WO2025048033A1 - Control device comprising integrated trigger unit of multi-module type - Google Patents

Abstract

A control device of the present invention may comprise an integrated trigger unit for receiving a plurality of input signals and transmitting a control command to an object to be controlled. The integrated trigger unit can include a plurality of slave trigger modules, wherein each slave trigger module receives one of the plurality of input signals so as to output an output signal if a trigger condition of a first trigger condition unit is satisfied, and enables the integrated trigger unit to be configured as a detachable multi-module type.

Description

Control unit with integrated trigger unit of multi-module type

The present invention relates to a multi-module type control device having multiple dimensions or degrees of freedom that can support expansion of an existing system by using an integrated trigger unit composed of a plurality of slave trigger modules.

A trigger module or trigger unit can receive a command signal or an encoder signal and output a control signal capable of operating a load including a device such as a motor when a predetermined trigger condition is satisfied.

According to FIGS. 2 and 3, when controlling a control target, such as a motor (30), to perform a predetermined action (e.g., shooting or spraying a chemical) at a targeted precise location, input signals (IS1, IS2, IS3, etc.) corresponding to three axes can be input from a plurality of encoders (41, 42, 43, etc.) to a trigger unit (20) in the past, and when data converted or processed through an input signal processing unit (21) satisfies a trigger condition of a trigger condition unit (22), an output signal (FOS) for controlling the control target can be output from the trigger unit (20).

When it is confirmed by the input signal processing unit (21) that all input signals (IS1, IS2, IS3, etc.) are input, the trigger conditional unit (22) can determine whether to output the control signal, which is the final output signal (FOS), depending on whether the trigger condition using the input signal as a parameter is satisfied. The trigger condition of the trigger conditional unit (22) of this type is not a problem because the amount of computation is small in the case of low-dimensional or low-inductive conditions including one dimension (1D) or one degree of freedom (1dof), but when the input signal becomes complex in multi-dimensional or multiple degrees of freedom including control signal commands of six degrees of freedom (6dof) or nine degrees of freedom (9dof), the trigger condition of the trigger conditional unit (22) becomes too complex, which may require high computational capabilities to satisfy the trigger condition or output the control signal.

The present invention can provide a multi-module type control device that can improve user convenience for implementing multi-dimensional or multi-degree-of-freedom motion of a load including a motor, etc., by using an integrated trigger unit composed of a plurality of slave trigger modules, and can increase the computational speed related to the production of an output signal satisfying a trigger condition.

The control device of the present invention may include an integrated trigger unit that receives an input signal and issues a control command to a control target performing a motion operation, and a plurality of slave trigger modules having a lower dimension or degree of freedom than that of the integrated trigger unit may be provided, and the slave trigger modules may receive an input signal and output an output signal when a trigger condition of a first trigger conditional part is satisfied, and the integrated trigger unit may be configured as a detachable multi-module type.

In one embodiment, the second trigger conditional part of the present invention can use the output signal of the slave trigger module as an input signal.

In one embodiment, the second trigger condition of the present invention may correspond to a combination or operation of the first trigger condition.

In one embodiment, the signal input to the second trigger conditional unit of the present invention may include at least one of an output signal of the slave trigger module, sensing data of a sensor measuring the control target including an encoder, and a signal of separate I/O hardware.

In one embodiment, the integrated trigger unit of the present invention may be configured with a dual trigger condition structure of a first trigger condition of the first trigger conditional section and a second trigger condition of the second trigger conditional section.

In one embodiment, the final output signal of the present invention can be output only when both the first trigger condition of the first trigger conditional unit and the second trigger condition of the second trigger conditional unit are satisfied.

In one embodiment, the system characteristics portion of the present invention may include a system function representing unique characteristics of a control system for a control object.

In one embodiment, the system characteristic part of the present invention can output a final output signal for the control target by reflecting the system function in the output signal of the second trigger condition part.

In one embodiment, the integrated trigger module of the present invention can output different final output signals depending on multiple second trigger conditions of the second trigger conditional portion.

In one embodiment, the slave trigger module of the present invention may include an input signal processing unit that converts an input signal into a data format processable by the first trigger condition unit.

In one embodiment, the input signal received by the first trigger conditional portion of the present invention may include sensing data of a sensor for a control target, or data processed by an input signal processing portion.

In one embodiment, the output signal of the first trigger conditional portion of the present invention may be a result of whether an input signal input to the slave trigger module satisfies a trigger condition, and may include information about the trigger condition of the slave trigger module and whether it is satisfied.

In one embodiment, the slave trigger module of the present invention may correspond to each dimension or each degree of freedom of the integrated trigger unit, or to a lower dimension or lower degree of freedom of the integrated trigger unit.

In one embodiment, the integrated trigger unit of the present invention can correspond to distributing a high-dimensional or high-degree-of-freedom parameter operation formula for a control target to a low-dimensional or low-degree-of-freedom parameter operation formula included in the slave trigger module.

The present invention has the advantage of being able to utilize existing low-dimensional or low-inductive existing slave trigger module systems and supporting a system that integrates encoders, I/O hardware, existing slave trigger modules, etc.

In addition, the present invention has an advantage in that it can reduce the amount of computation by combining intuitive trigger conditions. That is, in the case of a conventional trigger unit or slave trigger module, all input signals are received, location information is confirmed, and then complex trigger conditions are applied to output a final output signal that controls the load. However, the integrated trigger unit of the present invention can shorten the computation time required to produce the final output signal by simplifying the trigger conditions, such as by simply combining the outputs of slave trigger modules.

FIG. 1 is an embodiment of a system to which a trigger unit including an integrated trigger unit of the present invention is applied.

Figures 2 and 3 are explanatory drawings of a conventional trigger unit.

FIG. 4 is a diagram illustrating a slave trigger module to be included in the integrated trigger unit of the present invention.

Figure 5 is a diagram illustrating an integrated trigger unit of the present invention.

Figure 6 is an explanatory diagram of the multi-trigger output control of the present invention.

Referring to FIGS. 1 to 6, a control device including an integrated trigger unit of a multi-module type of the present invention is described.

According to Fig. 1, a command signal (command coordinates, command speed, command acceleration, etc.) of a load including a motor (30) can be input to a trigger unit (20) from a command input section (10). When an input signal (IS, Input Signal) including a command signal, etc. is input, the trigger unit (20) can output an output signal (OS, Output Signal) or a final output signal (FOS, Final Output Signal) if a trigger condition is satisfied. Hereinafter, the terms device such as a motor (30), a load including a device, and a control target may be used interchangeably.

When the output signal (OS) is transmitted to a load such as a motor (30), the load can take a predetermined action or motion. Here, an example of the action or motion of the load, which is a control target, may include camera shooting, chemical spraying, sample application, etc.

An encoder (40) connected to a load such as a motor (30) can measure the position, speed, acceleration, etc. of the load and feed back the data to the trigger unit (20), and the trigger unit (20) can perform processing such as error correction using a signal from the command input unit (10) or a signal from the encoder (40) and then issue a control command (OS) to the motor (30).

According to FIGS. 4 and 5, the control device of the present invention may include an integrated trigger unit (200). The integrated trigger unit (200) may correspond to the trigger unit (20) in the embodiment of FIG. 1.

The integrated trigger unit (200) may include a slave trigger module (100) including a first slave trigger module (101) and a second slave trigger module (102). Each slave trigger module (100) may be associated with a low-dimensional or low-inductive load control.

The slave trigger module (100) may include an input signal processing unit (120) or a first trigger condition unit (141, 142).

The input signal processing unit (120) can process the input signal (IS) received and transmit it to the first trigger condition unit (141, 142). The input signal (IS) can include a control signal from a control unit of a higher layer, a CPU, a master, etc., or a signal input from an encoder (40). For example, the input signal processing unit (120) can convert the input signal (IS) into a data format that can be processed by the first trigger condition unit (141, 142).

As an example, the slave trigger module (100) can receive an input signal (IS) including information about the position, speed, acceleration, etc. of the control target on a one-dimensional or two-dimensional axis, and the first trigger conditional unit (141, 142) can output an output signal (OS) based on the input signal (IS) or the trigger condition.

Here, the trigger condition may be a constraint that determines whether to output an output signal (OS) corresponding to the control command or not.

For example, when a position on the x-axis is measured from an encoder and input as an input signal (IS), the trigger condition may be a limit condition that is true only when within a predetermined range on the x-axis. When the input x-axis position falls within the predetermined range, the slave trigger module (100) may output an output signal (OS) that commands a control operation such as shooting or spraying a chemical.

In the existing trigger unit (20) (Fig. 2 and Fig. 3), all input signals (IS1, IS2, IS3) can be input to the trigger unit (20), and when it is confirmed by the input signal processing unit (21) that all input signals (IS1, IS2, IS3, etc.) have been input, the trigger conditional unit (22) can determine whether to output a control signal, which is the final output signal (FOS), depending on whether a trigger condition using the input signal as a parameter is satisfied.

This conventional method is not a problem because the amount of computation is small in low-dimensional or low-inductive cases including 1D or 1 degree of freedom (1dof), but when the input signal becomes complex in multi-dimensional or multiple degrees of freedom including control signal commands of 6 degrees of freedom (6dof) or 9 degrees of freedom (9dof), the trigger condition becomes too complex, which may require high computational power to determine whether the trigger condition is satisfied or to output the control signal.

In comparison, the slave trigger module (100) of the present invention can correspond to the existing trigger unit (20) that is divided according to each dimension or each degree of freedom, or divided according to a lower dimension or a lower degree of freedom.

For example, the first slave trigger module (101) or the second slave trigger module (102) of Fig. 4 may be for position control for each axis of the control target.

Each slave trigger module (100) is not limited to one dimension or one degree of freedom, and can be expanded to two dimensions or more than two degrees of freedom.

The important point is that the integrated trigger unit (200) of the present invention can include a plurality of slave trigger modules (100) and can be freely attached and detached like stacking blocks. This can be of great help to users/managers of communication networks in terms of cost, as existing trigger modules that are being used individually can be employed as one of the slave trigger modules (100).

For example, in the case of a control target that normally performs N-dimensional movements and takes a specific action (event), if the N-dimensional position satisfies a specific condition (trigger condition), an action such as spraying, shooting, or applying will be taken. Such a trigger condition can be given in the form of N or more values as variables or parameters, which can correspond to solving an equation of N or more dimensions. At this time, as the value of N increases, the amount of computation or computational complexity can increase significantly. In addition, it may not always be easy to extend and apply a trigger module that operates in a given N-dimensional case to the case of N-1 or N+1 dimensions.

For example, if the N parameter is simply a different attribute or type of degree of freedom than the dimension, a change in the trigger condition due to a change in the degree of freedom may have to be completely re-created with a new formula or logic. In this way, although the existing trigger unit (20) method works well in the target N-dimensionality or N-degree of freedom situation, there may be a problem that it is discarded and a new trigger unit (20) or trigger condition is introduced when there is a structural change such as addition or deletion in the entire system.

On the other hand, since the present invention can freely attach and detach each low-dimensional or low-inductive slave trigger module (100) as shown in FIGS. 4 and 5, even if the configuration of the communication network for controlling the load (30) is changed, or the load (30) itself is changed, or the operation of the load (30) is changed, there is no need to construct a new facility by selecting the previously used trigger module as one of the slave trigger modules (100).

In addition, the present invention can reduce the amount of computation by replacing trigger conditions that become more complex as they become multidimensional or multi-degree of freedom with combinations or computations of lower-dimensional trigger conditions. That is, the present invention can be equipped with a second trigger conditional unit (300) that receives output signals (OS1, OS2, OS2, etc.) of each slave trigger module (100) as input signals.

Compared to the first trigger conditional unit (141, 142) that uses as input signals the input signals (IS1, IS2, IS3) which are sensing data of sensors such as encoders (41, 42, 43) or signals processed by the input signal processing unit (120) through format conversion, the second trigger conditional unit (300) can use as input signals the output signals (OS1, OS2) of the first trigger conditional unit (141, 142).

At this time, the output signal (OS1, OS2) of the first trigger conditional unit (141, 142) may not be the final control command (FOS) for the control target, and may be the result of whether the input signal (IS) input to the slave trigger module (100) satisfies (true) each trigger condition or not (false). Accordingly, the output signal (OS1, OS2) of the first trigger conditional unit (141, 142) may include information on the trigger condition of each slave trigger module (100) and whether it is satisfied.

That is, the signal input to the second trigger conditional unit (300) may include at least one of an output signal of the slave trigger module (100), sensing data of a sensor measuring a control target including an encoder (40), and a signal of a separate I/O HW.

The second trigger conditional unit (300) can output a final trigger output or final output signal (FOS), which is a final control command against the load, by using multiple output signals (OS1, OS2, etc.) of the first trigger conditional unit (141, 142).

The dual trigger conditional structure of the first trigger conditional part (141, 142) and the second trigger conditional part (300) of the present invention can significantly reduce the amount of computation required to output the final output signal (FOS) compared to the case by the existing trigger module (20). For example, the second trigger module (300) can be set to output the output signal (OS) only when the trigger conditions of the first trigger conditional parts (141, 142) of all slave trigger modules (101, 102, 103, etc.) are true. If the same content is implemented with the existing trigger module structure, the procedure execution time and the trigger condition computation time may take significantly more time.

The signal input to the second trigger conditional unit (300) may include not only the output signal (OS1, OS2) of the slave trigger module (100), but also the sensing data (IS3) of the sensor measuring the control target, such as the encoder (40). For example, the third slave trigger module (103) of FIG. 5 may transmit the encoder measurement signal (IS3) to the second trigger conditional unit (300). The third slave trigger module (103) may include a third input signal processing unit (123) that processes the encoder measurement signal (IS3) by format conversion, etc. Here, the third input signal processing unit (123) may convert the encoder measurement signal (IS3) into a data format that can be used when determining the trigger condition of the second trigger conditional unit (300).

Accordingly, the output signal (OS3) of the third slave trigger module (103) input to the second trigger conditional unit (300) may be an encoder measurement signal (IS3) or a signal processed by the third input signal processing unit (123).

In this way, when introducing a trigger conditional part (300) that uses the trigger condition itself as an input value, the input signal type of the trigger condition of the second trigger conditional part (300) for outputting the final output signal (FOS) can be varied. This allows for more diverse trigger conditions to be configured, and the degree of freedom in changing the structure of the control system can also be increased.

In addition, the present invention can reflect the characteristics of the control system or the communication network system in the final output signal (FOS). The integrated trigger unit (200) can further include a system characteristic unit (400). The system characteristic unit (400) can apply a system function representing the unique characteristics of the control system or the communication network system to the output signal of the second trigger condition unit (300), and the integrated trigger unit (200) can output the result of the system function of the system characteristic unit (400) being applied as the final output signal (FOS).

The system characteristic or system function may be extended to represent the unique characteristics of a control system or communication network system for motion control of a control target. An example of the system characteristic or system function may be for error/error correction of the control target. For example, if the control target is a multi-axis gantry robot having a two-axis linear movement degree of freedom, error correction contents considering weight due to eccentric load, forward/backward driving direction, or backlash may be implemented as a system characteristic section (400) or a system function and applied to the output signal of the second trigger condition section (300).

In addition, referring to FIG. 6, the integrated trigger unit (200) of the present invention can control multi-trigger output by applying trigger output conditions differently. That is, the second trigger conditional unit (300) can include a plurality of final trigger conditions (141, 142, 143) (i.e., second trigger conditions) that output different final output signals (FOS) depending on the combination of trigger conditions of the first trigger conditional unit (141, 142).

The second trigger condition (300) may include a plurality of trigger conditions including a first final trigger condition (301), a second final trigger condition (302), and a third final trigger condition (303).

For example, the first final trigger condition (301) may be to output an output signal (FOS) when the first trigger condition (the first slave trigger module (101)) of the first trigger conditional unit (141) and the second trigger condition (the second slave trigger module (102)) of the first trigger conditional unit (142) are simultaneously satisfied. Alternatively, the second final trigger condition (302) may be to output an output signal (FOS) when the first trigger condition (the second slave trigger module (102)) of the second trigger conditional unit (142) is satisfied and the third input signal (IS3 or OS3) is input.

A system function (401, 402, 403) of each system characteristic corresponding to each final trigger condition can be applied, and a final trigger output signal (FOS1, FOS2, FOS3) corresponding to each can be output.

Claims (9)

An integrated trigger unit that receives multiple input signals and issues a control command to a control target; The above integrated trigger unit comprises a plurality of slave trigger modules, and a second trigger conditional section in which a second trigger condition is provided, The above slave trigger module, Contains a first trigger condition, It receives one input signal among multiple input signals and outputs an output signal when the trigger condition of the first trigger conditional part is satisfied. The above integrated trigger unit is configured as a detachable multi-module type, The above second trigger conditional unit is a control device that uses the output signal of the slave trigger module as an input signal. In the first paragraph, The above integrated trigger unit is composed of a dual trigger condition structure of a first trigger condition of the first trigger conditional section and a second trigger condition of the second trigger conditional section, The above integrated trigger unit is a control device that outputs a final output signal when the input signal satisfies both the first trigger condition and the second trigger condition. In the first paragraph, The above second trigger condition corresponds to a combination or operation of the first trigger condition of the above first trigger conditional, The above integrated trigger module is a control device that outputs different final output signals according to multiple second trigger conditions of the second trigger conditional section. In the first paragraph, A control device in which a signal input to the second trigger conditional section includes at least one of an output signal of the slave trigger module, sensing data of a sensor measuring the control target including an encoder, and a signal of a separate I/O hardware. In the first paragraph, The above integrated trigger module includes a system characteristic section, The above system characteristics are: Contains a system function representing the unique characteristics of the control system for the above control object, The above second trigger conditional unit receives the output signal of the first trigger conditional unit as one of the input signals, A control device that reflects the system function to the output signal of the second trigger conditional part and outputs a final output signal for the control target. In the first paragraph, An input signal processing unit that converts the input signal of the above slave trigger module into a data format that can be processed by the first trigger conditional unit, The input signal received in the above first trigger condition is: A control device including sensing data of a sensor for the above control target, or data processed by the input signal processing unit. In the first paragraph, The output signal of the above first trigger conditional is: This is the result of whether the input signal input to the above slave trigger module satisfies the trigger condition. A control device including information about the trigger condition of the above slave trigger module and whether it is satisfied. In the first paragraph, The above slave trigger module is a control device that is differentiated according to each dimension or each degree of freedom of the above integrated trigger unit, or corresponding to differentiation according to a lower dimension or lower degree of freedom of the above integrated trigger unit. In the first paragraph, The above integrated trigger unit, A control device corresponding to distributing a high-dimensional or high-degree-of-freedom parameter operation formula for the above-mentioned control object into a low-dimensional or low-degree-of-freedom parameter operation formula included in the above-mentioned slave trigger module.

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