movement direction D2. In the acquisition step, movement information related to the movement of the machining head 23 in the second movement direction D2 is acquired by controlling the second motor 300 in the second position control step. In the correction step, the indication value is corrected based on the detection result of the displacement sensor 24. In the mode switching step, the operation mode is switched between a first operation mode in which a detection period for the displacement sensor 24 to detect the distance to the target object 50 is set to a first period, and a second operation mode in which the detection period is set to a second period longer than the first period, based on the movement information. Another program according to one aspect is a program for causing a computer system to function as the above-described another processing method.

[0125] The machining system 1 of 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 machining system 1 of the present disclosure. The program may be pre-recorded 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.

[0126] Furthermore, it is not essential for the processing system 1 that multiple functions are concentrated in one housing, and the components of the processing system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the processing system 1 may be realized by the cloud (cloud computing) or the like.

[0127] (Summary) As described above, the machining system (1) of the first aspect includes a machining head (23), a first position control unit (Z-axis position control unit 223), a second position control unit (Y-axis position control unit 323), a displacement sensor (24), an acquisition unit (first acquisition unit 220), a correction unit (222), and a mode switching unit (221). The machining head (23) machines an object (50). The first position control unit acquires an instruction value and controls the first motor (200) based on the acquired instruction value so as to change the relative position of the machining head (23) with respect to the object (50) along a first movement direction (D1) that is a direction toward the object (50). The second position control unit controls the second motor (300) so as to change the relative position of the machining head (23) with respect to the object (50) along a second movement direction (D2) that is a direction perpendicular to the first movement direction (D1). The displacement sensor (24) is disposed ahead of the machining head (23) along the second movement direction (D2) and detects the distance from the target object (50). The acquisition unit acquires movement information related to the relative movement of the machining head (23) with respect to the target object (50) in the second movement direction (D2) in control of the second motor (300) by the second position control unit. The correction unit (222) corrects an instruction value based on the detection result of the displacement sensor (24). The mode switching unit (221) switches the operation mode between a first operation mode in which the correction unit (222) performs correction and a second operation mode in which the correction unit (222) does not perform correction based on the movement information. When the operation mode is the first operation mode, the first position control unit controls the first motor to change the position of the machining head based on the corrected instruction value. According to this aspect, when the operation mode is the second operation mode, the indication value is not corrected, so there is no need to store the detection result of the displacement sensor (24) in a storage unit (e.g., storage unit 210), thereby reducing the processing load.

[0128] A machining system (1) of a second aspect includes a machining head (23), a first position control unit (Z-axis position control unit 223), a second position control unit (Y-axis position control unit 323), a displacement sensor (24), an acquisition unit, a correction unit (222), and a mode switching unit (221). The machining head (23) machines an object (50). The first position control unit acquires an instruction value and controls a first motor (200) based on the acquired instruction value so as to change the relative position of the machining head (23) with respect to the object (50) along a first movement direction (D1) that is a direction toward the object (50). The second position control unit controls a second motor (300) so as to change the relative position of the machining head (23) with respect to the object (50) along a second movement direction (D2) that is a direction perpendicular to the first movement direction (D1). The displacement sensor (24) is disposed ahead of the machining head (23) along the second movement direction (D2) and detects the distance to the object (50). The acquisition unit acquires movement information related to the relative movement of the machining head (23) with respect to the object (50) in the second movement direction (D2) under control of the second motor (300) by the second position control unit. The correction unit (222) corrects the indication value based on the detection result of the displacement sensor (24). The mode switching unit (221) switches the operation mode between a first operation mode in which the detection period for the displacement sensor (24) to detect the distance to the object (50) is a first period and a second operation mode in which the detection period is a second period longer than the first period, based on the movement information.

[0129] According to this aspect, when the operation mode is the second operation mode, the detection period is set to the second period, which is longer than the first period, so that the frequency with which the storage unit (e.g., the storage unit 210) stores the detection results is reduced compared to the first period, thereby reducing the processing load.

[0130] In the machining system (1) of the third aspect, in the first or second aspect, the movement information includes a relative movement speed of the machining head (23) with respect to the object (50) in the second movement direction (D2). The mode switching unit (221) switches the operation mode from the second operation mode to the first operation mode when the operation mode is the second operation mode and the movement speed is equal to or greater than a predetermined value (first predetermined value).

[0131] According to this aspect, the operation mode can be switched based on the movement speed. When the movement speed is low, the amount of change in the first movement direction D1 is also small, so even if correction is not performed, the impact on processing accuracy is small. Furthermore, assuming that correction is performed when the movement speed is low, the number of detection results increases, resulting in a large amount of usage in the memory unit (e.g., memory unit 210). Therefore, by switching the operation mode to the second operation mode when the movement speed is low, the processing load can be reduced.

[0132] In the machining system (1) of the fourth aspect, in the third aspect, the correction unit (222) calculates an arrival time, which is the time it takes for the displacement sensor (24) to reach a detection point in the second movement direction (D2) where the displacement sensor (24) detected the distance to the target object (50), using the distance and movement speed between the machining head (23) and the displacement sensor (24). The correction unit (222) corrects the indication value using the detection result when a delay time corresponding to the arrival time has elapsed since receiving the detection result from the displacement sensor (24).

[0133] At a certain time, a difference occurs between the point where the displacement sensor (24) measures the distance to the object (50) and the position of the machining head (23). That is, a time difference occurs until the machining head (23) reaches the point measured by the displacement sensor (24). According to this embodiment, when a delay time corresponding to the arrival time has elapsed since the detection result was received, the indication value is corrected using the detection result, thereby improving machining accuracy.

[0134] In the machining system (1) of the fifth aspect, in the first or second aspect, the movement information includes a relative movement amount (e.g., a second movement amount) of the machining head (23) with respect to the object (50) in the second movement direction (D2). The mode switching unit (221) switches the operation mode from the second operation mode to the first operation mode when the operation mode is the second operation mode and the movement amount is equal to or greater than a predetermined value (second predetermined value).

[0135] According to this aspect, the operation mode can be switched based on the amount of movement. When the amount of movement is small, the amount of change in the first movement direction (D1) is also small, so even if correction is not performed, the impact on processing accuracy is small. Furthermore, assuming that correction is performed when the amount of movement is small, the number of detection results increases, resulting in more access to the memory unit (e.g., memory unit 210). As a result, the processing load increases. Therefore, by switching the operation mode to the second operation mode when the amount of movement is small, the processing load can be reduced.

[0136] In the machining system (1) of the sixth aspect, in the fifth aspect, the correction unit (222) calculates an arrival time, which is the time it takes for the displacement sensor (24) to reach a detection point in the second movement direction (D2) where the displacement sensor (24) detected the distance to the object (50), using the distance and movement amount between the machining head (23) and the displacement sensor (24). The correction unit (222) corrects the instruction value using the detection result when a delay time corresponding to the arrival time has elapsed since receiving the detection result from the displacement sensor (24).

[0137] At a certain time, a difference occurs between the point where the displacement sensor (24) measures the distance to the object (50) and the position of the machining head (23). That is, a time difference occurs until the machining head (23) reaches the point measured by the displacement sensor (24). According to this embodiment, when a delay time corresponding to the arrival time has elapsed since the detection result was received, the indication value is corrected using the detection result, thereby improving machining accuracy.

[0138] In the machining system (1) of the seventh aspect, in the first or second aspect, the movement information includes a relative acceleration of the machining head (23) with respect to the object (50) in the second movement direction (D2). The mode switching unit (221) switches the operation mode from the second operation mode to the first operation mode when the operation mode is the second operation mode and the acceleration is equal to or greater than a predetermined value (fifth predetermined value).

[0139] According to this aspect, when the acceleration is equal to or less than a predetermined value, the movement of the machining head (23) in the second movement direction (D2) by the second motor (300) may be unstable. Therefore, by correcting the instruction value until the movement stabilizes, machining accuracy can be improved.

[0140] In the machining system (1) of an eighth aspect, in any one of the first to seventh aspects, the movement information is information obtained from a measurement result of the operation of the second motor (300).

[0141] According to this aspect, the operation mode can be switched based on the actual measurement value.

[0142] The machining system (1) of a ninth aspect is any one of the first to eighth aspects, further comprising a control device (10) that outputs an instruction value. The first position control unit acquires the instruction value from the control device (10).

[0143] According to this embodiment, the instruction value can be received from the control device (10), which is a higher-level device.

[0144] A tenth aspect of the machining method is used in a machining system (1) including a machining head (23) and a displacement sensor (24). The machining head (23) machines an object (50). The displacement sensor (24) is disposed ahead of the machining head (23) along a second movement direction (D2) perpendicular to a first movement direction (D1) in which the machining head (23) moves toward the object (50), and detects the distance from the object (50). The machining method includes a first position control step, a second position control step, an acquisition step, a correction step, and a mode switching step. In the first position control step, an instruction value is acquired, and a first motor (200) is controlled to change the position of the machining head (23) along the first movement direction (D1) based on the acquired instruction value. In the second position control step, a second motor (300) is controlled to change the position of the machining head (23) along the second movement direction (D2). In the acquisition step, movement information related to movement of the machining head (23) in the second movement direction (D2) is acquired in controlling the second motor (300) in the second position control step. In the correction step, an instruction value is corrected based on the detection result of the displacement sensor (24). In the mode switching step, the operation mode is switched between a first operation mode in which correction is performed in the correction step and a second operation mode in which correction is not performed in the correction step based on the movement information. In the first position control step, when the operation mode is the first operation mode, the first motor (200) is controlled based on the corrected instruction value so as to change the position of the machining head (23).

[0145] According to this aspect, when the operation mode is the second operation mode, the indication value is not corrected, so there is no need to store the detection result of the displacement sensor (24) in a storage unit (e.g., storage unit 210), thereby reducing the processing load.

[0146] The machining method of an eleventh aspect is used in a machining system (1) including a machining head (23) and a displacement sensor (24). The machining head (23) machines an object (50). The displacement sensor (24) is disposed ahead of the machining head (23) along a second movement direction (D2) perpendicular to a first movement direction (D1) in which the machining head (23) moves toward the object (50), and detects the distance from the object (50). The machining method includes a first position control step, a second position control step, an acquisition step, a correction step, and a mode switching step. In the first position control step, an instruction value is acquired, and a first motor (200) is controlled to change the position of the machining head (23) along the first movement direction (D1) based on the acquired instruction value. In the second position control step, a second motor (300) is controlled to change the position of the machining head (23) along the second movement direction (D2). In the acquisition step, movement information related to movement of the machining head (23) in the second movement direction (D2) is acquired in the control of the second motor (300) in the second position control step. In the correction step, an instruction value is corrected based on the detection result of the displacement sensor (24). In the mode switching step, the operation mode is switched between a first operation mode in which a detection period for the displacement sensor (24) to detect the distance to the target object (50) is a first period, and a second operation mode in which the detection period is a second period longer than the first period, based on the movement information.

[0147] According to this aspect, when the operation mode is the second operation mode, the detection period is set to the second period, which is longer than the first period, so that the frequency with which the storage unit (e.g., the storage unit 210) stores the detection results is reduced compared to the first period, thereby reducing the processing load.

[0148] A program according to a twelfth aspect is a program for causing one or more processors to execute the processing method according to the tenth or eleventh aspect.

[0149] According to this embodiment, the processing load can be reduced.

[0150] REFERENCE SIGNS LIST 1 Machining system 10 Control device 23 Machining head 24 Displacement sensor 50 Target object 200 First motor 220 First acquisition unit (acquisition unit) 221 Mode switching unit 222 Correction unit 223 Z-axis position control unit (first position control unit) 300 Second motor 323 Y-axis position control unit (second position control unit) D1 First movement direction D2 Second movement direction

Claims

1. A machining head for machining an object; a first position control unit that acquires an instruction value and controls a first motor based on the acquired instruction value so as to change the relative position of the machining head with respect to the object along a first movement direction that is a direction toward the object; a second position control unit that controls a second motor so as to change the relative position of the machining head with respect to the object along a second movement direction that is a direction perpendicular to the first movement direction; a displacement sensor that is arranged ahead of the machining head along the second movement direction and detects the distance to the object; an acquisition unit that acquires movement information related to the relative movement of the machining head with respect to the object in the second movement direction in control of the second motor by the second position control unit; a correction unit that corrects the instruction value based on the detection result of the displacement sensor; and a mode switching unit that switches between a first operation mode in which the correction unit performs correction based on the movement information and a second operation mode in which the correction unit does not perform correction, When the operation mode is the first operation mode, the first position control unit controls the first motor based on the corrected instruction value so as to change the position of the machining head.

2. A machining system comprising: a machining head that machines an object; a first position control unit that acquires an instruction value and controls a first motor based on the acquired instruction value so that the relative position of the machining head with respect to the object is changed along a first movement direction that is a direction toward the object; a second position control unit that controls a second motor so that the relative position of the machining head with respect to the object is changed along a second movement direction that is a direction perpendicular to the first movement direction; a displacement sensor that detects the distance to the object in the first movement direction; an acquisition unit that acquires movement information related to the relative movement of the machining head with respect to the object in the second movement direction in control of the second motor by the second position control unit; a correction unit that corrects the instruction value based on the detection result of the displacement sensor; and a mode switching unit that switches between an operation mode based on the movement information, a first operation mode in which a first detection period for the displacement sensor to detect the distance to the object is set to a second period that is longer than the first period.

3. The processing system described in claim 1 or 2, wherein the movement information includes a relative movement speed of the processing head with respect to the object in the second movement direction, and the mode switching unit switches the operation mode from the second operation mode to the first operation mode when the operation mode is the second operation mode and the movement speed is equal to or greater than a predetermined value.

4. The processing system described in claim 3, wherein the correction unit uses the distance between the processing head and the displacement sensor and the movement speed to calculate an arrival time, which is the time it takes for the displacement sensor to reach a detection point in the second movement direction where it detected the distance to the object, and corrects the instruction value using the detection result when a delay time corresponding to the arrival time has elapsed since receiving the detection result from the displacement sensor.

5. A processing system as described in claim 1 or 2, wherein the movement information includes a relative movement amount of the processing head with respect to the object in the second movement direction, and the mode switching unit switches the operation mode from the second operation mode to the first operation mode when the operation mode is the second operation mode and the movement amount is equal to or greater than a predetermined value.

6. The processing system described in claim 5, wherein the correction unit uses the distance between the processing head and the displacement sensor and the amount of movement to calculate an arrival time, which is the time it takes for the displacement sensor to reach a detection point in the second movement direction where it detected the distance to the object, and corrects the instruction value using the detection result when a delay time corresponding to the arrival time has elapsed since receiving the detection result from the displacement sensor.

7. A processing system as described in claim 1 or 2, wherein the movement information includes a relative acceleration of the processing head with respect to the object in the second movement direction, and the mode switching unit switches the operation mode from the second operation mode to the first operation mode when the operation mode is the second operation mode and the acceleration is equal to or greater than a predetermined value.

8. The machining system according to claim 1 or 2, wherein the movement information is information obtained from a measurement result of the operation of the second motor.

9. The machining system according to claim 1 or 2, further comprising a control device that outputs the instruction value, wherein the first position control unit acquires the instruction value from the control device.

10. A machining method used in a machining system equipped with a machining head and a displacement sensor, wherein the machining head machines an object, and the displacement sensor is arranged ahead of the machining head along a second movement direction perpendicular to a first movement direction in which the machining head moves toward the object, and detects a distance to the object, the machining method comprising: a first position control step of acquiring an indication value and controlling a first motor to change the position of the machining head along the first movement direction based on the acquired indication value; a second position control step of controlling a second motor to change the position of the machining head along the second movement direction; an acquisition step of acquiring movement information related to the movement of the machining head in the second movement direction in control of the second motor in the second position control step; a correction step of correcting the indication value based on the detection result of the displacement sensor; and a mode switching step of switching the operation mode between a first operation mode in which correction is made in the correction step and a second operation mode in which correction is not made in the correction step based on the movement information. In the first position control step, when the operation mode is the first operation mode, the first motor is controlled based on the corrected instruction value so as to change the position of the machining head.

11. A machining method used in a machining system equipped with a machining head and a displacement sensor, wherein the machining head machines an object, and the displacement sensor is arranged ahead of the machining head along a second movement direction perpendicular to a first movement direction in which the machining head moves toward the object, and detects a distance to the object, the machining method comprising: a first position control step of acquiring an indication value and controlling a first motor to change a position of the machining head along the first movement direction based on the acquired indication value; a second position control step of controlling a second motor to change the position of the machining head along the second movement direction; an acquisition step of acquiring movement information related to movement of the machining head in the second movement direction in control of the second motor in the second position control step; a correction step of correcting the indication value based on a detection result of the displacement sensor; and a mode switching step of switching between an operation mode between a first operation mode in which a detection period for the displacement sensor to detect the distance to the object is a first period and a second operation mode in which the detection period is a second period longer than the first period, based on the movement information.

12. A program for causing one or more processors to execute the processing method according to claim 10 or 11.

Images