JP6958471B2 - Control device and control method - Google Patents

Description

The present invention relates to a control device and a control method.

Devices that perform various processes by using signals output from devices such as sensors and motors have been proposed. For example, Patent Document 1 discloses a technique for determining the quality of an object to be measured based on the result of comparing a signal waveform obtained by sampling with a reference waveform.

Japanese Unexamined Patent Publication No. 2012-196250

When performing such processing, it is necessary to acquire a time interval signal (hereinafter referred to as "target signal") used for actual determination processing from time-series signals output from devices such as sensors and motors. There is. However, there may be a time lag between the acquired target signal (for example, the signal waveform) and the signal to be compared (for example, the reference waveform). In such a case, the target signal that should actually be determined to be good may be determined to be negative due to a deviation in the time direction. On the contrary, there is a possibility that the target signal that should actually be determined to be negative may be determined to be good. Further, such a determination result may be caused not only by the deviation in the time direction but also by the deviation of the signal value obtained when the object to be measured is not measured normally. Such a problem is not limited to the case of comparing the target signal with other signals, but compares the target signal with a condition that changes according to time or a signal value (hereinafter referred to as "comparison condition"). This is a problem that can occur in all cases. As described above, the accuracy of the comparison processing may change due to the deviation between the target signal and the comparison condition.

The present invention has been made in view of the above points, and provides a control device and a control method capable of performing comparison with higher accuracy even when there is a discrepancy between the target signal and the comparison conditions. The purpose is to do.

One aspect of the present invention is a signal information recording unit that records information indicating a time change of a time-series signal output from an apparatus, and a comparison condition storage unit that stores information indicating a time change of predetermined comparison conditions. And, one or both of the time change of the signal recorded in the signal information recording unit and the time change of the comparison condition stored in the comparison condition storage unit are deviated in the time axis direction. A control device including a changing unit that expands or contracts in the time axis direction so as to be smaller, and a comparison unit that compares the signal with the comparison condition using the time change after being expanded or contracted by the changing unit. Is.

One aspect of the present invention is the control device, wherein the change unit has each time corresponding to a plurality of feature portions predetermined in the comparison condition, and a plurality of feature portions in a time change of the signal. Enlargement or reduction is performed so that each time according to the above is substantially the same.

One aspect of the present invention is a signal information recording unit that records information indicating a time change of a time-series signal output from an apparatus, and a comparison condition storage unit that stores information indicating a time change of predetermined comparison conditions. A device comprising A change step of expanding or contracting in the time axis direction so that the deviation in the axial direction becomes small, and a comparison step of comparing the signal with the comparison condition using the time change after being expanded or contracted by the changing unit. , Is a control method to execute.

According to the present invention, even if there is a discrepancy between the target signal and the comparison conditions, the comparison can be performed with higher accuracy.

It is a figure which shows the specific example of the structure of the control system 100. It is a block diagram which shows the specific example of the embodiment of the functional configuration of the control device 3. It is a flowchart which shows the operation example of the control device 3 in 1st Embodiment. It is a figure which shows the specific example of the comparison pattern. It is a figure which shows the 1st specific example of a target signal. It is the figure which showed the comparison pattern and the target signal which was not shifted in the time axis direction side by side on the same time axis. It is a figure which showed the comparison pattern and the target signal shifted in the time axis direction side by side on the same time axis. It is a figure which shows the 2nd specific example of a target signal. It is a figure which showed the comparison pattern and the target signal which the signal value is not shifted side by side on the same time axis. It is a figure which showed the comparison pattern and the target signal whose signal value was shifted side by side on the same time axis. It is a figure which shows the 3rd specific example of a target signal. It is a figure which showed the comparison pattern and the target signal which is not expanded in the time axis direction side by side on the same time axis. It is the figure which showed the comparison pattern and the target signal enlarged in the time axis direction side by side on the same time axis. It is a figure which shows the structure of the modification of the control system 100.

FIG. 1 is a diagram showing a specific example of the configuration of the control system 100. The control system 100 includes a first device 11, a second device 12, an AD conversion device 2, a control device 3, and a terminal device 4.

The first device 11 is an input device such as a temperature sensor or a pressure sensor, or an output device such as a servo motor. When the first device 11 is an input device, the first device 11 outputs a value obtained as a result of performing sensing. When the first device 11 is an output device, the first device 11 outputs a value indicating the content of the operation, the state after the operation, and the like. The first device 11 is connected to the AD conversion device 2. The first device 11 outputs an electric signal indicating an analog value to the AD conversion device 2.

The second device 12 is an input device such as a temperature sensor or a pressure sensor, or an output device such as a servo motor. The second device 12 is configured as a device different from the first device 11. For example, when the first device 11 is a distance sensor used for measuring the surface shape of an object to be measured (hereinafter referred to as "target object"), the second device 12 is the position of the target object to be conveyed. It may be a detection device that detects. For example, when the first device 11 is a temperature sensor used for measuring the temperature of the space to be measured (hereinafter referred to as "target space"), the second device 12 is a device for measuring the illuminance of the target space. It may be a device that detects a person existing in the target space. For example, when the first device 11 is a drive device for a conveyor that transports an object to be transported (hereinafter referred to as a “conveyor body”), the second device 12 is a detection device that detects the position of the transport body. May be good. As described above, the second device 12 is a device that senses or acts on the same object or a related object that the first device 11 senses or acts on.

The AD conversion device 2 is connected to the first device 11 and inputs a time-series analog signal output from the first device 11 to its own device. The AD conversion device 2 converts an analog signal into a digital signal, and outputs the converted digital signal to the control device 3.

The control device 3 is configured by using an information processing device. The control device 3 is, for example, a PLC (Programmable Logic Controller). The control device 3 is connected to the AD conversion device 2 and inputs a time-series digital signal sequentially output from the AD conversion device 2 to its own device. The control device 3 starts the recording operation of the digital signal output from the AD conversion device 2 when a predetermined condition (recording start condition) is satisfied. The control device 3 ends the recording operation of the digital signal output from the AD conversion device 2 when a predetermined condition (recording end condition) is satisfied. The control device 3 records in the internal memory the information indicating the digital signal input from the start to the end of the recording operation as the information of the target signal. The control device 3 compares the target signal recorded in the internal memory with the preset comparison conditions. The control device 3 determines the target signal according to the comparison result. The control device 3 may record the determination result in the internal memory or output the determination result to another device.

The terminal device 4 is an information processing device such as a PC (Personal Computer), a workstation, a smartphone, a mobile phone, or a tablet terminal. The terminal device 4 is configured to be able to communicate with the control device 3. The terminal device 4 is used by the user of the control system 100 to input various operations to the control device 3.

Next, the configurations of the AD conversion device 2 and the control device 3 will be described in detail. First, the hardware configuration of each device will be described with reference to FIG.

First, the hardware configuration of the AD conversion device 2 will be described. The AD converter 2 includes an analog input interface 21, an AD converter 22, an FPGA (Field Programmable Gate Array) 23, a ROM (Read Only Memory) 24, a processor 25, and a communication module 26.

The analog input interface 21 is an analog signal input interface. The analog input interface 21 connects the first device 11 and the AD conversion device 2, and inputs a time-series analog signal output from the first device 11 to the AD conversion device 2.

The AD converter 22 converts an analog signal input via the analog input interface 21 into a digital signal. Specifically, the AD converter 22 samples an analog signal at a sampling period of about several microseconds, and converts the sampled analog signal into a digital signal by quantization at a predetermined quantization level.

The FPGA 23 is a circuit that performs arithmetic processing on the digital signal converted by the AD converter 22. Specific examples of arithmetic processing include digital filter processing, offset / span setting processing, and the like. Specific examples of digital filtering include smoothing using a low-pass filter and a moving average. The arithmetically processed digital signal is transmitted to the control device 3 via the communication module 26.

Specifically, the AD conversion device 2 stores in advance the configuration data for configuring the FPGA 23 as a circuit for performing arithmetic processing in the ROM 24. The FPGA 23 acquires the configuration data read from the ROM 24 at the time of starting the AD conversion device 2 from the processor 25, and performs a logic circuit configuration process (generally called a configuration) based on the acquired configuration data. It is configured as a circuit that performs arithmetic processing.

The communication module 26 is a communication interface for the AD conversion device 2 to communicate with the control device 3. The communication module 26 is connected to the first communication module 31 of the control device 3 and transmits a digital signal that has been subjected to arithmetic processing by the FPGA 23 to the control device 3.

Subsequently, the hardware configuration of the control device 3 will be described. The control device 3 includes a first communication module 31, a second communication module 32, a third communication module 33, an auxiliary storage device 34 (a specific example of a comparison condition storage unit), a buffer memory 35, and a RAM (RAM) connected by an internal bus 30. It includes a Random Access Memory) 36 and a processor 37.

The first communication module 31 is a communication interface for the control device 3 to communicate with the AD conversion device 2. The first communication module 31 is connected to the communication module 26 of the AD conversion device 2 and receives a digital signal transmitted from the AD conversion device 2. The digital signal received by the first communication module 31 is stored in the buffer memory 35.

The second communication module 32 is a communication interface for the control device 3 to communicate with the terminal device 4. The second communication module 32 is connected to a communication interface included in the terminal device 4 and transmits / receives various information to / from the terminal device 4.

The third communication module 33 is a communication interface for the control device 3 to communicate with the second device 12. The third communication module 33 is connected to the communication interface included in the second device 12 and receives the signal transmitted from the second device 12. The signal received by the third communication module 33 is a signal converted into a digital signal by the second device 12 or an AD conversion device (not shown). The third communication module 33 may be a network interface such as EtherCAT (registered trademark).

The auxiliary storage device 34 is configured by using a storage device such as a magnetic hard disk device or a semiconductor storage device. The auxiliary storage device 34 stores various setting information necessary for the operation of the control device 3 and various information acquired or generated by the control device 3.

The buffer memory 35 stores the value of the digital signal received from the AD conversion device 2 by the first communication module 31. The buffer memory 35 repeatedly executes storage and erasure of digital signal values at predetermined operation cycles. By accessing the buffer memory 35 in synchronization with this operation cycle, the processor 37 can read out the digital signal value stored in the buffer memory 35 and record it in the RAM 36 (a specific example of the signal information recording unit).

The RAM 36 and the processor 37 execute various processes for realizing the operation of the control device 3. Specifically, the processor 37 reads the program stored in the auxiliary storage device 34 into the RAM 36 and executes it. By executing this program, the control device 3 functions as a device having the functional configuration shown in FIG. 2, and performs processing such as a digital signal value recording operation and a comparison operation by the operation of each functional unit shown in FIG.

FIG. 2 is a block diagram showing a specific example of the embodiment of the functional configuration of the control device 3. The control device 3 in the embodiment functions as a device including a recording unit 371, a setting unit 372, a determination unit 373, a comparison unit 375, and a change unit 376 when the processor 37 executes a program. All or part of each function of the control device 3 may be realized by using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA. The program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a flexible disk, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, or a storage device such as a hard disk built in a computer system. The program may be transmitted over a telecommunication line.

The change unit 376 acquires the signal waveform used in the comparison process by the comparison unit 375 by executing the change process of shifting the waveform of the target signal in the time axis direction. The change unit 376 acquires the signal waveform used in the comparison process by the comparison unit 375 by executing the change process of shifting the signal value of the waveform of the target signal. The changing unit 376 expands the waveform of the target signal in the time axis direction so as to match each time of the characteristic portion of the waveform of the target signal with each time of the portion corresponding to the characteristic portion in the comparison pattern for a plurality of times. Alternatively, the signal waveform used in the comparison process is acquired by the comparison unit 375 by executing the change process of reducing the size.

The change unit 376 executes the change process according to the change condition included in the setting information preset in the auxiliary storage device 34. The change condition is a condition for correcting the deviation in the time axis direction between the waveform of the target signal and the pattern compared with the target signal by the comparison unit 375 (hereinafter referred to as “comparison pattern”). The change condition is, for example, a condition for matching the time of the characteristic portion of the waveform of the target signal with the time of the characteristic portion of the comparison pattern. The characteristic portion is a characteristic portion in which only one or a small number (for example, two or three) can occur in the target signal. Specific examples of the characteristic part include an inflection point, a maximum value, a minimum value, and a zero cross point. The feature portion may be defined as an inflection point, a maximum value, a minimum value, or a zero cross point located during a predetermined time interval with respect to, for example, a signal start timing or a signal end timing. The feature portion may be defined as, for example, the nth inflection point, the maximum value, the minimum value, or the zero cross point that appears after the signal start timing. Note that n is an integer of 1 or more.

Change 376 shifts the waveform of the target signal in the time axis direction so as to match the time of the characteristic portion of the waveform of the target signal with the time of the portion corresponding to the feature portion in the comparison pattern.

In the change 376, the signal value of the characteristic portion of the waveform of the target signal (hereinafter referred to as “target signal feature value”) is changed to the signal value of the first portion corresponding to the feature portion in the comparison pattern (hereinafter referred to as “first comparative feature value”). The signal value of the waveform of the target signal is shifted so as to be included in the range from () to the signal value of the second portion corresponding to the feature portion in the comparison pattern (hereinafter referred to as "second comparative feature value"). The number of feature values may be plural.

Change 376 changes the waveform of the target signal so that each time of the feature portion of the waveform of the target signal and each time of the portion corresponding to the feature portion in the comparison pattern match with respect to a plurality of times of the waveform of the target signal. Enlarge or reduce in the time axis direction. The enlargement or reduction rate of the time from the first time to the second time of the waveform of the target signal and the enlargement or reduction rate of the time from the first time to the third time of the waveform of the target signal are different. May be good. The enlargement or reduction rate of the time from the first time to the second time of the waveform of the target signal and the enlargement or reduction rate of the time from the second time to the third time of the waveform of the target signal are different. May be good.

The change 376 includes a change process for shifting the waveform of the target signal in the time axis direction, a change process for shifting the signal value of the waveform of the target signal, and a change process for expanding or contracting the waveform of the target signal in the time axis direction. At least two of them may be combined with each other.

The comparison unit 375 compares the target signal whose change processing has been executed by the change unit 376 with the comparison pattern registered in advance in the auxiliary storage device 34. The comparison pattern shows the threshold value at each time of the waveform of the target signal. Specific examples of the comparison pattern will be described later.

FIG. 3 is a flowchart showing an operation example of the control device 3 in the embodiment. The flowchart shown in FIG. 3 shows the flow of processing when the control device 3 performs comparison processing.

First, the recording unit 371 executes a recording operation according to the recording start condition and the recording end condition stored in the auxiliary storage device 34 (step S201). The target signal is recorded in the RAM 36 by executing the recording operation. The change unit 376 detects a feature portion in the target signal according to the shift condition stored in the auxiliary storage device 34 (step S202). The modification unit 376 shifts the target signal based on the detected feature portion (step S203). The comparison unit 375 compares the target signal for which the change processing has been executed with the comparison pattern stored in the auxiliary storage device 34 according to the comparison conditions (step S204). The comparison unit 375 performs a determination process according to the comparison result. The comparison unit 375 outputs the determination result (step S205).

FIG. 4 is a diagram showing a specific example of the comparison pattern. The comparison pattern indicates a threshold area related to the determination result of the target signal. For example, the comparison pattern shown in FIG. 4 includes an upper limit waveform 81, which is a waveform showing an upper limit value of the target signal at each time, and a lower limit waveform 82, which is a waveform showing a lower limit value of the target signal at each time.

In the comparison pattern, the time corresponding to at least one feature portion is defined in advance as the feature time. In the example of FIG. 4, the time corresponding to the maximum value is defined in advance as the first feature time. The time corresponding to each inflection point is defined in advance as each feature time.

In the comparison pattern, a value corresponding to at least one feature portion is defined in advance as a feature value. In the example of FIG. 4, a value corresponding to the maximum value of the upper limit waveform 81 is defined in advance as the first upper limit waveform feature value. A value corresponding to each inflection point of the upper limit waveform 81 is defined in advance as each upper limit waveform feature value other than the first upper limit waveform feature value. A value corresponding to the maximum value of the lower limit waveform 82 is defined in advance as the first lower limit waveform feature value. A value corresponding to each inflection point of the lower limit waveform 82 is defined in advance as each lower limit waveform feature value other than the second lower limit waveform feature value.

FIG. 5 is a diagram showing a specific example of the target signal. In FIG. 5, the waveform 83 shows the waveform of the target signal.
FIG. 6 is a diagram showing the comparison pattern and the target signal not shifted by the change unit 376 side by side on the same time axis. The comparison pattern shown in FIG. 6 is the comparison pattern shown in FIG. The target signal shown in FIG. 6 is the target signal shown in FIG. As shown in FIG. 6, there is a time lag between the time T1 at which the feature portion appears in the target signal and the time T2 at which the feature portion appears in the comparison pattern. Due to this deviation, the value of the target signal to be compared with the comparison pattern is not an ideal value. For example, the value of the target signal to be compared with the time T2 in the comparison pattern (the value of the signal at the time T2) is lower than the lower limit waveform 82. Therefore, in the example of FIG. 6, the value of the target signal is not located between the upper limit waveform 81 and the lower limit waveform 82, and it is determined that the condition is not satisfied.

FIG. 7 is a diagram showing the comparison pattern and the target signal shifted by the change unit 376 side by side on the same time axis. The change unit 376 detects a feature portion of the waveform of the target signal that satisfies a predetermined condition. Then, the change unit 376 detects the time corresponding to the detected feature portion as the feature time, and shifts the target signal. In FIG. 7, the target signal is shifted in the time axis direction so that the feature time of the target signal and the feature time of the comparison pattern coincide with each other.

The changing unit 376 may change the shift amount of the target signal in the time axis direction according to the time when the carrier passes the predetermined position. For example, the changing unit 376 may increase the amount of shift of the target signal in the time axis direction as the time when the carrier passes the predetermined position is later.

The comparison unit 375 compares the target signal after being shifted in this way with the comparison pattern. For example, in the example of FIG. 7, the comparison unit 375 compares whether or not the signal value of the target signal is located between the upper limit value and the lower limit value at each time. The comparison unit 375 may determine that the target signal is the correct target signal when the signal value of the target signal is located between the upper limit value and the lower limit value at each time. For example, the object from which the target signal is obtained may be determined to be a non-defective product.

In the control device 3 according to the embodiment configured in this way, the target signal is shifted so that the appearance times of the feature portions of the target signal and the comparison condition match. Therefore, the deviation between the target signal and the comparison condition in the time axis direction can be reduced. Therefore, it is possible to perform comparison with higher accuracy. In particular, when the target signal or the comparison condition changes sharply in the time axis direction, the comparison result may change significantly due to a slight deviation in the time axis direction. However, in the control device 3 of the embodiment, since the deviation in the time axis direction can be reduced as described above, it is higher even when the target signal and the comparison condition change sharply in the time axis direction. It is possible to make comparisons with accuracy.

FIG. 8 is a diagram showing a second specific example of the target signal. In FIG. 8, the waveform 83 shows the waveform of the target signal. The target signal in FIG. 8 is shifted in a direction in which the signal value becomes larger than that of the target signal in FIG.

FIG. 9 is a diagram showing a comparison pattern and a target signal whose signal value has not been shifted by the change unit 376 arranged side by side on the same time axis. The comparison pattern shown in FIG. 9 is the comparison pattern shown in FIG. The target signal shown in FIG. 9 is the target signal shown in FIG. As shown in FIG. 9, the first feature value in which the feature portion appears in the target signal is the lower limit waveform 82 of the comparison pattern from the first upper limit waveform feature value in which the feature portion appears in the upper limit waveform 81 of the comparison pattern. It is not included in the range up to the first lower limit waveform feature value where the feature portion appears in. Therefore, the value of the target signal to be compared with the comparison pattern is not an ideal value. For example, the first feature value of the target signal to be compared with the first upper limit waveform feature value in the upper limit waveform 81 of the comparison pattern is larger than the upper limit waveform 81. Therefore, in the example of FIG. 9, the first feature value of the target signal is not located between the first upper limit waveform feature value of the upper limit waveform 81 and the first lower limit waveform feature value of the lower limit waveform 82, and satisfies the condition. It will be judged that it is not.

FIG. 10 is a diagram showing a comparison pattern and a target signal whose signal value has been shifted by the change unit 376 arranged side by side on the same time axis. The change unit 376 detects a feature portion of the waveform of the target signal that satisfies a predetermined condition. Then, the changing unit 376 detects the signal value corresponding to the detected feature portion as the feature value, and shifts the signal value of the target signal. In FIG. 10, the signal value of the target signal is shifted so that the first feature value of the target signal is located between the first upper limit waveform feature value of the upper limit waveform 81 and the first lower limit waveform feature value of the lower limit waveform 82. Has been done.

The changing unit 376 may change the shift amount in the direction in which the value of the target signal changes according to the pressure of the press that forms the carrier. For example, the changing unit 376 may increase the shift amount in the direction in which the value of the target signal changes as the pressure of the press for molding the carrier increases.

The comparison unit 375 compares the target signal after being shifted in this way with the comparison pattern. For example, in the example of FIG. 10, the comparison unit 375 compares whether or not the signal value of the target signal is located between the upper limit value and the lower limit value at each time. The comparison unit 375 may determine that the target signal is the correct target signal when the signal value of the target signal is located between the upper limit value and the lower limit value at each time. For example, the object from which the target signal is obtained may be determined to be a non-defective product.

In the control device 3 according to the embodiment configured as described above, the signal value of the target signal is shifted so that the feature portion of the target signal is located between the feature portion of the upper limit waveform 81 and the feature portion of the lower limit waveform 82. Will be done. Therefore, the deviation of the signal value between the target signal and the comparison condition can be reduced. Therefore, it is possible to perform comparison with higher accuracy. In particular, when the target signal or the comparison condition changes sharply in the time axis direction, the comparison result may change significantly due to a slight deviation of the signal value. However, in the control device 3 of the embodiment, since the deviation of the signal value can be reduced as described above, even if there is an offset in the target signal or the signal value of the comparison condition, the comparison is performed with higher accuracy. Can be done.

FIG. 11 is a diagram showing a third specific example of the target signal. In FIG. 11, the waveform 83 shows the waveform of the target signal. The target signal in FIG. 11 is reduced in the time axis direction as compared with the target signal in FIG.

FIG. 12 is a diagram showing the comparison pattern and the target signal not expanded in the time axis direction by the change unit 376 side by side on the same time axis. The comparison pattern shown in FIG. 12 is the comparison pattern shown in FIG. The target signal shown in FIG. 12 is the target signal shown in FIG.

As shown in FIG. 12, the first feature time when the first feature portion appears in the target signal and the first feature time when the first feature portion appears in the comparison pattern coincide with each other. As shown in FIG. 12, there is a time lag between the time T3 at which the second feature portion appears in the target signal and the time T4 at which the second feature portion appears in the comparison pattern. There may be a time lag longer than the time from time T3 to time T4 between the time T5 at which the third feature portion appears in the target signal and the time T7 at which the third feature portion appears in the comparison pattern. There may be a time lag longer than the time from time T5 to time T7 between the time T6 at which the fourth feature portion appears in the target signal and the time T8 at which the fourth feature portion appears in the comparison pattern. There may be a time lag longer than the time from time T6 to time T8 between the time T9 at which the fifth feature portion appears in the target signal and the time T10 at which the fifth feature portion appears in the comparison pattern.

Due to these deviations, the value of the target signal to be compared with the comparison pattern is not an ideal value. For example, the value of the target signal to be compared with the time T6 in the comparison pattern (the signal value at the time T6) is lower than the lower limit waveform 82. Therefore, in the example of FIG. 12, the value of the target signal is not located between the upper limit waveform 81 and the lower limit waveform 82, and it is determined that the condition is not satisfied.

FIG. 13 is a diagram showing the comparison pattern and the target signal enlarged in the time axis direction by the change unit 376 side by side on the same time axis. The change unit 376 detects a plurality of feature portions satisfying a predetermined condition in the waveform of the target signal. Then, the change unit 376 detects each time corresponding to the detected plurality of feature portions as each feature time, and shifts the target signal in the time axis direction for each feature time. That is, the changing unit 376 detects each time corresponding to the detected plurality of feature portions as each feature time, and expands or contracts the target signal in the time axis direction.

For example, the changing unit 376 may change the magnification for expanding or contracting the target signal in the time axis direction according to the transport time of the transport body from the first position to the second position. For example, in the changing unit 376, the longer the transport time of the carrier from the first position to the second position, the slower the time change of the target signal, so that the waveform of the target signal extends in the time axis direction. The magnification for reducing the signal in the time axis direction may be increased.

In FIG. 13, the target signal is shifted in the time axis direction so that the feature time of the target signal and each feature time of the comparison pattern coincide with each other. The comparison unit 375 compares the target signal after being shifted in this way with the comparison pattern. For example, in the example of FIG. 7, the comparison unit 375 compares whether or not the signal value of the target signal is located between the upper limit value and the lower limit value at each time. The comparison unit 375 may determine that the target signal is the correct target signal when the signal value of the target signal is located between the upper limit value and the lower limit value at each time. For example, the object from which the target signal is obtained may be determined to be a non-defective product.

In the control device 3 according to the embodiment configured in this way, the target signal is shifted in the time axis direction so that the appearance times of the plurality of feature portions of the target signal and the comparison condition match. Therefore, the deviation between the target signal and the comparison condition in the time axis direction can be reduced. Therefore, it is possible to perform comparison with higher accuracy. In particular, when the target signal or the comparison condition has fluctuation (jitter) in the time axis direction, the comparison result may change significantly due to a slight deviation in the time axis direction. However, in the control device 3 of the embodiment, since the deviation in the time axis direction can be reduced as described above, even if the target signal and the comparison condition have fluctuations in the time axis direction, the accuracy is higher. It is possible to make a comparison with. For example, since the control device 3 can absorb fluctuations in the transport speed of the transport body, the robustness of the determination is high, so that the accuracy of the determination result can be improved.

FIG. 14 is a diagram showing a configuration of a modified example of the control system 100. As shown in FIG. 14, in the control system 100, the timing input device 13 may be connected to the AD conversion device 2. The timing input device 13 is, for example, a timing sensor or a mechanical switch. The timing input device 13 detects the presence of the target object in a predetermined area. The timing input device 13 outputs a digital signal (on signal or off signal) indicating the detection result to the AD conversion device 2. The AD conversion device 2 outputs the digital signal output from the timing input device 13 to the control device 3. The digital signal output by the timing input device 13 may be used in the control device 3 to determine the timing of starting the recording operation of the digital signal relating to the target object. That is, the determination unit 373 of the control device 3 may determine the timing to start the recording operation and the timing to end it based on the digital signal output from the timing input device 13.

(Modification example)
In the control device 3 of the embodiment, the target signal is acquired by being recorded by the recording unit 371. However, the method by which the control device 3 acquires the target signal does not have to be limited to recording by the recording unit 371. For example, the control device 3 may receive the data of the target signal from another device via any of the first communication module 31, the second communication module 32, or the third communication module 33. For example, when the AD conversion device 2 has a function of recording the target signal, the control device 3 acquires the target signal by receiving the data of the target signal from the AD conversion device 2 via the first communication module 31. You may.

In the embodiment, the change process may be executed for the comparison condition (for example, the comparison pattern) instead of executing the change process for the target signal.
Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs and the like within a range that does not deviate from the gist of the present invention.

100 ... Control system, 11 ... 1st device, 12 ... 2nd device, 13 ... Timing input device, 2 ... AD (Analog to Digital) converter, 20 ... Internal bus, 21 ... Analog input interface, 22 ... Converter, 23 ... FPGA (Field Programmable Gate Array), 24 ... ROM (Read Only Memory), 25 ... Processor, 26 ... Communication module, 3 ... Control device, 30 ... Internal bus, 31 ... 1st communication module, 32 ... 2nd communication Module, 33 ... 3rd communication module, 34 ... Auxiliary storage device, 35 ... Buffer memory, 36 ... RAM (Random Access Memory), 37 ... Processor, 371 ... Recording unit, 372 ... Setting unit, 373 ... Determining unit, 374 ... Area determination unit, 375 ... Comparison unit, 376 ... Change unit, 4 ... Terminal device

Claims (3)

A signal information recording unit that records information indicating the time change of time-series signals output from the device,
A comparison condition storage unit that stores information indicating the time change of predetermined comparison conditions, and a comparison condition storage unit.
The time axis deviation of either or both of the time change of the signal recorded in the signal information recording unit and the time change of the comparison condition stored in the comparison condition storage unit becomes small. A change part that expands or contracts in the time axis direction,
A comparison unit that compares the signal with the comparison condition using the time change after being enlarged or reduced by the change unit.
Equipped with a,
The time change of the signal recorded in the signal information recording unit includes at least one first feature portion which is any of a maximum value, a minimum value, and a zero cross point.
The time change of the comparison condition stored in the comparison condition storage unit includes at least one second feature portion which is any of a maximum value, a minimum value, and a zero cross point.
The changing unit, the first characteristic portion and the second characteristic portion and in the time axis direction deviation Ru controller is enlarged or reduced as the time axis direction becomes small. The changed portion is enlarged or expanded so that each time corresponding to a plurality of feature portions predetermined in the comparison condition and each time corresponding to a plurality of feature portions in the time change of the signal substantially coincide with each other. The control device according to claim 1, wherein the control device is reduced. A device including a signal information recording unit that records information indicating a time change of a time-series signal output from an apparatus and a comparison condition storage unit that stores information indicating a time change of a predetermined comparison condition.
The time axis deviation of either or both of the time change of the signal recorded in the signal information recording unit and the time change of the comparison condition stored in the comparison condition storage unit becomes small. With the change step of expanding or contracting in the time axis direction,
A comparison step of comparing the signal with the comparison condition using the time change after being enlarged or reduced in the change step.
The execution,
The time change of the signal recorded in the signal information recording unit includes at least one first feature portion which is any of a maximum value, a minimum value, and a zero cross point.
The time change of the comparison condition stored in the comparison condition storage unit includes at least one second feature portion which is any of a maximum value, a minimum value, and a zero cross point.
The changing step, the first characteristic portion and the second characteristic portion with enlarged or reduced so Ru control method in the time axis direction as shift in the time axis direction is small.

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