JP2002000678A - Method for monitoring of unusual operation of body operating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure patient's safety by turning off a control power source in the case of unusual operation. SOLUTION: At the body operating device that has a body operating device, a controller 100, watch dog timer circuit 2a in the controller 100, two gate circuit 6 and 7, comparative circuit 8 that compares outputs of two gate circuit 6 and 7, and logical circuit 9 that performs logical calculation of the output of the comparative circuit 8, pulse is outputted from PIO board of the controller 100 to the watch dog timer circuit 2a within fixed time, a watch dog timer circuit 2b makes the control power off when the pulse is not inputted to the watch dog timer circuit 2b within the fixed time, an alarm condition of the controller 100 is monitored, outputs of control power on confirmation signal for the logical circuit and brake releasing confirmation signal are inputted to the PIO board 2b, and the control power is turned off when at least one side of the signal is unusual.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for monitoring an abnormality of a limb driving device such as a rehabilitation support device or a training device used for recovering the function of a limb.

[0002]

2. Description of the Related Art An abnormality monitoring method is disclosed in Japanese Patent Application Laid-Open No. Hei 8-171, which is capable of accurately monitoring an abnormality when a failure caused by hardware or software occurs in a control device.
No. 507, which is as shown in FIG. In this figure, 13A and 13B are two control devices which are arranged close to each other and constitute this monitoring system. 14A and 14B are CPUs mounted on the control devices 13A and 13B, and 15A and 15B are CPUs 14A and
Health check signal output from 14B, 16A, 1
6B is a health check signal input to the CPUs 14A and 14B, and 17A and 17B are health check signals 15A and 15A.
PI / 15B, 16A, 16B transmission / reception
O, 18A and 18B are first loop monitoring tasks operating at the highest level among all application tasks in the system, 19A and 19B are second loop monitoring tasks operating at the lowest level among all application tasks, 20
A and 20B are the second loop monitoring tasks 19A and 19B
Monitoring flag, 21A, 2 reset by
1B is a loop abnormality flag that is set when it is determined that the system is in a dynamic loop state;
2A and 22B are first mutual monitoring tasks that output health check signals 15A and 15B based on the contents of the loop abnormality flag, and 23A and 23B receive the health check signals 16A and 16B of the other control device and control the other control. This is a second mutual monitoring task for determining whether the device is normal or abnormal. The second loop monitoring tasks 19A and 19B operating at the lowest level among all the application tasks set the loop monitoring flags 20A and 20B every 0.5 seconds, and set the highest level among all the application tasks in the system. The first loop monitoring tasks 18A and 18B operating on
Reset the loop monitoring task every 0 seconds. At this time, if the loop monitoring flags 20A and 20B have already been reset, the first loop monitoring tasks 18A and 18B determine that the system is in a dynamic loop state,
Set the loop error flag. Control devices 13A, 13
B constantly monitors the state of its own device by such loop monitoring. Also, the first mutual monitoring task 22A, 2
2B is a health check unit that inverts the logic of the health check signal every 5 seconds and outputs it. However, at this time, since the loop abnormality is notified to the control devices 13A and 13B on the other side, the logic inversion of the health check signal is not performed. The second mutual monitoring tasks 23A and 23B are connected to the control device 1 of the other party.
3A and 13B are monitored, and the logic of the health check signal is determined every second. If the logic of the health check signal is not inverted continuously for 8 seconds, the control devices 13A and 13B on the other side are regarded as abnormal. to decide. The signal waveforms of the health check signals 15A, 15B, 16A, 16B are shown in FIG.
As shown in Fig. 7, during normal operation, the pulse waveform is inverted every 5 seconds and the make / break is repeated. When an abnormality occurs, the make / break is inverted by 8 times.
Stop for more than a second.

[0003]

However, in the above-mentioned prior art, even when a failure caused by hardware or software occurs in the control devices 13A and 13B, accurate abnormality monitoring can be performed. It takes time for seconds. Therefore, when applied to a robot, there is a problem that the robot continues to operate for 8 seconds after the occurrence of an abnormality. In particular, in a limb driving device such as a rehabilitation support device or a training device used for restoring the function of a limb, a human is fixed to the limb driving device. There was a problem that it was dangerous because it could cause injuries. Therefore, the present invention has been made to solve such a problem, and when at least one of the control devices connected to each other is abnormal, the control power is turned off to ensure patient safety. Aim. When the command voltage of the servo amplifier is equal to or higher than the threshold set by the command voltage monitoring circuit, the control power supply is turned off.
An object of the present invention is to secure the patient's safety by clamping to a set threshold value when the value is equal to or larger than a set threshold value of the limiter circuit.

[0004]

In order to solve the above problems, the present invention relates to a limb driving device such as a rehabilitation support device or a training device used for restoring the function of a limb. Limb driving device, a controller, a watchdog timer circuit in the controller, two gate circuits, a comparison circuit for comparing outputs of the two gate circuits, and a logical operation of an output of the comparison circuit In a limb driving device provided with a logic circuit, a pulse is output from the PIO board in the controller to the watchdog timer circuit within a set time, and if there is no pulse input to the watchdog timer circuit within the set time, a watch is output. A dog timer circuit turns off the control power supply and monitors the alarm state in the controller. And, control power ON of the logic circuit
Input the output of the confirmation signal and brake release confirmation signal to the PIO board. If at least one of them is abnormal, turn off the control power supply.
The feature is to make it FF. The present invention also includes an emergency stop switch, a stop switch for a patient, a force sensor capable of detecting a disconnection, and a touch sensor capable of detecting a disconnection in the limb drive device, wherein the emergency stop switch, the submission switch for the patient, A signal of the touch sensor is input to each of two channels of the PIO board in the controller, and when at least one of them is abnormal, the control power is turned off. Further, the present invention includes a servo amplifier in a controller, inputs an encoder pulse and a speed command monitor output of the servo amplifier to a counter board and an AD board provided in the controller, respectively, and turns off a control power supply when at least one of them is abnormal. It is characterized in that it is turned off. Further, according to the present invention, a command voltage monitoring circuit is provided in the controller, and D
When the command voltage output from the A-board to the servo amplifier is equal to or higher than the threshold voltage set by the command voltage monitoring circuit, the command voltage monitoring circuit turns off the control power supply. The present invention further includes a limiter circuit in the controller, and when the command voltage output from the DA board in the controller to the servo amplifier is equal to or higher than a set threshold voltage of the limiter circuit, the limiter circuit sets the set threshold voltage. It is characterized by being clamped to a voltage. Because of this, the control power supply is turned off in the event of an abnormality.
Or clamp, ensuring patient safety.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a system configuration of a limb driving device for implementing the method of the present invention, and FIG. 2 is a flowchart showing a processing procedure in one control cycle when controlling the limb driving device of FIG. In FIG. 1, 1 is control software, 1a is a DA board speed command voltage limiter, 2 is an electric hardware, 3 is a limb driving device, 4 is a speed command voltage monitoring circuit, 5 is a limiter circuit, 6, 7 are gate circuits, 8 Is a comparison circuit, 9 is a logic circuit, 10 is a servo amplifier, 11 is a motor, and 12 is a patient. The electric hardware 2 includes a watchdog circuit 2a, a PIO 2b, a force sensor amplifier 2c, a force sensor 2g, a touch sensor amplifier 2d, a touch sensor 2h,
The controller 100 includes an electric hardware 2, a speed command voltage monitoring circuit 4, a limiter circuit 5, a gate circuit 6, and a stop switch 2e.
7, a comparison circuit 8, a logic circuit 9, and a servo amplifier 10. The system configuration of the limb driving device 3 of FIG. 1 will be described. For each control cycle for controlling the limb driving device 3, one pulse is output to the watchdog timer circuit 2a within a set time by the software 1 via the PIO 2b. The state of 1 is monitored by the watchdog timer circuit 2a. At the time of software runaway, the control power is turned off by the watchdog timer circuit 2a. Signals from the emergency stop switch 2e, the patient stop switch 2f, and the touch sensor 2h are input to the two channels of the PIO 2b, respectively, and when at least one is abnormal, the control power is turned off. The command voltage from the DA board provided to the controller 100 to the servo amplifier 10 is clamped by a set threshold voltage by the processing of the computer, and the command voltage from the DA board to the servo amplifier 10 is set by the command voltage monitoring circuit. When the voltage is equal to or higher than the value voltage, the control power is turned off. When the command voltage from the DA board to the servo amplifier 10 is equal to or higher than the set threshold voltage of the limiter circuit, the limiter circuit 5 clamps to the set threshold voltage. The alarm state of the controller 100 is monitored, and a control power ON confirmation signal and a brake release confirmation signal of the logic circuit 9 are input to the PIO 2b, and when at least one of them is abnormal, the control power is turned OFF. The encoder pulse and the speed command monitor output of the servo amplifier 10 are respectively input to a counter board and an AD board provided in the controller 100, and when at least one of them is abnormal, the control power is turned off. Such abnormality monitoring is performed. Next, the processing of one control cycle of the limb driving device will be described with reference to the flowchart of FIG. In the process for controlling the impedance of the limb driving device, the flow of (1) is selected and the process is performed in the following procedure. (S1) Pulse output to the watchdog timer circuit 2a (S2) Acquire sensor signals such as the force sensor 2c and encoder signal (S3) Check the absolute value of the force sensor 2c, and check the force sensor value one cycle before and the current (S4) Calculate forward kinematics (S5) Calculate position deviation (S6) Calculate inverse kinematics (S7) Set target angle Check and clamp if the angle is greater than or equal to the set angle. (S8) Check arm operating range and clamp if out of operating range. (S11) Obtain speed command monitor output of servo amplifier 10. (S12) Speed command of servo amplifier 10. Monitor output and D
Comparing the command voltage calculation values output from the A board to the servo amplifier 10 (S13) Clamping the command voltage output from the DA board to the servo amplifier 10 (S14) Outputting the command voltage from the DA board to the servo amplifier 10 According to this procedure, the confirmation of the force sensor value of (S3),
When the speed command monitor output of the servo amplifier 10 is compared with the command voltage calculation value output from the DA board to the servo amplifier in (S12), when an abnormality occurs, the control power relay is driven by the PIO 2b to turn off the control power. .
Since the control cycle is several milliseconds, the device can be stopped several milliseconds after the occurrence of the abnormality. When the position control of the limb driving device is performed, (2) is selected, and the process is performed in the following procedure. (S1) Output a pulse to the watchdog timer circuit 2a. (S2) Obtain a sensor signal such as a force sensor 2c or an encoder signal. (S11) Obtain the speed command monitor output of the servo amplifier 10 (S12) Obtain the speed command monitor output of the servo amplifier 10 and D
Comparing the command voltage calculation values output from the A board to the servo amplifier 10 (S13) Clamping the command voltage output from the DA board to the servo amplifier 10 (S14) Outputting the command voltage from the DA board to the servo amplifier 10 According to this procedure, when the speed command monitor output of the servo amplifier 10 is compared with the command voltage calculation value output from the DA board to the servo amplifier 10 in (S12), the PIO 15 drives the control power supply relay when an abnormality occurs, and the control is performed. Turn off the power. Since the control cycle is several milliseconds, the device can be stopped several milliseconds after the occurrence of the abnormality. As described above with reference to FIGS. 1 and 2, signals are fed back for each of the software 1 and the electric hardware 2, and the state of the limb driving device 3 is monitored.

[0006]

As described above, according to the present invention, P
A pulse is output from the IO board within the set time, and if there is no pulse input to the watchdog timer circuit within the set time, the control power is turned off, the alarm state in the controller is monitored, and two gate circuits and a logic circuit are connected. PIO output of control power ON confirmation signal and brake release confirmation signal
Since an input is made to the board, when at least one of them is abnormal, there is an effect that the control power supply is turned off to ensure patient safety. Further, according to the present invention, the signals of the emergency stop switch, the patient stop switch, and the touch sensor are input to the two channels of the PIO board, so that when at least one is abnormal, the control power is turned off.
This has the effect of ensuring patient safety. Further, according to the present invention, the encoder pulse and the speed command monitor output of the servo amplifier are input to the counter board and the AD board, respectively. Therefore, when at least one of them is abnormal, the control power supply is turned off to ensure patient safety. effective. Still further, according to the present invention, when the command voltage input to the servo amplifier is equal to or higher than the threshold voltage set by the command voltage monitoring circuit, the control power supply is turned off by the command voltage monitoring circuit, thereby ensuring patient safety. There is an effect that can be. Further, according to the present invention, when the command voltage input to the servo amplifier is equal to or higher than the set threshold voltage of the limiter circuit, the voltage is clamped to the set threshold voltage by the limiter circuit, so that patient safety can be ensured. This has the effect.

[Brief description of the drawings]

FIG. 1 is an explanatory view of a limb driving device for implementing the method of the present invention.

FIG. 2 is a flowchart showing the procedure of the method of the present invention.

FIG. 3 is a diagram illustrating a conventional method for monitoring an abnormality of a control device.

FIG. 4 is a diagram for explaining a conventional abnormality monitoring method for a control device.

[Explanation of symbols]

 Reference Signs List 1 control software 1a DA board speed command voltage limiter 2 electric hardware 2a watchdog circuit 2b PIO 2c force sensor amplifier 2d touch sensor amplifier 2e stop switch 2f patient stop switch 2g force sensor 2h touch sensor 3 limb driving device 4 speed command voltage monitoring Circuit 5 Limiter circuit 6, 7 Gate circuit 8 Comparison circuit 9 Logic circuit 10 Servo amplifier 11 Motor 12 Patient 13 Display device 13A, 13B Controller 14A, 14B CPU 15A, 15B, 16A, 16B Health check signal 17A, 17B PI / O 18A, 18B First loop monitoring task 19A, 19B Second loop monitoring task 20A, 20B Loop monitoring flag 21A, 21B Loop abnormality flag 22A, 22B First mutual monitoring task 23A, 23B Second mutual monitoring task

Claims (5)

[Claims] 1. A limb driving device such as a rehabilitation support device or a training device used for restoring the function of a limb, a limb driving mechanism capable of driving the limb, a watchdog timer circuit, and two gates. A limb driving device including a circuit, a comparison circuit that compares the outputs of the two gate circuits, and a logic circuit that performs a logical operation on the output of the comparison circuit, a motor, control software, and a display device; A pulse is output from the PIO board to the watchdog timer circuit within a set time, and if there is no pulse input to the watchdog timer circuit within the set time, the watchdog timer circuit turns off the control power supply, Monitor the alarm status, and confirm the control power ON signal of the logic circuit and brake. An output of a release confirmation signal is input to the PIO board, and when at least one is abnormal, a control power supply is turned off. 2. The limb driving device includes an emergency stop switch, a patient stop switch, a force sensor capable of detecting disconnection, and a touch sensor capable of detecting disconnection, wherein the emergency stop switch and the patient stop switch are provided. 2. The safe driving method for a limb driving device according to claim 1, wherein a signal of the touch sensor is input to each of two channels of the PIO board, and when at least one of the signals is abnormal, a control power supply is turned off. 3. An encoder pulse of the servo amplifier and a speed command monitor output are respectively inputted to a counter board and an AD board provided in the controller, and when at least one of them is abnormal, the control power supply is turned off. A safe driving method for a limb driving device according to claim 1 or 2. 4. A command voltage monitoring circuit is provided in the controller, and when a command voltage output from the DA board in the controller to the servo amplifier is equal to or higher than a threshold voltage set by the command voltage monitoring circuit, 4. The method according to claim 1, wherein the voltage monitoring circuit turns off the control power supply. 5. A limiter circuit is provided in a controller, and when a command voltage output from the DA board to the servo amplifier is equal to or higher than a set threshold voltage of the limiter circuit, the limiter circuit is set to a set threshold voltage. 5. The safe driving method for a limb driving device according to claim 1, wherein the limb driving device is clamped.