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WO2025048033A1 - Dispositif de commande comprenant une unité de déclenchement intégrée de type à modules multiples - Google Patents

Dispositif de commande comprenant une unité de déclenchement intégrée de type à modules multiples Download PDF

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Publication number
WO2025048033A1
WO2025048033A1 PCT/KR2023/016186 KR2023016186W WO2025048033A1 WO 2025048033 A1 WO2025048033 A1 WO 2025048033A1 KR 2023016186 W KR2023016186 W KR 2023016186W WO 2025048033 A1 WO2025048033 A1 WO 2025048033A1
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WO
WIPO (PCT)
Prior art keywords
trigger
unit
conditional
slave
module
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/KR2023/016186
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English (en)
Korean (ko)
Inventor
박철희
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rs Automation Co ltd
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Rs Automation Co ltd
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Publication date
Priority claimed from KR1020230112107A external-priority patent/KR102930480B1/ko
Application filed by Rs Automation Co ltd filed Critical Rs Automation Co ltd
Publication of WO2025048033A1 publication Critical patent/WO2025048033A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems

Definitions

  • 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.
  • 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).
  • a control target such as a motor (30)
  • a predetermined action e.g., shooting or spraying a chemical
  • 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.
  • the second trigger conditional part of the present invention can use the output signal of the slave trigger module as an input signal.
  • the second trigger condition of the present invention may correspond to a combination or operation of the first trigger condition.
  • 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.
  • 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.
  • 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.
  • system characteristics portion of the present invention may include a system function representing unique characteristics of a control system for a control object.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIGS. 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.
  • FIGS. 1 to 6 a control device including an integrated trigger unit of a multi-module type of the present invention is described.
  • 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).
  • 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.
  • the terms device such as a motor (30), a load including a device, and a control target may be used interchangeably.
  • the load can take a predetermined action or motion.
  • 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).
  • a load such as a motor (30)
  • OS control command
  • 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).
  • 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).
  • 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.
  • IS input signal
  • OS output signal
  • the trigger condition may be a constraint that determines whether to output an output signal (OS) corresponding to the control command or not.
  • the trigger condition may be a limit condition that is true only when within a predetermined range on the x-axis.
  • the slave trigger module (100) may output an output signal (OS) that commands a control operation such as shooting or spraying a chemical.
  • 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.
  • a control signal which is the final output signal (FOS)
  • 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.
  • 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.
  • 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 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).
  • a trigger condition 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.
  • 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.
  • the amount of computation or computational complexity can increase significantly.
  • 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.
  • 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).
  • 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.
  • a second trigger conditional unit 300 that receives output signals (OS1, OS2, OS2, etc.) of each slave trigger module (100) as input signals.
  • the second trigger conditional unit (300) can use as input signals the output signals (OS1, OS2) of the first trigger conditional unit (141, 142).
  • 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.
  • 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 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).
  • 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.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

Un dispositif de commande de la présente invention peut comprendre une unité de déclenchement intégrée permettant de recevoir une pluralité de signaux d'entrée et de transmettre une instruction de commande à un objet à commander. L'unité de déclenchement intégrée peut comprendre une pluralité de modules de déclenchement esclaves, chaque module de déclenchement esclave recevant un signal de la pluralité de signaux d'entrée de façon à délivrer un signal de sortie si une condition de déclenchement d'une première unité de condition de déclenchement est satisfaite, et permet à l'unité de déclenchement intégrée d'être configurée sous une forme du type à modules multiples détachables.
PCT/KR2023/016186 2023-08-25 2023-10-18 Dispositif de commande comprenant une unité de déclenchement intégrée de type à modules multiples Pending WO2025048033A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020230112107A KR102930480B1 (ko) 2023-08-25 멀티 모듈 타입의 통합 트리거 유니트를 구비한 제어 장치
KR10-2023-0112107 2023-08-25

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WO2025048033A1 true WO2025048033A1 (fr) 2025-03-06

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009278603A (ja) * 2008-04-17 2009-11-26 Hokuto Seigyo Kk シリアル通信装置
KR20120037163A (ko) * 2010-10-11 2012-04-19 주식회사 엘지화학 배터리팩의 멀티 슬레이브에 대한 순차적 아이디 설정방법 및 시스템
KR20130006441A (ko) * 2010-03-10 2013-01-16 테크임프 테크놀로지스 에스.알.엘. 부분 전기 방전을 검출하기 위한 방법 및 기기
KR20160122761A (ko) * 2014-02-18 2016-10-24 알레그로 마이크로시스템스, 엘엘씨 마스터 콤포넌트의 공유 통신 노드를 이용한 마스터 및 슬레이브 콤포넌트들 사이의 신호 전송
KR102016895B1 (ko) * 2018-05-30 2019-10-21 주식회사 우리기술 지진 감시 및 분석 시스템

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009278603A (ja) * 2008-04-17 2009-11-26 Hokuto Seigyo Kk シリアル通信装置
KR20130006441A (ko) * 2010-03-10 2013-01-16 테크임프 테크놀로지스 에스.알.엘. 부분 전기 방전을 검출하기 위한 방법 및 기기
KR20120037163A (ko) * 2010-10-11 2012-04-19 주식회사 엘지화학 배터리팩의 멀티 슬레이브에 대한 순차적 아이디 설정방법 및 시스템
KR20160122761A (ko) * 2014-02-18 2016-10-24 알레그로 마이크로시스템스, 엘엘씨 마스터 콤포넌트의 공유 통신 노드를 이용한 마스터 및 슬레이브 콤포넌트들 사이의 신호 전송
KR102016895B1 (ko) * 2018-05-30 2019-10-21 주식회사 우리기술 지진 감시 및 분석 시스템

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