Corrected Path Control for Constant Motion Per Cycle

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Solution Overview

Problem

Existing control systems fail to maintain a consistent moving distance for a control object along a workpiece surface, as the length of the target path and corrected path often mismatch, leading to variations in the amount of material applied, such as sealer, during processes like sealer application.

Innovation Solution

A control device that adjusts the execution frequency of the control cycle to match the length of the target path and corrected path, using imaging results to select the appropriate target path from previous cycles and adjust the execution frequency to maintain a constant moving distance for each control cycle.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Manufacturing precision

If the target path is corrected using an imaging result to compensate for the difference between ideal shape and actual shape of the workpiece, then the manufacturing precision is improved, but the moving distance of the control object for each control cycle varies

Engineering Contradiction:

Improvepath correction accuracyVSAvoidmoving distance per control cycle

Core Design Contradiction:

Manufacturing precisionVSLength of moving object

Solution Approach 1:

The control system dynamically adjusts the execution frequency of control cycles based on the actual length of the corrected path. When the corrected path length differs from the target path length, the system varies the control cycle execution frequency to compensate, ensuring that the moving distance per control cycle remains constant despite path corrections

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the execution frequency parameter of control cycles adaptively. By calculating the ratio between the target path length and corrected path length, the system adjusts the control cycle frequency to maintain consistent moving distance per cycle, thereby resolving the contradiction between path accuracy and motion consistency

Inventive Principle:

Principle #35Parameter changes

2Stability of the object's composition

If the control cycle length and execution frequency are maintained constant while the corrected path length varies, then the control stability is improved, but the amount of applied material varies depending on positions

Engineering Contradiction:

Improvecontrol cycle stabilityVSAvoidapplied material amount

Core Design Contradiction:

Stability of the object's compositionVSQuantity of substance

Solution Approach 1:

The system dynamically adjusts the execution frequency of control cycles based on the actual length of the corrected path. When the corrected path length differs from the target path length, the system varies the control cycle execution frequency to compensate, ensuring that the moving distance per control cycle remains constant despite path corrections

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control system uses feedback from the path length comparison to adjust the execution frequency. By continuously monitoring the relationship between target path length and corrected path length, the system modifies the control cycle frequency to maintain constant material application amount per control cycle

Inventive Principle:

Principle #23Feedback

Data Source

PatentEP3462258B1Control device with corresponding method and recording medium to generate a corrected path

Publication Date: 2021.09.22 OMRON CORP

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AI summary

A target path (C) is corrected using an imaging result of a workpiece and a moving distance of a control object (40) for each control cycle is kept constant. The PLC (10) generates a corrected path (C'i) for each control cycle so that a length of the corrected path (C'i) for each control cycle substantially matches a length of a normative path (Ci) for each control cycle.