CN1924741A - Robot controller CPU crash detection and emergency treatment method - Google Patents
Robot controller CPU crash detection and emergency treatment method Download PDFInfo
- Publication number
- CN1924741A CN1924741A CN 200610048651 CN200610048651A CN1924741A CN 1924741 A CN1924741 A CN 1924741A CN 200610048651 CN200610048651 CN 200610048651 CN 200610048651 A CN200610048651 A CN 200610048651A CN 1924741 A CN1924741 A CN 1924741A
- Authority
- CN
- China
- Prior art keywords
- controller cpu
- robot controller
- relay
- signal
- robot
- Prior art date
- 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
Links
Images
Landscapes
- Manipulator (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
This invention relates to robot controller CPU fault test and emergency process method, which converts the frequency signals of normal work into voltage signals through frequency transducer and enlarges the voltage signals through amplifier and the drive relay outputs indication device normal signals; when in fault, relay not outputting and indicating fault. The emergency process method is to use relay output signal to control robot output drive axis and to monitor robot work status to indicate controller CPU abnormal.
Description
Technical field
The present invention relates to a kind of method of detection machine people's controller CPU crash and utilize this detection method to carry out the method for emergency processing.
Background technology
Robot controller CPU is the core in the robot control system, its range of control has comprised that each motion, real-time status of robot detects and fault handling etc., real-time and rapidity requirement to its control in the practical application are very high, in case controller CPU crash, can not produce control action to robot, just might cause serious potential safety hazard and immeasurable loss.The deadlock that occurs at robot controller CPU does not at present still have special detection method and special emergency processing mode, all is could perceive indirectly when other control fault occurring, often can not in time find and deal with problems, and causes serious consequence to occur.
Summary of the invention
But the objective of the invention is provides a kind of detection machine people's controller CPU running status for the deficiency that solves above-mentioned prior art existence, can detect the deadlock situation that robot controller CPU is in operation and occurs in real time, and the robot controller CPU crash that can in time take emergency measures detects and emergency processing method.
The objective of the invention is to be achieved through the following technical solutions.
Robot controller CPU crash detects and emergency processing method, its deadlock detection method is that the frequency signal that sends during with the robot controller CPU operate as normal is pressed conversion by frequently pressing transducer to carry out frequency, frequency signal is transformed to voltage signal, again voltage signal is amplified by amplifier, after reaching the voltage that relay can use, drive relay, allow indicating control of relay output move normal signal; When robot controller CPU crash, stop to send frequency signal, frequently press transducer not produce voltage signal, stop output voltage, relay is output not, indicates the deadlock state of robot controller CPU; Emergency processing method is enabling with the motor driver of the output signal control robot driving shaft of relay, during robot controller CPU crash, the relay outage, the Enable Pin of driver is invalid, the arrester close of braking motor, motor is braked immediately, and the input signal of the supervising device of supervisory-controlled robot duty disconnects, expression robot controller CPU operation irregularity.
The present invention utilizes and presses the conversion principle frequently, the output frequency of CPU is converted to voltage signal, the duty that can reflect controller CPU in real time, just can be detected soon and send signal in the moment that controller CPU occur to crash so that warning and take the emergency processing measure avoids controller CPU crash to cause the consequence that equipment is out of control or other is serious.
The present invention comes the duty of detection machine people controller CPU and realizes emergency processing by pure hardware circuit, do not influence the normal use of controller, and testing circuit is simple and reliable, and principle is clear and intuitive, only can realize with a very little circuit board.The present invention can be applied to the occasion of using various robot controllers, does not have special requirement for the model of robot controller.
Further set forth content of the present invention below in conjunction with Figure of description.
Description of drawings
Fig. 1 is that deadlock of the present invention detects schematic diagram;
Fig. 2 utilizes the deadlock detection signal to carry out the schematic diagram of emergency processing;
Fig. 3 is the embodiment that robot controller CPU crash detects;
Fig. 4 is the embodiment of four robot controller CPU crash emergency processings.
Embodiment
The technological core of detection method of the present invention is, sends frequency signal when robot controller CPU A1 moves continuously, and this frequency signal produces output and drives the actuating of relay after overfrequency is pressed conversion and amplified.Fig. 1 is concrete schematic diagram, its principle of work is as follows: robot controller CPU A1 is in operation and sends frequency signal S1 always, S1 receives a frequency and presses on the transducer U1, press conversion through overfrequency, frequency signal is transformed to voltage signal S2, after again voltage signal S2 being amplified to the voltage S3 that common relay can use by amplifier A2, drive relay K 1, make K1 can export an indicating control and move normal signal.When robot controller CPU A1 crashes, to stop to send frequency signal S1, can not produce voltage signal S2 when frequently pressing transducer U1 not have the frequency signal input, stop output voltage S3 simultaneously, relay K 1 is not exported, and indicates the state of robot controller CPU crash.Here, the output signal of relay can be configured according to the actual needs.The frequency signal that robot controller CPU A1 operation the time is sent continuously is generally the medium-high frequency signal, if be low frequency signal, available frequency multiplier circuit with increase frequency to medium-high frequency.
Reliable as a comparison and direct emergency processing method, Fig. 2 machine testing of having represented to checkmate is directly controlled the mode that enables of the band-type brake and the driver of motor, simultaneously signal is uploaded to the supervising device of supervisory-controlled robot duty.Come the motor driver of each driving shaft of control robot to enable and electromotor brake with the output signal of relay, only represented the driver U2 and the detent YB1 of a driving shaft among the figure.When the robot controller CPU operate as normal, deadlock detection module A can export control voltage, relay K 1, the normally opened contact of K1 makes the Enable Pin E1 of driver U2 effective, detent YB1 unclamps, motor rotation, the controlled device of the supervising device D1 signal working properly of supervisory-controlled robot duty; When robot controller CPU crash, deadlock detection module A stops output control voltage, relay K 1 outage, the Enable Pin E1 of driver U2 is invalid, detent YB1 closure, motor is braked immediately, and the input signal of the supervising device D1 of supervisory-controlled robot duty disconnects, and expression CPU operation irregularity is also reported to the police.Processing through such realizes reliable emergency processing, avoids bringing the out of control of robot because of robot controller CPU crash.
Fig. 3 is the circuit theory diagrams of a robot controller CPU crash test section, f among the figure
iBe the frequency signal that robot controller CPU sends, U1 is LM331 for frequently pressing transducer, its model.As shown in Figure 3,8 pin of LM331 add power supply voltage V
CC, 4 pin ground connection.Input pulse f
iThrough R
7, C
3The differentiating circuit of forming is added to the inverting input 6 of the input comparator of LM331, and the in-phase input end 7 of input comparator is through R
8, R
9Add the 2/3V that has an appointment after the dividing potential drop
CCDC voltage, inverting input 6 is through resistance R
7Be added with V
CCDC voltage.When the negative edge of incoming frequency arrives, through differentiating circuit R
7, C
3Produce a negative spike pulse and be added on the inverting input 6, when the negative spike pulse greater than V
CC/ 3 o'clock, the LM331 internal current was former in capacitor C
1Charging, power supply V simultaneously
CCPass through resistance R
6To C
2Charging.Capacitor C
1Both end voltage reaches 2/3V
CCThe time, capacitor C
1Pass through R
1Discharge, capacitor C
2Charge and discharge process is finished in discharge one time rapidly.After this, when the negative edge of incoming frequency arrived, circuit repeated the above-mentioned course of work.From top analytic process as can be known, capacitor C
1The electric charge of last accumulation is got over multi-output voltages (capacitor C
1Both end voltage) just high more, realized frequency-voltage transformation.The driving force of the voltage that conversion is come out is not enough, uses triode Q
1Amplify back output voltage OUT
PThis output voltage is low level output, can use other circuit to handle.
Fig. 5 is the control examples that four robot uses robot controller CPU crash to detect.Controller deadlock detection module has directly driven a relay-KA1.1, and three pairs of auxiliary contact of this relay have been received the digital input end and the 24V direct supply of supervising device D1 of Enable Pin E1, the supervisory-controlled robot duty of driver dc bus power supply respectively.When robot controller CPU moves normal the time, deadlock detection module output high level, driving-KA1.1 action, simultaneously-three normally opened contact closures of KA1.1, produce following three actions: 1) the Enable Pin E1 closure of driver dc bus power supply GD1, dc bus power work, busbar voltage export each driver U2, U3 to, power to driver; 2) signal of input is to the supervising device D1 digital input end of supervisory-controlled robot duty, and the current running status of expression robot controller CPU is normal; 3) voltage of 24V power supply L4 is switched to the upper end of the control contact of each detent, is-KA1.2-KA1.3 ,-KA1.4, the upper end of four relay contacts of-KA1.5 respectively.Like this by program can control motor-MS1 ,-MS2 ,-MS3 ,-operation of MS4.When robot controller CPU crash, the deadlock detection module stops to export high level ,-KA1.1 outage, its normally opened contact disconnects, and three above-mentioned actions are stopped, promptly 1) Enable Pin of driver dc bus power supply disconnects, no dc bus power supply output, the driver outage; 2) the supervising device digital input end of supervisory-controlled robot duty does not receive the normal signal of the current operation of robot controller CPU, and expression robot controller operation exception should be reported to the police rapidly; 3) the 24V direct supply that is connected to the control contact upper end of each detent disconnects, and detent quits work, and motor is out of service immediately.
Claims (1)
1, robot controller CPU crash detects and emergency processing method, it is characterized in that, the deadlock detection method is that the frequency signal (S1) that sends during with robot controller CPU (A1) operate as normal is pressed conversion by frequently pressing transducer (U1) to carry out frequency, frequency signal is transformed to voltage signal (S2), again voltage signal (S2) is amplified by amplifier (A2), after reaching the voltage (S3) that relay can use, drive relay (K1), allow indicating control of relay (K1) output move normal signal; When robot controller CPU crash, stop to send frequency signal, frequently press transducer not produce voltage signal, stop output voltage, relay is output not, indicates the deadlock state of robot controller CPU; Emergency processing method is enabling with motor driver (U2) of the output signal control robot driving shaft of relay (K1), during robot controller CPU crash, relay (K1) outage, the Enable Pin of driver (U2) is invalid, the detent of braking motor (YB1) closure, motor is braked immediately, and the input signal of the supervising device of supervisory-controlled robot duty (D1) disconnects, expression robot controller CPU operation irregularity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610048651 CN1924741A (en) | 2006-09-01 | 2006-09-01 | Robot controller CPU crash detection and emergency treatment method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610048651 CN1924741A (en) | 2006-09-01 | 2006-09-01 | Robot controller CPU crash detection and emergency treatment method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1924741A true CN1924741A (en) | 2007-03-07 |
Family
ID=37817413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200610048651 Pending CN1924741A (en) | 2006-09-01 | 2006-09-01 | Robot controller CPU crash detection and emergency treatment method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1924741A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103389667A (en) * | 2013-07-23 | 2013-11-13 | 广西柳工机械股份有限公司 | Protection method for preventing invalidation of CPU (central processing unit) of construction machinery controller |
| WO2016127836A1 (en) * | 2015-02-11 | 2016-08-18 | 深圳配天智能技术研究院有限公司 | Industrial robot demonstrator and emergency event triggering method therefor |
| CN107168287A (en) * | 2017-05-26 | 2017-09-15 | 中国南方电网有限责任公司超高压输电公司贵阳局 | A kind of PLC failures based on PLC transformer cooler control systems are met an urgent need module |
| CN108762159A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of industrial personal computer rebooting device, system and method |
| CN111766849A (en) * | 2020-07-01 | 2020-10-13 | 珠海格力智能装备有限公司 | Fault processing method and device and robot equipment |
| CN112083644A (en) * | 2019-06-13 | 2020-12-15 | 北京京东尚科信息技术有限公司 | Safety control method and system for robot, electronic device and readable medium |
-
2006
- 2006-09-01 CN CN 200610048651 patent/CN1924741A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103389667A (en) * | 2013-07-23 | 2013-11-13 | 广西柳工机械股份有限公司 | Protection method for preventing invalidation of CPU (central processing unit) of construction machinery controller |
| CN103389667B (en) * | 2013-07-23 | 2016-12-28 | 广西柳工机械股份有限公司 | A kind of guard method of the anti-inefficacy of construction machinery controller CPU |
| WO2016127836A1 (en) * | 2015-02-11 | 2016-08-18 | 深圳配天智能技术研究院有限公司 | Industrial robot demonstrator and emergency event triggering method therefor |
| CN107168287A (en) * | 2017-05-26 | 2017-09-15 | 中国南方电网有限责任公司超高压输电公司贵阳局 | A kind of PLC failures based on PLC transformer cooler control systems are met an urgent need module |
| CN108762159A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of industrial personal computer rebooting device, system and method |
| CN108762159B (en) * | 2018-06-11 | 2020-10-13 | 浙江国自机器人技术有限公司 | Industrial personal computer restarting device, system and method |
| CN112083644A (en) * | 2019-06-13 | 2020-12-15 | 北京京东尚科信息技术有限公司 | Safety control method and system for robot, electronic device and readable medium |
| CN111766849A (en) * | 2020-07-01 | 2020-10-13 | 珠海格力智能装备有限公司 | Fault processing method and device and robot equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1924741A (en) | Robot controller CPU crash detection and emergency treatment method | |
| CN202837494U (en) | Contactor state inspection device | |
| CN104199370A (en) | Automotive motor controller security monitoring circuit and control method thereof | |
| CN103264370A (en) | Torsion automatic-controlling system used for electric screw driver | |
| CN103036487B (en) | For there being the brake monitor of brushless motor | |
| CN205263537U (en) | Safe logical IO board | |
| CN200962196Y (en) | Robot controller CPU crash detection device | |
| CN103309274B (en) | Forging hydraulic press control method based on dual monitoring systems | |
| CN108746458B (en) | Rivet machine control system | |
| CN114895631B (en) | Servo driver, servo system and robot | |
| CN211348474U (en) | Frequency converter comprehensive testing device | |
| CN203027186U (en) | Three-phase motor integration controller | |
| CN202443111U (en) | Intelligent drying machine aging monitoring device with AC (alternating current) permanent magnet synchronous servo motor | |
| CN204031039U (en) | A kind of voltage shock avoiding motor intelligent manager | |
| CN103683891A (en) | Frequency converter control circuit and method and speed control system | |
| CN204737530U (en) | Elevator integration controller | |
| CN102854371A (en) | Device for measuring torque of electric actuating mechanism based on current detection | |
| CN111917097A (en) | Emergency power-off protection method and multi-path servo motor drive control power supply system | |
| CN201458574U (en) | Electrical control box specially for hoisting devices with safe monitoring function | |
| CN104803241A (en) | Novel elevator control system | |
| CN114488768B (en) | Safety control circuit, control method and servo driver | |
| CN215219877U (en) | Police high-voltage power grid control signal detection alarm conversion circuit | |
| CN112600487B (en) | Motor runaway protection system and method | |
| CN202498445U (en) | Quick approaching control circuit for processed workpieces and cutters | |
| CN203027181U (en) | Direct-current separately-excited motor controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |