EP3997529A1 - Wäschepflegegerät mit antriebssystem - Google Patents
Wäschepflegegerät mit antriebssystemInfo
- Publication number
- EP3997529A1 EP3997529A1 EP20737169.1A EP20737169A EP3997529A1 EP 3997529 A1 EP3997529 A1 EP 3997529A1 EP 20737169 A EP20737169 A EP 20737169A EP 3997529 A1 EP3997529 A1 EP 3997529A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- control modules
- actuators
- central controller
- trigger
- preconditioning
- 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.)
- Withdrawn
Links
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims description 32
- 230000004044 response Effects 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 230000008901 benefit Effects 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000003750 conditioning effect Effects 0.000 description 5
- 230000006855 networking Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000004753 textile Substances 0.000 description 2
- 101100236764 Caenorhabditis elegans mcu-1 gene Proteins 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
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- 230000006870 function Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- 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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
-
- 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
- G05B19/0421—Multiprocessor system
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F89/00—Apparatus for folding textile articles with or without stapling
-
- 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
- G05B19/0426—Programming the control sequence
-
- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
- D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
- D06F34/08—Control circuits or arrangements thereof
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21063—Bus, I-O connected to a bus
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2633—Washing, laundry
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42192—Each axis drive has own queue of commands, executed in synchronism
Definitions
- the present invention relates to a laundry care device with a drive system with a plurality of actuators, a plurality of decentralized control modules and a central controller.
- FIG. 1 shows a laundry folding device 100 (also called “Foldimate”) with a plurality of slots 102 for inserting or hanging items of laundry and one
- Output compartment 103 for outputting the folded laundry items.
- the laundry folding process is started via a control panel 101.
- a control panel 101 In an exemplary embodiment of the
- Laundry folding device 100 14 drives (not shown in FIG. 1 because they are housed within the housing) are used for different drive tasks.
- the drives are intended to convey a textile (item of laundry) through the machine 100 and fold it in the process.
- the drives act on the folding mechanism consisting of conveyor belts and folding rollers as well as linearly adjustable feeders, guides, gap settings and a
- Stacking device (not shown in FIG. 1 because it is housed within the housing).
- a central control master
- MCU decentralized motor controls
- Laundry folder 100 is divided into several levels, the transfer of the laundry items between the levels must take place synchronously so that the textiles can be folded without jamming. Exact simultaneous start and stop processes as well as positioning are required to achieve a good folding result. The time requirements are due to the throughput speed in the millisecond range and with a position synchronicity of one armature revolution.
- Drive systems with several actuators are often implemented using central electronics that control several actuators.
- the control logic is calculated in a computer core, so the functional interfaces between the individual actuators can be mapped in software and control can be synchronized in the millisecond range.
- Such drive systems are used in a laundry care device, for example in the laundry folding device 100 of FIG. 1.
- Such drive systems can also be used in other devices can be used, for example in a seat adjustment in a vehicle or in a printer with several rollers for transporting the paper.
- Bus connections are used to achieve the response times of real-time requirements. This requires baud rates in the range from around 500 kbps to around 1000 kbps. This means that 30 to 60 bytes of user data can be transmitted per ms in order to enable synchronous control.
- bus systems with such baud rates are complex due to the cabling (shielding, several lines) and require hardware controllers (e.g. CAN, RS-485).
- Simpler bus systems with a single-wire master-slave connection in the polling process achieve a maximum baud rate of 115 kbps with sufficient robustness and EMC. This means that simultaneous starting / stopping of the drives in the millisecond range is not possible, since a maximum of 20 bytes of user data can be transferred per millisecond (example LIN, K-Line).
- the object on which the invention is based is to design a laundry care device, in particular a laundry folder, and a drive system for such a laundry care device which can perform its drive tasks with a simple bus system with a low baud rate.
- An essential idea of the invention is to use a two-stage method for synchronously starting tasks in a distributed (decentralized) drive system with slow bus transmission, which comprises the two steps: Step 1: Asynchronous task conditioning of the nodes using (slow) messages. Step 2: Synchronous triggering of the tasks using a coded trigger signal.
- a slow bus transmission here is a transmission with a low baud rate (from around 9.6 to 115 kbps).
- the object of the invention is achieved by a
- Laundry care device solved, with a drive system comprising: a plurality of actuators for performing synchronized adjustment actions; a plurality of decentralized control modules which are assigned to the respective actuators and are connected to one another via a data bus; a central controller for controlling the actuators via the data bus and the decentralized control modules, the central controller being designed to send a preconditioning message with information about the
- the central controller or one of the decentralized control modules being designed to send a trigger signal via a trigger line to the after the preconditioning message has been sent to send decentralized control modules, the trigger signal being the decentralized
- the control module causes the actuators to be controlled synchronously in time according to the preconditioned adjustment action.
- the laundry care device uses a two-stage process for synchronous starting of tasks, which is particularly suitable for drive systems with slow bus transmission.
- the method comprises the two steps: Asynchronous task conditioning of the nodes by means of (slow) messages; and synchronous triggering of the tasks by means of a coded trigger signal.
- Messages are controlled by the bus master (using the polling method).
- Each node can generate trigger signals event-controlled (event-controlled).
- the slow bus transmission here is a transmission with a low baud rate (from around 9.6 to 115 kbps) or a high latency of up to around 10 milliseconds.
- the central controller is designed to transmit the preconditioning message asynchronously to the decentralized control modules via the data bus.
- the central controller is designed to transmit the preconditioning message to the decentralized control modules via the data bus in accordance with a serial single-wire bus protocol with master-slave configuration.
- the central controller comprises a bus master which is designed to control the decentralized control modules using the polling method.
- the central control is designed to control the decentralized control modules with a latency of greater than 20 milliseconds. This has the technical advantage that the drive system can work efficiently with slow buses in which a latency is greater than 20 milliseconds, but the requirements for the synchronicity of the motor controls can still be met.
- the preconditioning message extends over one or more data frames, each data frame including an identification of a corresponding actuator of the part of the actuators which are affected by the preconditioning.
- Interconnect Network “(LIN), also called LIN bus, is a serial communication system for networking sensors and actuators, a fieldbus.
- the CAN bus Controller Area Network
- RS-485 is an industry standard for a physical interface for asynchronous serial data transmission.
- the central controller is designed to interrupt data traffic on the data bus and to send the trigger signal via the data bus during the interruption.
- the central controller is designed to control the actuators in a time-synchronous manner within a data frame on the data bus that follows the trigger signal.
- the adjustment action takes place in response to a sensor signal which indicates a status transition of an actuator that does not belong to the part of the actuators to be adjusted.
- the trigger signal comprises a coding which indicates a specific configuration of the adjustment action.
- the trigger signal is coded based on a pulse length of the trigger signal.
- a trigger circuit which is designed to generate and / or read the trigger signal
- the central controller and / or the decentralized control modules being designed to control the trigger circuit, to generate the trigger signal and / or to read.
- the trigger circuit comprises the following: a trigger line for providing the trigger signal; a transistor which controls the trigger line to assume a first or a second potential; a first port that controls the transistor, the trigger line to the bring second potential; and a second port indicating a state of the trigger line.
- the trigger circuit can be constructed simply and essentially consists of a transistor which switches a first potential or a second potential to the trigger line.
- the trigger circuit can be implemented as an external circuit or as part of the central controller.
- the object of the invention is achieved by a
- Drive system for a laundry care device solved comprising: a plurality of actuators for executing synchronized adjustment actions; a plurality of decentralized control modules which are assigned to the respective actuators and are connected to one another via a data bus; a central controller for controlling the actuators via the data bus and the decentralized
- Control modules wherein the central controller is designed to send a preconditioning message with information for preconditioning an adjustment action of at least some of the actuators via the data bus to the decentralized control modules, wherein the central controller or one of the decentralized control modules are designed according to the Sending the preconditioning message to send a trigger signal via a trigger line to the decentralized control modules, the trigger signal causing the decentralized control modules to control the actuators synchronously in time according to the preconditioned adjustment action.
- the drive system uses a two-stage process for starting tasks synchronously, which is particularly suitable for drive systems with slow bus transmission.
- the method comprises the two steps: Asynchronous task conditioning of the nodes by means of (slow) messages; and synchronous triggering of the tasks by means of a coded trigger signal. Messages are controlled by the bus master (using the polling method).
- the object according to the invention is achieved by a method for operating a laundry care device with a drive system, the drive system comprising: a plurality of actuators for performing synchronized adjustment actions; a plurality of decentralized control modules which are assigned to the respective actuators and are connected to one another via a data bus; and a central controller for controlling the actuators via the data bus and the decentralized control modules, the method comprising the following steps: sending a preconditioning message with information for preconditioning an adjustment action of at least some of the actuators by the central controller via the data bus the decentralized control modules; and sending a trigger signal from the central controller or from one of the decentralized control modules via a trigger line to the decentralized control modules after the preconditioning message has been sent, the trigger signal causing the decentralized control modules to activate the actuators according to the preconditioned adjustment To control the action synchronously.
- the method can be used in a drive system with a simple bus system with a low baud rate.
- the respective motor actions are carried out synchronously in a system with several participants or actuators, whereby a simple bus system with a low baud rate (e.g. from 9.6 to 115 kbps) can be used.
- the method is two-stage and comprises the two steps: Asynchronous task conditioning of the nodes by means of (slow) messages; and synchronous triggering of the tasks by means of a coded trigger signal.
- FIG. 1 shows an exemplary 3-dimensional representation of a laundry care device
- FIG. 2 shows a system architecture of a drive system 200 for a
- Laundry care device according to an exemplary embodiment; 3 shows various 3-dimensional representations of an arrangement
- Motor control unit and motor of a drive system 200 for a laundry care device according to an exemplary embodiment
- FIG. 4 shows a 3-dimensional representation of an arrangement 400 from
- Motor control unit and motor of a drive system 200 for a laundry care device according to an exemplary embodiment
- FIG. 5 shows a 3-dimensional illustration of an engine control unit 500 of a
- FIG. 6 shows a signal diagram 600 of the control signals of a drive system 200 for a laundry care device according to an embodiment without a trigger signal
- FIG. 7 shows a signal diagram 700 of the control signals of a drive system 200 for a laundry care device according to an embodiment using a trigger signal according to the invention
- FIG. 8 shows a circuit for generating a trigger signal for a drive system
- FIG. 9 shows a system architecture of a drive system 900 for a
- FIG. 10 shows a schematic illustration of a method 1000 for operating a
- Laundry care device 100 with a drive system according to an exemplary embodiment.
- FIG. 2 shows a system architecture of a drive system 200 for a laundry care device according to an exemplary embodiment. ok
- the drive system 200 consists of a central controller 220, also referred to as a bus master, and an exemplary number of 14 actuators or motors 201, 202, 203, 204, 205, 206, 207, 208 with an electronic motor controller (MCU) as slave bus nodes , also referred to as decentralized control modules 211, 212, 213, 214, 215, 216, 217, 218. All nodes 211, 212, 213, 214, 215, 216, 217, 218 are connected to a line 230 for the data bus and a line 230 for the trigger signals. This line, which is shown with the reference numeral 230, runs from the central controller 220 to the first MCU 211, further via the second MCU 212, the third MCU 213, the fourth MCU
- MCU electronic motor controller
- the trigger signals can also be transmitted on the data line 230, i.e. without a separate trigger line.
- the actuators or motors 201, 202, 203, 204, 205, 206, 207, 208 are designed in one embodiment as brushed direct current motors.
- all nodes 211, 212, 213, 214, 215, 216, 217, 218 are equipped with a respective line 240 which is connected to a corresponding sensor of the respective node in order to read in or receive the corresponding sensor signals. Furthermore, all nodes 211, 212, 213, 214, 215, 216, 217, 218 have a voltage supply line 251 which supplies the corresponding node with the necessary voltage or power which is supplied by the voltage supply 250.
- the bus master 220 sends data frames or frames which, for example, consist of the data fields “Break”, “Sync”, “Frame ID” and have, for example, 8 bytes of user data and a data check field (checksum).
- these data frames can be structured according to the LIN (Local Interconnect Network) standard, ie a standard from automotive engineering.
- the "Local Interconnect Network” (LIN) also known as the LIN bus, is a serial communication system for networking sensors and actuators, a field bus. LIN is used where the bandwidth and versatility of CAN is not required. Typical application examples are networking within the door or seat of a motor vehicle.
- the frame is always sent by bus master 220 (in a scheduling process); the user data and the checksum can depending on
- Send direction from bus master 220 or from a slave node i.e. one of MCUs 211, 212, 213, 214, 215, 216, 217, 218).
- a slave node i.e. one of MCUs 211, 212, 213, 214, 215, 216, 217, 2148.
- the transmission of a frame takes 1 millisecond.
- the two-stage method described in more detail in this application enables tasks to be started synchronously in a distributed (decentralized) drive system with slow bus transmission, i.e. the drive system 200.
- the method comprises the two steps: Step 1: Asynchronous task conditioning of the nodes by means of (slow) messages. Step 2: synchronous
- Drive system 200 also work reliably in operation with a low baud rate, as described in more detail in the illustration in FIG.
- FIGS. 3 to 5 show various exemplary representations of motors with motor control units (MCUs) as they can be used in the drive system 200 of FIG.
- MCUs motor control units
- Fig. 3 shows various 3-dimensional representations of an arrangement from
- Motor control unit and motor of a drive system 200 for a laundry care device according to an exemplary embodiment.
- the representation 301 is the
- Motor control unit mounted on the motor housing.
- the cables shown at the end of the motor control unit (MCU) are used to supply the
- Engine control Another perspective of the engine with engine control can be seen in the illustration 302. In representation 303, the engine control is illustrated alone. Representation 304 shows a further perspective of the engine with engine control illustrated. In representation 305, the engine control can be seen alone from a different perspective.
- FIG. 4 shows a 3-dimensional illustration of an arrangement 400 from
- the motor controller (MCU) 402 is mounted on a pole housing of the motor 401.
- the motor 401 has a very compact design, its diameter at the axis is approximately 3 cm, so that it is well suited for being used in the laundry folding machine 100 according to FIG.
- FIG. 5 shows a 3-dimensional representation of a motor control unit 500 of a drive system 200 for a laundry care device according to an example
- the engine control unit 500 can be mounted on an engine.
- the motor control unit 500 comprises a motor connection 501, e.g. in a Delphi 4Pin version, a signal connection 502, e.g. in a RAST2.5
- the motor control unit 500 also includes a power connection 503, e.g. in a RAST-2.5-plus TM version with 2x2 pins.
- the motor control unit 500 can have a control board (not shown) within the housing in order to carry out the corresponding control tasks.
- the connections 501, 502, 503 shown can be connected to the control board.
- the motor control unit 500 can be made very compact, for example with a length of 6 cm, a width of 3.4 cm and a height of 1.8 cm, so that it can easily be placed on a motor 401 as shown in FIG .
- FIG. 6 shows a signal diagram 600 of the control signals of a drive system 200 for a laundry care device according to an embodiment without a trigger signal.
- the motor controllers MCU02, MCU03, MCU04 should start their respective motors at the same time when sensor 1 is connected to the
- Motor control MCU01 changes its status from 0 to 1.
- the sensor signal 611 on the motor controller MCU01 and the motor control signals 613, 614, 615 of the Motor controllers MCU02, MCU03 and MCU04 or the corresponding motors M02, M03, M04 and the data signal or messages 610 are shown in FIG.
- the messages 610 are sent in the form of frames or data frames, as described above for FIG.
- the corresponding motor control x is queried or notified in polling mode with each data frame Mx. After a corresponding message sequence in which all 14 motor controls were queried, the start commands 602 for motor controls 2, 3 and 4 are transmitted, which switch on the corresponding motors M02, M03 and M04.
- the respective switch-on signals 613, 614, 615 for the motors M02, M03, M04 are shown in the figure. Due to the control in the polling process, there may be a delay or latency 620 of greater than 20 milliseconds before the motors can be switched on. Such a long latency 620 can be detrimental to the operation of the control, so that the synchronism of the individual motors with one another is not guaranteed.
- FIG. 7 shows a signal diagram 700 of the control signals of a drive system 200 for a laundry care device according to an embodiment using a
- the application scenario is the same as described above for Figure 6, i.e. the motor controllers MCU02, MCU03, MCU04 should start their respective motors at the same time when the sensor 1 on the motor controller MCU01 changes its status from 0 to 1.
- the sensor signal 711 on the motor controller MCU01, the trigger signal 712 and the motor control signals 713, 714, 715 of the motor controllers MCU02, MCU03 and MCU04 or the corresponding motors M02, M03, M04 and the data signal or the messages 710 are shown in Fig 7 illustrates.
- the messages 710 are sent in the form of frames or data frames, as described above for FIG. 2 and also for FIG. With each data frame Mx 701, the corresponding motor controller x is queried or notified in polling mode. Within a corresponding message sequence in which all 14
- a Transmit preconditioning message 702 consisting of the start commands M2, M3 and M4 to the corresponding motor controls 2, 3 and 4, which are to switch on the corresponding motors M02, M03 and M04.
- the preconditioning message 702, however, does not yet cause the corresponding motors M02, M03 and M04 to be switched on, but merely prepares the corresponding motor controllers MCU02, MCU03 and MCU04 to be ready to send the control signal to switch on the motors M02, M03 and M04 as soon as the Trigger signal is received.
- a trigger command M1, 701 is then sent to the motor control unit MCU01, which is to generate the trigger signal in the event of a status change in the sensor signal applied to it.
- the motor control unit MCU01 now detects the status change of the on it
- the trigger signal 704 in the illustration of FIG. 7 corresponds to a pause in the signal curve 711, ie a transition from 1 to 0 and back to 1 after the frame length of the trigger signal 704 has elapsed.
- the trigger signal can be sent on an external data line or alternatively on one line of the data bus.
- the trigger signal 704 is from all
- Motor control units receive and trigger or initiate the previously prepared motor control units MCU02, MCU03 and MCU04 to switch on the motors assigned to them. Due to the preconditioning by the preconditioning message 702 sent previously, the motors M02, M03 and M04 are switched on synchronously and with a latency of less than 2 milliseconds, which corresponds approximately to the length of two data frames.
- the latency time can be down to approximately less than 10 milliseconds in order to achieve sufficient accuracy, the individual motors of the
- FIG. 8 shows a trigger circuit 800 for generating a trigger signal for a drive system 200 for a laundry care device according to an example
- the trigger circuit 800 comprises a trigger line 813 for providing the trigger signal, ie a trigger signal 704 as described in FIG. 7.
- the trigger circuit 800 further includes a transistor 807 which controls the trigger line 813 to assume a first potential 811 or a second potential 806.
- the trigger circuit 800 includes a first port 802 which controls the transistor 807 to bring the trigger line 813 to the second potential 806; and a second port 801 which indicates a state of the trigger line 813.
- the circuit 800 is designed in such a way that the first potential 811 (V_PU_1) is the dominant level which is carried when the transistor 807 is switched to the second potential (Usup_GND) 806, i.e. ground.
- the control line or gate G of the transistor 806 is controlled via a signal at the first port 802 in order to switch the transistor 806 through, so that the second potential (Usup_GND) 806 is switched to the trigger line 813 or to be blocked, see above that the first potential 811 (V_PU_1) is switched to the trigger line 813.
- Various resistors 803, 804, 805, 808, 810, 812 and a diode 809 ensure stable operation of the circuit 800.
- the circuit 800 is available for all participants or motor control units MCUs 211 to 218.
- the point or output port RB_TRIG 813 is electrically connected to all participants. Each participant can use the microcontroller to control the transistor T400
- Bus traffic and the trigger signal take place in parallel and independently of one another.
- the trigger signal is sent on the data line.
- the bus traffic must be paused to send the trigger signal.
- the point or output port RB_TRIG is electrically connected to the data bus line, see block TR1 (reference number 704) in FIG. 7.
- the trigger signal can have a coding as described below.
- the trigger signal can be varied in steps of 0.5 milliseconds, for example. This means that different actions can be active and started in parallel over the trigger pulse length. Each participant can generate the trigger pulse length and also measure the trigger pulse length upon receipt.
- a first trigger code can be encoded as a pulse length of 0.5 milliseconds. This trigger code can be generated by MCU1 when the signal changes at sensor 2. The first trigger code causes motors 5 and 8 to stop or stop when the first trigger code is received.
- a fifth trigger code can be encoded as a pulse length of 2.5 milliseconds. This trigger code can be generated by the MCU8 when the signal changes at sensor 1. The fifth trigger code causes motors 9 and 10 to start when the fifth trigger code is received.
- the data commands should preferably be restricted to basic motor functions in order to enable use independent of the application.
- the master or the central controller with bus master 220 from Fig. 2 is responsible for coordinating the entire process. For example, the following data commands can be generated:
- FIG. 9 shows a system architecture of a drive system 900 for a laundry care device according to an exemplary embodiment.
- the system architecture is a simplified representation of the system architecture shown in FIG. 2, which shows the essential components of the drive system 900.
- the drive system 900 comprises a plurality of actuators 901, 902, 903 for
- Control modules 911, 912, 913 which are assigned to the respective actuators 901, 902, 903 and are connected to one another via a data bus 930; and a central controller 920 for controlling the actuators 901, 902, 903 via the data bus 930 and the decentralized control modules 911, 912, 913.
- the central controller 920 is designed as a
- the central controller 920 or one of the decentralized control modules 911, 912, 913 are designed to send a trigger signal 922 via a trigger line 940 to the decentralized control modules 911, 912, 913 after the preconditioning message 921 has been sent.
- the trigger signal 922 causes the decentralized control modules 911, 912, 913 to control the actuators 901, 902, 903 in accordance with the preconditioned adjustment action in a chronologically synchronous manner.
- the actuators 901, 902, 903 correspond to the motors M01, M02 to M14 from FIG. 2.
- the decentralized control modules 911, 912, 913 correspond to the motor control units MCU01 to MCU14 from FIG. 2.
- the data bus 930 and the trigger line 940 correspond to the data bus Trigger line 230 according to FIG. 2.
- the central controller 920 corresponds to the central controller 220 with bus master from FIG.
- Preconditioning message 921 corresponds to message 702 in accordance with FIG. 7.
- Trigger signal 922 corresponds to trigger signal 704 in FIG.
- the central controller 920 is designed that
- the central controller 920 is designed to transmit the preconditioning message 921 to the decentralized control modules 911, 912, 913 via the data bus 930 in accordance with a serial single-wire bus protocol with a master-slave configuration.
- the central controller 920 comprises a bus master that is configured to
- the central controller 920 is designed to be decentralized To control control modules 911, 912, 913 with a latency of greater than 20 milliseconds.
- the preconditioning message 921 extends over one or more data frames, as shown in FIG. 7, each data frame including an identification of a corresponding actuator of the part of the actuators 901, 902, 903 which are affected by the preconditioning.
- the central controller 920 is designed to interrupt data traffic on the data bus 930 and the trigger signal 922 during the
- the central controller 920 is formed, the actuators 901, 902, 903 within one
- the adjustment action takes place in response to a sensor signal which indicates a status transition of an actuator that does not belong to the part of the actuators 901, 902, 903 to be adjusted.
- this actuator can also be one of the actuators 901, 902, 903 to be adjusted.
- the trigger signal 922 comprises an encoding which indicates a specific configuration of the adjustment action. In one embodiment, the trigger signal 922 is encoded based on a pulse length of the trigger signal 922.
- the drive system 900 comprises a trigger circuit 800, which is designed to generate and / or read the trigger signal 922.
- the central controller 920 and / or the decentralized control modules 911, 912, 913 are designed to control the trigger circuit 800, to generate and / or read the trigger signal 922.
- the trigger circuit (800) comprises: a trigger line 813 for providing the trigger signal 922; a transistor 807 which controls the trigger line 813 to assume a first 811 or a second potential 806; a first port 802 which controls the transistor 807 to bring the trigger line 813 to the second potential 806; and a second port 801 which indicates a state of the trigger line 813.
- FIG. 10 shows a schematic illustration of a method 1000 for operating a Laundry care device 100 with a drive system according to an example
- the drive system 900 includes a plurality of actuators 901, 902, 903 for performing synchronized adjustment actions; a plurality of decentralized control modules 911, 912, 913, which are assigned to the respective actuators and are connected to one another via a data bus 930; and a central controller 920 for controlling the actuators 901, 902, 903 via the data bus 930 and the decentralized control modules 911, 912, 913, as described in more detail with regard to FIGS. 9 and 2.
- the method 1000 comprises the following steps: Send 1001 a
- Preconditioning message 921 with information on preconditioning an adjustment action of at least part of the actuators 901, 902, 903 by the central controller 920 via the data bus 930 to the decentralized control modules 911, 912, 913, as above for FIGS. 9, 2 and 7 described in more detail; and sending 1002 a trigger signal 922 from the central controller 920 or from one of the decentralized ones
- Control modules via a trigger line 940 to the decentralized control modules 911, 912, 913 after sending the preconditioning message 921, with the trigger signal 922 causing the decentralized control modules to activate the actuators 901, 902, 903 according to the preconditioned adjustment action to be controlled synchronously in time, as described in more detail above for FIGS. 9, 2 and 7.
- the drive system 900 or the associated method 1000 can be used with all
- MCU motor and motor control unit
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Textile Engineering (AREA)
- Control Of Washing Machine And Dryer (AREA)
- Selective Calling Equipment (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019210124.0A DE102019210124A1 (de) | 2019-07-09 | 2019-07-09 | Wäschepflegegerät mit Antriebssystem |
PCT/EP2020/069070 WO2021005033A1 (de) | 2019-07-09 | 2020-07-07 | Wäschepflegegerät mit antriebssystem |
Publications (1)
Publication Number | Publication Date |
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EP3997529A1 true EP3997529A1 (de) | 2022-05-18 |
Family
ID=71523168
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP20737169.1A Withdrawn EP3997529A1 (de) | 2019-07-09 | 2020-07-07 | Wäschepflegegerät mit antriebssystem |
Country Status (5)
Country | Link |
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US (1) | US20220259796A1 (de) |
EP (1) | EP3997529A1 (de) |
CN (1) | CN114096925A (de) |
DE (1) | DE102019210124A1 (de) |
WO (1) | WO2021005033A1 (de) |
Families Citing this family (1)
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CN114625029B (zh) * | 2022-03-07 | 2024-05-24 | 容德精机(江苏)机床有限公司 | 一种宏微级联式磁悬浮运动执行器 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5887456A (en) * | 1995-08-30 | 1999-03-30 | Sharp Kabushiki Kaisha | Drum type drying/washing machine |
KR100279603B1 (ko) * | 1998-07-10 | 2001-02-01 | 구자홍 | 세탁기의 포량 감지장치 |
DE10345231A1 (de) * | 2002-10-07 | 2004-06-24 | Siemens Ag | Koordinierungsverfahren für mindestens eine Slavesteuereinheit mit einer Mastersteuereinheit, Mastersteuereinheit, Slavesteuereinheit und aus einer Mastersteuereinheit und mindestens einer Slavesteuereinheit bestehendes Steuerungssystem |
CN1294465C (zh) * | 2003-06-27 | 2007-01-10 | 金羚电器有限公司 | 一种用于家用洗涤器具的进排水控制系统 |
US7180261B1 (en) * | 2006-03-17 | 2007-02-20 | Delta Electronics Inc. | Self-synchronous AC servo system for high-speed serial communication |
KR101502713B1 (ko) * | 2010-12-16 | 2015-03-13 | 미쓰비시덴키 가부시키가이샤 | 시퀀서 시스템 및 그 제어 방법 |
CN104865834B (zh) * | 2015-04-24 | 2018-04-17 | 汤伟俊 | 智能家居物联控制系统及方法 |
CN105506917A (zh) * | 2015-11-30 | 2016-04-20 | 青岛海尔软件有限公司 | 洗涤设备的控制方法、装置及洗涤设备 |
CN107515594A (zh) * | 2016-06-17 | 2017-12-26 | 上海澜腾智能科技有限公司 | 家用电器控制系统及其控制方法 |
-
2019
- 2019-07-09 DE DE102019210124.0A patent/DE102019210124A1/de active Pending
-
2020
- 2020-07-07 WO PCT/EP2020/069070 patent/WO2021005033A1/de unknown
- 2020-07-07 CN CN202080050362.5A patent/CN114096925A/zh active Pending
- 2020-07-07 EP EP20737169.1A patent/EP3997529A1/de not_active Withdrawn
- 2020-07-07 US US17/625,849 patent/US20220259796A1/en active Pending
Also Published As
Publication number | Publication date |
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DE102019210124A1 (de) | 2021-01-14 |
WO2021005033A1 (de) | 2021-01-14 |
CN114096925A (zh) | 2022-02-25 |
US20220259796A1 (en) | 2022-08-18 |
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