Control device, mechanical system, and time synchronization method

Patent metadata

Field	Value
Publication number	US-2020379441-A1
Application number	US-202016849168-A
Country	US
Kind code	A1
Filing date	Apr 15, 2020
Priority date	May 27, 2019
Publication date	Dec 3, 2020
Grant date	—

Abstract

A control device controls a mechanical device having a movable member driven by a motor. The control device includes a radio signal exchange unit that receives a sensor signal indicating a position, a velocity or an acceleration of a tip part of the movable member, a data acquisition unit that acquires first time-series data of acceleration based on the received sensor signal, a data calculation unit that calculates second time-series data of acceleration at the tip part based on a drive command to the motor, a delay time calculation unit that calculates, when the mechanical device performs a predetermined basic operation, a delay time of the first time-series data to the second time-series data, based on a degree of correlation between the first and second time-series data, and a time synchronization unit that synchronizes time of the sensor part and control device based on the delay time.

First claim

What is claimed is:

1 . A control device configured to control a mechanical device having a movable member to be driven by a motor, the control device comprising:
a radio signal exchange unit configured to receive a sensor signal indicating a position, a velocity or an acceleration of a tip part of the movable member of the mechanical device periodically detected by a sensor part arranged to the tip part; a data acquisition unit configured to acquire first time-series data of acceleration at the tip part of the movable member, on the basis of the position, the velocity or the acceleration in the received sensor signal; a data calculation unit configured to calculate second time-series data of acceleration at the tip part of the movable member corresponding to the first time-series data, on the basis of a drive command to the motor; a delay time calculation unit configured to calculate, when the mechanical device is made to perform predetermined basic operation, a delay time of the first time-series data acquired by the data acquisition unit to the second time-series data calculated by the data calculation unit, on the basis of a degree of correlation between the first time-series data and the second time-series data; and a time synchronization unit configured to synchronize time of the sensor part and time of the control device, on the basis of the delay time calculated by the delay time calculation unit.

2 . The control device according to claim 1 , wherein
the basic operation is to drive at least one of a plurality of the motors included in the mechanical device.

3 . A control device configured to control a mechanical device having a movable member to be driven by a motor, the control device comprising:
a radio signal exchange unit configured to receive a sensor signal indicating a position, a velocity or an acceleration of a tip part of the movable member of the mechanical device periodically detected by a sensor part arranged to the tip part; a data acquisition unit configured to acquire first time-series data of acceleration at the tip part of the movable member, on the basis of the position, the velocity or the acceleration in the received sensor signal; a data calculation unit configured to calculate second time-series data of acceleration at the tip part of the movable member corresponding to the first time-series data, on the basis of a drive command to the motor; a delay time calculation unit configured to calculate, when the mechanical device is made to perform operation indicated in a program to be executed by the control device at a velocity equal to or less than a predetermined value instead of a velocity indicated in the program, a delay time of the first time-series data acquired by the data acquisition unit to the second time-series data calculated by the data calculation unit, on the basis of a degree of correlation between the first time-series data and the second time-series data; and a time synchronization unit configured to synchronize time of the sensor part and time of the control device, on the basis of the delay time calculated by the delay time calculation unit.

4 . The control device according to claim 1 , wherein
the mechanical device is a robot, and the control device is a robot control device.

5 . A control system comprising:
a mechanical device having a movable member to be driven by a motor; and the control device according to claim 1 .

6 . The control device according to claim 3 , wherein
the mechanical device is a robot, and the control device is a robot control device.

7 . A control system comprising:
a mechanical device having a movable member to be driven by a motor; and the control device according to claim 3 .

8 . A time synchronization method for performing, in a mechanical system including a mechanical device having a movable member to be driven by a motor and a control device for controlling the mechanical device, time synchronization between a sensor part arranged to a tip part of the movable member of the mechanical device and the control device, the time synchronization method comprising:
a radio signal exchanging step of receiving a sensor signal indicating a position, a velocity or an acceleration of the tip part periodically detected by the sensor part; a data acquiring step of acquiring first time-series data of acceleration at the tip part of the movable member, on the basis of the position, the velocity or the acceleration in the received sensor signal; a data calculating step of calculating second time-series data of acceleration at the tip part of the movable member corresponding to the first time-series data, on the basis of a drive command to the motor; a delay time calculating step of calculating, when the mechanical device is made to perform predetermined basic operation, a delay time of the first time-series data acquired in the data acquiring step to the second time-series data calculated in the data calculating step, on the basis of a degree of correlation between the first time-series data and the second time-series data; and a time synchronizing step of synchronizing time of the sensor part and time of the control device, on the basis of the delay time calculated in the delay time calculating step.

9 . A time synchronization method for performing, in a mechanical system including a mechanical device having a movable member to be driven by a motor and a control device for controlling the mechanical device, time synchronization between a sensor part arranged to a tip part of the movable member of the mechanical device and the control device, the time synchronization method comprising:
a radio signal exchanging step of receiving a sensor signal indicating a position, a velocity or an acceleration of the tip part periodically detected by the sensor part; a data acquiring step of acquiring first time-series data of acceleration at the tip part of the movable member, on the basis of the position, the velocity or the acceleration in the received sensor signal; a data calculating step of calculating second time-series data of acceleration at the tip part of the movable member corresponding to the first time-series data, on the basis of a drive command to the motor; a delay time calculating step of calculating, when the mechanical device is made to perform operation indicated in a program to be executed by the control device at a velocity equal to or less than a predetermined value instead of a velocity indicated in the program, a delay time of the first time-series data acquired in the data acquiring step to the second time-series data calculated in the data calculating step, on the basis of a degree of correlation between the first time-series data and the second time-series data; and a time synchronizing step of synchronizing time of the sensor part and time of the control device, on the basis of the delay time calculated in the delay time calculating step.

Assignees

• Fanuc Corp

Inventors

• Inagaki Satoshi
• Suzuki Hajime

Classifications

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• B25J9/161 Primary

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J9/1651

  acceleration, rate control · CPC title

• B25J9/1689

  Teleoperation · CPC title