JP2017142740A - Cooperation instruction device, cooperation instruction program, and cooperation instruction method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cooperation instruction device capable of making a plurality of devices cooperate with each other with a small error.SOLUTION: A cooperation instruction device 20X comprises an execution instruction signal generation unit 26 which acquires an execution order list signal indicating which timing a plurality of devices 40 are operated at, generates an execution instruction signal for each of the plurality of devices 40 on the basis of the acquired execution order list signal and communication transmission time stored in a communication transmission time database 23b or a communication transmission time difference and transmits the generated execution instruction signal to the corresponding device. The execution instruction signal generation unit 26 determines which timing the devices 40 are operated at, on the basis of the communication transmission time or the communication transmission time difference, with a reception time point of the execution instruction signal at the devices 40 as a reference and generates the execution instruction signal of the plurality of devices 40 respectively on the basis of the timing with the determined reception time point as a reference.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for linking a plurality of devices.

  With the advancement of computer miniaturization technology, as represented by IoT (Internet of Things), computer functions and network connection functions have been incorporated into devices as usual. There is an attempt to execute control of a certain actuator, cooperation control between devices, and the like via a network. This is a technology that links the operation timings of parts of a plurality of robots by remote control via a network.

In a system such as a robot that combines a sensor such as a camera and an actuator such as a motor, these sensors and actuators are generally connected to a microcomputer (CPU) via a dedicated control signal line. .
In addition, in order to realize versatility and remote control of connecting robot parts, efforts have been made to connect with signal lines for network communication, and operations can be performed at any time if quick response is not required. There is a track record in which network signal lines are applied by a feedback control method (feedback control) or the like (see Non-Patent Document 1).

On the other hand, there is a case where an operation that requires an agile and agile cooperative operation such as gripping a fallen object by a robot cannot be handled only by feedback control even if a dedicated signal line is used.
In such a case, a feed-forward control method that determines operation timing in advance and outputs an operation may be used.
However, when a signal line is used as a network, it is difficult to apply because the influence of communication delay, jitter, and packet loss is great when adjusting the control timing for moving each device.

  A method using absolute time for the timing of the cooperative operation is also conceivable. Unlike a simple actuator component, a computer that can be connected to a network holds time information, so that timing control can be performed based on a unified absolute time.

  There are two types of time information held by the computer: a hardware clock and a system clock. Hardware clocks are provided as one of the functions that make up a computer, independent of the high-performance CPU (Central Processing Unit) of the computer, independent of low-power consumption and low-performance ICs driven by batteries. Since it is realized by the function, the time error is large and the accuracy of the set time is poor.

  The system clock is a function managed by an OS (Operating System), and acquires the time from the hardware clock when the system is started and reflects it in the system clock. Since the system clock can accurately record the time transition based on the high-definition clock frequency of the CPU, it has fewer errors than the hardware clock. Since the system clock information is managed on the memory, it is lost when the OS is shut down.

  When the OS is started, the time of the system clock is set with reference to a hardware clock with low accuracy, so it is considered that there is an error from the standard time, which is the absolute time of the world, and it is necessary to correct such time. Generally, in order to set an absolute time in a computer, the time is acquired by NTP (Network Time Protocol) communication with a time server having standard time, and the system clock and the hardware clock are corrected according to the setting (Non-Patent Documents 2 to 2). 5).

  As described above, setting such an absolute time for each actuator to be controlled eliminates the need for central control equivalent to a control microcomputer, so there are various problems that occur when a network is used as a signal line. Can be relaxed.

Toshihiro Matsui, Hirohisa Hiragawa, Hiroshi Ishikawa, Nobuyuki Yamazaki, Misa Kaga, Toshio Hori, Fumio Kimihiro, Moto Saito, Tetsuya Inagi, “Real-time Distributed Information Processing for Humanoid Robots”, IEICE Technical Report SLDM-114, 1-7, March 18, 2004 "Netwaork Time Protocol Version 4: Protocol and Algorithms Specification", [Search February 5, 2016], Internet (URL: https://tools.ietf.org/html/rfc5905) “Precision Time Protocol” [Search February 5, 2016], Internet (URL: https://www.shoshin.co.jp/c/endrun/1588ptp/WhitePaperPtpJP.pdf) Akihiko Machizawa, Tsukasa Iwama, Hiroshi Toriyama, “Time synchronization method based on packet arrival interval (PAI) every second”, IEICE Transactions, Vol. J89-B No. 10, pp. 1855-1866, October 1, 2006 Yoshiro Yamada, Kenji Kurume, Mitsuhiro Teshima, Osamu Ishida, “IP network clock distribution technology using NTP hardware implementation (HwNTP)”, NTT Technical Journal, Vol. 3, pp. 63-66, March 1, 2008

  Currently, NTP is used in IP networks and the like as a method for ensuring cooperation timing control between devices using absolute time. In a conventional server system that generally performs time correction by NTP, for example, the NTPD daemon that is an NTP client of a Linux (registered trademark) server, the error is set to be within 128 [ms] as a standard. .

  However, when performing highly accurate timing linkage required for precise operation between devices such as joint control of a robot hand, there is an error of 100 [ms], which hinders precise operation. End up. Therefore, there is a limit in applying a coordinated operation method based on absolute time using a reference time that depends on NTP in coordinated control between a plurality of actuator devices having a computer.

  In addition, since a precise time is required in order to grasp accurate position information obtained by camera shooting of an object that operates at high speed by linking a plurality of sensing devices such as surveillance cameras, a reference time that depends on NTP There is a limit to applying the absolute time linkage method using

Here, specific reasons why an error may occur between devices are listed below.
[1] Error depending on system performance
[2] Errors caused by software and hardware abnormalities
[3] Errors due to non-uniformity in device capabilities, such as software and hardware performance for setting the system time, OS, middleware settings, etc.
[4] Delay error due to physical distance of network and characteristics of transmission equipment

  [1] is an inherent error that may occur due to the elapsed time of system operation, and the error accumulated before correction by the NTP client device may affect the control. Even when correction processing is executed in the NTP client device, if there is a large difference from the standard time, the NTP client device stops the correction function so as not to affect the processing of the application that refers to the time. Or, since it has a function of correcting over time, correction to an accurate reference time is not always performed reliably and immediately.

  [2] becomes a problem when OS memory loss, switching to hardware clock information due to restart due to a kernel crash or hardware failure, or the like occurs. This error can be eliminated by executing NTP correction after returning from the abnormal state. However, immediately after the return, the hardware clock is used as a reference, and the timing of execution of correction processing depends on the computer settings. Coordinated control is difficult at the timing. In addition, as described above, the NTP client device also has a problem that a large difference is not immediately corrected.

  [3] assumes that in a system configuration aimed at controlling multiple devices, the same or different devices, such as low-performance embedded devices intended to control actuators from a high-performance server, are handled. Should be taken into account. If the hardware performance, the architecture, and the OS are different, the accuracy of the clock frequency, the memory performance, and the time correction setting are different, so the same accuracy cannot be expected.

  [4] is due to the delay required to reach when communicating the control signal, and this depends on the device configuration of the network connection.

  The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a cooperation instruction apparatus, a cooperation instruction program, and a cooperation instruction method capable of linking a plurality of devices with a small error.

  In order to solve the above-described problem, the present invention provides a cooperation instruction apparatus that coordinates control of a plurality of devices, and communication delivery time between the cooperation instruction apparatus and each of the plurality of devices, or the plurality of devices. A communication delivery time storage unit storing a communication delivery time difference that is a difference between each of the communication delivery times and one communication delivery time, and an execution order list indicating when the plurality of devices operate A signal is acquired, and an execution instruction signal is generated for each of the plurality of devices based on the acquired execution order list signal and the communication delivery time or the communication delivery time difference stored in the communication delivery time storage unit And an execution instruction signal generation unit that transmits the generated execution instruction signal to the corresponding device, and the execution instruction signal generation unit includes the device The timing at which the execution instruction signal is received is determined as a reference, the timing at which the device operates is determined based on the communication delivery time or the communication delivery time difference, and the determined reception time is used as the reference The execution instruction signals of the plurality of devices are respectively generated based on timing.

  According to such a configuration, an execution instruction signal is generated for each of the plurality of devices in consideration of a time difference in communication delivery time from the cooperation instruction apparatus to the plurality of devices, so that the absolute time is used. In addition, a plurality of devices can be cooperatively controlled with a small error.

  The cooperation instruction device includes a clock counter accuracy information storage unit that stores clock counter accuracy information related to the accuracy of the clock counters of the plurality of devices, and the execution instruction signal generation unit is based on the clock counter accuracy information, The configuration may be such that the operation timing of the device in the execution instruction signal is described by the number of clock counters of the corresponding device.

  According to this configuration, since the execution instruction signal is described by the number of clock counters of the corresponding device, it is not necessary to convert the time interval between operations to the number of clock counters on the device side, and the processing load on the device side can be reduced. it can.

  The cooperation instructing device transmits a communication delivery time measurement signal to each of the plurality of devices, receives response signals from the plurality of devices that have received the communication delivery time measurement signal, and receives the communication delivery time measurement signal. The communication delivery time or the communication delivery time difference of each of the plurality of devices is calculated based on the transmission timing and the response signal reception timing, and the calculated communication delivery time or the communication delivery time difference is A configuration including a communication delivery time management unit stored in the communication delivery time storage unit may be used.

  According to such a configuration, since the communication delivery time is calculated using the communication delivery time measurement signal, it is possible to suitably obtain the time required for communication delivery between the cooperation instruction apparatus and each of the plurality of devices, and thus the plurality of devices can be obtained. Furthermore, cooperative control can be performed with less error.

  Further, the present invention is a cooperation instruction method by a cooperation instruction apparatus that coordinates control of a plurality of devices, the cooperation instruction apparatus, communication delivery time between the cooperation instruction apparatus and each of the plurality of devices, or A communication delivery time storage unit that stores a communication delivery time difference that is a difference between the communication delivery time of each of the plurality of devices and the one communication delivery time; and Transmitting a communication delivery time measurement signal to each of the devices, receiving response signals from the plurality of devices that have received the communication delivery time measurement signal, and receiving the transmission timing of the communication delivery time measurement signal and the response signal Based on the timing, the communication delivery time or the communication delivery time difference of each of the plurality of devices is calculated, and the calculated communication transmission time is calculated. A communication delivery time management step of storing time or the communication delivery time difference in the communication delivery time storage unit, and an execution order list signal indicating at which timing the plurality of devices are operated by the cooperation instruction device. And generating an execution instruction signal for each of the plurality of devices based on the acquired execution order list signal and the communication delivery time or the communication delivery time difference stored in the communication delivery time storage unit. An execution instruction signal generation step of transmitting the execution instruction signal to the corresponding device, wherein in the execution instruction signal generation step, the cooperation instruction apparatus uses the reception time point of the execution instruction signal by the device as a reference The timing at which the device operates is based on the communication delivery time or the communication delivery time difference. Determined, the determined the received time based on the timing on the basis, and generating each said execution instruction signal of the plurality of devices.

  According to such a configuration, since the communication delivery time is calculated using the communication delivery time measurement signal, it is possible to suitably obtain the time required for communication delivery between the cooperation instruction apparatus and each of the plurality of devices, and thus the plurality of devices can be obtained. Coordinated control can be performed with little error.

  In addition, the present invention is a cooperation instruction device that cooperates the detection results of a plurality of devices, the communication delivery time between the cooperation indication device and each of the plurality of devices, or each of the plurality of devices A communication delivery time storage unit that stores a communication delivery time difference that is a difference between the communication delivery time and one communication delivery time, and the communication delivery time stored in the communication delivery time storage unit or the communication delivery time difference A time setting signal generation unit that generates a time setting signal for each of the plurality of devices and transmits the generated time setting signal to the corresponding device, and the time setting signal generation unit includes: The plurality of devices that have received the time setting signal by generating the time setting signal in consideration of a difference in delivery time of the time setting signal of the plurality of devices And characterized in that clocked by a common time system.

  According to such a configuration, a time setting signal for setting a common time for a plurality of devices is generated in consideration of a shift in communication delivery time from the cooperation instruction apparatus to the plurality of devices, so that an absolute time is not used. The detection results of a plurality of devices can be linked with a small error.

  The cooperation instructing device transmits a communication delivery time measurement signal to each of the plurality of devices, receives response signals from the plurality of devices that have received the communication delivery time measurement signal, and receives the communication delivery time measurement signal. The communication delivery time or the communication delivery time difference of each of the plurality of devices is calculated based on the transmission timing and the response signal reception timing, and the calculated communication delivery time or the communication delivery time difference is A configuration including a communication delivery time management unit stored in the communication delivery time storage unit may be used.

  According to such a configuration, since the communication delivery time is calculated using the communication delivery time measurement signal, it is possible to suitably obtain the time required for communication delivery between the cooperation instruction apparatus and each of the plurality of devices. The detection results can be linked with even smaller errors.

  The present invention can also be embodied as a cooperation instruction program that causes a computer to function as the cooperation instruction device described above.

  According to the present invention, a plurality of devices can be linked with a small error.

It is a block diagram which shows a device control system provided with the cooperation instruction | indication apparatus which concerns on 1st embodiment of this invention. It is a figure for demonstrating the operation timing of the several device by an execution instruction signal. It is a sequence diagram for demonstrating the example of the prior preparation of cooperation. It is a sequence diagram for demonstrating the operation example of cooperation. It is a schematic diagram which shows the example which applied the device control system which concerns on 1st embodiment to the joint control of a robot. It is a block diagram which shows a device control system provided with the cooperation instruction | indication apparatus which concerns on 2nd embodiment of this invention. It is a figure for demonstrating the time setting of a some device. It is a schematic diagram which shows the example which applied the device control system which concerns on 2nd embodiment to monitoring of a flying object etc.

<First embodiment>
Next, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, a device control system 1 according to the first embodiment of the present invention is a system for linking control of a plurality of devices 40, and includes a device control device 10, a linkage instruction device 20 </ b> X, , Network 30 and a plurality of devices 40 (40A, 40B, 40C,...).

<Device control device>
The device control apparatus 10 generates an execution order list signal for causing the plurality of devices 40 to execute the cooperation operation, and transmits the generated execution order list signal to the cooperation instruction apparatus 20X. The device control apparatus 10 includes an operation unit 11, a control unit 12, and a display unit 13.

  The operation unit 11 includes a keyboard, a mouse, and the like, and outputs input contents based on user operations to the control unit 12.

  The control unit 12 includes a CPU (Central Processing Unit), a ROM (Read-Only Memory), a RAM (Random Access Memory), an input / output circuit, and the like. In this embodiment, the control part 12 produces | generates an execution order list signal based on the input content output from the operation part 11, and transmits the produced | generated execution order list signal to the cooperation instruction | indication apparatus 20X.

  The display unit 13 is configured by a display or the like, and displays data or the like output from the control unit 12.

≪Execution order list signal≫
The execution order list signal is a signal describing how and when the plurality of devices 40 (40A, 40B, 40C,...) Operate. That is, the execution sequential list signal is a list including operation contents of the plurality of devices 40 (40A, 40B, 40C,...) And time intervals (operation intervals) between the operations.
An example of the execution order list signal is shown below.
1: Operate device 40A Operate device 40B after 2: 1 1 [ms] Operate device 40C Operate device 40C after 3: 2 1 [ms] (after 1 [2] ms) 4: 3 1 After [ms] (after 3 [ms] of 1), the devices 40A, 40B, and 40C are operated.

  The device control apparatus 10 may be installed at a remote location of the cooperation instruction apparatus 20X and the plurality of devices 40, or may be configured integrally with the cooperation instruction apparatus 20X.

<Cooperation instruction device>
The cooperation instruction device 20X includes a CPU, a ROM, a RAM, an input / output circuit, and the like. The cooperation instruction device 20X is a device that cooperates with the control of a plurality of devices 40 (40A, 40B, 40C,...), And includes a hardware clock 21, a system clock 22, a storage unit 23, and a clock counter as functional units. An accuracy information management unit 24, a communication delivery time management unit 25, and an execution instruction signal generation unit 26 are provided.

≪Hardware clock≫
The hardware timepiece 21 is mounted on a hardware base of a computer, and is driven by a button battery, a battery, etc. (not shown) independent of a main arithmetic unit (CPU) and has low power consumption and low performance (low accuracy). It is an independent function of the IC. The hardware clock 21 includes a clock counter (not shown) with a lower accuracy than the clock counter 22a of the system clock 22, and measures time using the clock counter.

≪System clock≫
The system clock 22 is a function that is managed on an OS (Operating System) using a main arithmetic unit (CPU) and a main storage (memory) of a computer. The system clock 22 includes a high-performance clock counter (for example, a CPU clock counter that counts at the CPU clock frequency) 22a compared to the hardware clock 21, and uses the clock counter 22a to measure time. The clock counter accuracy information of the clock counter 22a is stored in the storage unit 23. When the cooperation instruction device 20X is activated, the system clock 22 refers to time information with low accuracy acquired from the hardware clock 21. Further, the system clock 22 can adjust the time of the system clock 22 to the global standard time by using an NTP (time correction protocol) server device.

≪Storage section≫
The storage unit 23 stores clock counter accuracy information of the clock counter 22a, and stores a clock counter accuracy information database 23a and a communication delivery time database 23b.

≪Clock counter accuracy information database≫
The clock counter accuracy information database 23a is a database (list) in which device IDs of a plurality of devices 40 (40A, 40B, 40C,...) And clock counter accuracy information are associated with each other. The clock counter accuracy information is information indicating the time per one count (clock) of the clock counter. An example of the clock counter accuracy information database 23a is shown in Table 1.

≪Communication delivery time database≫
The communication delivery time database 23b is a database (list) in which device IDs of a plurality of devices 40 (40A, 40B, 40C,...) Are associated with communication delivery times or communication delivery time differences. The communication delivery time is a communication between the cooperation instruction device 20X and each of the plurality of devices 40 (40A, 40B, 40C,...). ) Until the device 40 receives it). An example of the communication delivery time database 23b when the communication delivery time is stored is shown in Table 2.

  The communication delivery time difference is a difference between the communication delivery time and one communication delivery time, and in this embodiment, is a difference between the communication delivery time and the latest communication delivery time. Table 3 shows an example of the communication delivery time database 23b when the communication delivery time difference is stored. The communication delivery time difference may be converted into the number of clock counters of each device 40 based on the clock counter accuracy information of each device 40 as shown in parentheses in Table 3.

≪Clock counter accuracy information management department≫
The clock counter accuracy information management unit 24 manages (adds, updates, corrects, deletes, etc.) the clock counter accuracy information stored in the clock counter accuracy information database 23a. In this embodiment, the clock counter accuracy information management unit 24 acquires the clock counter accuracy information of the plurality of devices 40A, 40B, 40C,... From the plurality of devices 40A, 40B, 40C,. The information is associated with the device ID (device name or the like) and stored in the clock counter accuracy information database 23a.

≪Communication Delivery Time Management Department≫
The communication delivery time management unit 25 manages (adds, updates, modifies, deletes, etc.) the communication delivery time or the communication delivery time difference stored in the communication delivery time database 23b. In the present embodiment, the communication delivery time management unit 25 corresponds to the device 40 (40A, 40B, 40C) corresponding to the communication delivery time or the communication delivery time difference based on the clock counter accuracy information stored in the clock counter accuracy information database 23a. ,...) Can be converted into the number of clock counters and stored in the communication delivery time database 23b.

<< Execution instruction signal generator >>
The execution instruction signal generation unit 26 receives the execution order list signal transmitted by the control unit 12 of the device control apparatus 10, and based on the received execution order list signal, the plurality of devices 40 (40A, 40B, 40C, ..) Is generated, and the generated execution instruction signal is transmitted to a plurality of corresponding devices 40 (40A, 40B, 40C,...) Via the network 30.

The execution instruction signal is generated for each of the plurality of devices 40 (40A, 40B, 40C,...), And the timing at which the own device 40 is used at what timing is based on the time when the corresponding device 40 receives the execution instruction signal. Is a signal described by time or the number of clock counters of the corresponding device 40. That is, the execution instruction signal is a list including the operation content of the own device 40 and the time interval (operation interval) between the operations with respect to the time when the own device 40 receives the execution instruction signal.
As shown in FIG. 2, the cooperation instruction device 20X receives the execution order list signal at time t1, generates an execution instruction signal, and broadcasts (multicasts) the execution instruction signal at time t2. The device 40A receives the execution order list signal at time t4 when only its own communication delivery time (20 [ms]) has elapsed from time t2. The device 40B receives the execution order list signal at time t3 when only its own communication delivery time (10 [ms]) has elapsed from time t2. The device 40C receives the execution order list signal at time t5 when only its own communication delivery time (30 [ms]) has elapsed from time t2.

An example of the execution instruction signal is shown below.
<< Execution instruction signal of device 40A >>
・ Receiving an execution instruction signal ・ Wait for cA1 clock (= 10 [ms], 1,000,000 [clock]) ・ Activate actuator 42 ・ cA2 clock (= 3 [ms], 300,000 [clock]) Wait ・ Activate the actuator 42

<< Execution instruction signal of device 40B >>
Receive an execution instruction signal Wait for cB1 clock (= 21 [ms], 210,000 [clock]) Operate actuator 42 Wait for cB2 clock (= 2 [ms], 20,000 [clock]) Actuate actuator 42

<< Execution instruction signal of device 40C >>
Receive the execution instruction signal Wait for cC1 clock (= 2 [ms], 100,000 [clock]) Operate actuator 42 Wait for cC2 clock (= 1 [ms], 50,000 [clock]) Actuate actuator 42

  The time interval from when each device 40 receives the execution instruction signal to the first operation is set based on the communication delivery time difference and the time interval included in the execution order list. That is, the time interval (t5-t4) from when the device 40A receives the execution instruction signal to the first operation 1 is set to the communication delivery time difference (10 [ms]) of the device 40A. The time interval (t6-t3) from the time when the device 40B receives the execution instruction signal to the first operation 2 is the difference between the communication delivery time difference (20 [ms]) of the device 40B and the operation 1 to the operation 2. The total time (21 [ms]) with the time interval (1 [ms]) is set. The time interval (t7-t5) from the time when the device 40C receives the execution instruction signal to the first operation 3 is the communication delivery time (0 [ms]) of the device 40C and the time from the operation 1 to the operation 3. The total time (2 [ms]) with the interval (2 [ms]) is set.

<Network>
The network 30 is a wired or wireless network that connects the cooperation instruction device 20X and a plurality of devices 40 (40A, 40B, 40C,...) In a communicable manner.

<Device>
The plurality of devices 40 (40A, 40B, 40C,...) Receive the execution instruction signal transmitted by the cooperation instruction device 20X, and execute an operation based on the received execution instruction signal. The device 40 includes a control unit 41, an actuator 42, and a sensor 43.

  The control unit 41 includes a hardware clock 41a and a system clock 41b having a clock counter 41c. The functions of the hardware clock 41a, the system clock 41b, and the clock counter 41c are the same as those of the hardware clock 21, the system clock 22, and the clock counter 22a of the cooperation instruction device 20X, and thus description thereof is omitted. However, the accuracy (clock counter accuracy information) of the clock counter 41c of the plurality of devices 40 and the clock counter 22a of the cooperation instruction device 20X depends on the performance of each CPU, and can therefore have different values. In the present embodiment, the control unit 41 controls the actuator 42 based on the reception instruction signal using the number of clock counters of the clock counter 41c. In the present embodiment, the hardware clock 41a can be omitted.

  The actuator 42 is a motor or the like whose operation is controlled by the control unit 41. The sensor 43 is a camera or the like that outputs a detection result to the control unit 41.

<Operation example>
Next, an operation example of the device control apparatus 10, the cooperation instruction apparatus 20X, and the plurality of devices 40 in the device control system 1 will be described. First, pre-processing for cooperative control of a plurality of devices 40 will be described in the order of creation of a database of clock counter accuracy information and creation of a database of communication delivery time, and then cooperative control of the plurality of devices 40 will be described.

<< Clock counter accuracy information database >>
As shown in FIG. 3, the clock counter accuracy information management unit 24 of the cooperation instruction device 20 </ b> X sends a plurality of clock counter accuracy confirmation signals corresponding to a plurality of devices 40 </ b> A, 40 </ b> B,. Each is transmitted to the devices 40A, 40B,... (Step S1). Here, the clock counter accuracy information management unit 24 may simultaneously transmit a plurality of clock counter accuracy confirmation signals simultaneously (multicast), or may individually transmit a plurality of clock counter accuracy confirmation signals at different times.

  When the control units 41 of the plurality of devices 40A, 40B,... Receive the clock counter accuracy confirmation signal transmitted by the clock counter accuracy information management unit 24 (steps S11A, S11B,...), The control units 41 respectively The clock counter accuracy information stored in advance is read, and the read clock counter accuracy information is transmitted to the cooperation instruction device 20X via the network 30 (steps S12A, 12B,...).

The clock counter accuracy information management unit 24 of the cooperation instruction device 20X individually receives the clock counter accuracy information transmitted by the control unit 41 of the plurality of devices 40A, 40B,... (Step S2).
Subsequently, the clock counter accuracy information management unit 24 of the cooperation instruction apparatus 20X stores the received clock counter accuracy information in the clock counter accuracy information database 23a of the storage unit 23 (step S3).

≪List of differences in communication delivery time≫
In the following description, steps S4 to S7 correspond to a communication delivery time management step. As shown in FIG. 3, after the clock counter accuracy information is made into a database, the communication delivery time management unit 25 of the cooperation instruction device 20X performs communication delivery time measurement signals corresponding to a plurality of devices 40A, 40B,. Are transmitted to the plurality of devices 40A, 40B,... Via the network 30, and the transmission time of the communication delivery time measurement signal timed by the hardware clock 21 and the clock counter 22a of the cooperation instruction device 20X is temporarily stored. Store (step S4). Here, the communication delivery time management unit 25 may simultaneously transmit (multicast) a plurality of communication delivery time measurement signals simultaneously, or may individually transmit the plurality of communication delivery time measurement signals at different times.

  When receiving the communication delivery time measurement signal transmitted by the communication delivery time management unit 25 (steps S13A, S13B,...), The control units 41 of the plurality of devices 40A, 40B,. , Immediately transmitted to the cooperation instruction device 20X via the network 30 (steps S14A, S14B,...).

  The communication delivery time management unit 25 of the cooperation instruction device 20X individually receives the communication delivery time measurement response signals transmitted by the control units 41 of the plurality of devices 40A, 40B,... (Step S5).

Subsequently, the communication delivery time management unit 25 calculates a communication delivery time for each of the plurality of devices 40A, 40B,... Based on the received communication delivery time measurement response signal (step S6). Specifically, the communication delivery time management unit 25 measures the reception time of the communication delivery time measurement response signal for each of the plurality of devices 40A, 40B,... By the hardware clock 21 and the clock counter 22a of the cooperation instruction device 20X. . Subsequently, the communication delivery time management unit 25 calculates the communication delivery time based on the following formula.
[Communication delivery time] = ([communication delivery time measurement response signal reception time] − [communication delivery time measurement signal transmission time]) / 2

  Regarding steps S5 and S6, the communication delivery time management unit 25 may be configured to calculate all communication delivery times after receiving all communication delivery time measurement response signals. The communication delivery time may be calculated without waiting for the reception of another communication delivery time measurement response signal in the order received.

  Subsequently, the communication delivery time management unit 25 calculates a difference from the latest communication delivery time for each of the plurality of devices 40A, 40B,..., And calculates the calculated difference for each of the plurality of devices 40A, 40B,. It converts into the clock counter number, and memorize | stores the converted clock counter number in the communication delivery time database 23b (step S7).

≪Cooperation control of multiple devices≫
In the following description, steps S31 and S32 correspond to an execution instruction signal generation step. As illustrated in FIG. 4, the control unit 12 of the device control apparatus 10 generates an execution order list signal, and transmits the generated execution order list signal to the cooperation instruction apparatus 20X (step S21). The execution instruction signal generation unit 26 of the cooperation instruction apparatus 20X receives the execution order list signal transmitted by the control unit 12 of the device control apparatus 10 (step S31), and based on the received execution order list signal, a plurality of execution order list signals are received. An execution instruction signal is generated for each device 40A, 40B,..., And the generated execution instruction signal is transmitted to the plurality of devices 40A, 40B,... Via the network 30 (step S32). Here, the execution instruction signal generation unit 26 simultaneously transmits (multicasts) a plurality of execution instruction signals.

  The control unit 41 of the plurality of devices 40A, 40B,... Receives the execution instruction signal corresponding to the device and starts counting (clocking) by the clock counter 41c of the device (steps S41A, S41B,...).

  When the counter value by the clock counter 41c is incremented by 1 (steps S42A, 42B,...) And the counter value becomes equal to the instruction standby counter value included in the execution instruction signal (Yes in steps S43A, S43B,. The instructed operation is executed by the actuator 42 (steps S44A, S44B,...). When there is another standby instruction in the execution instruction signal (Yes in steps S45A, S45B,...), The control unit 41 repeats steps S42A, S42B,... To S44A, S44B,.

<Applicable target>
Such a device control system 1X is applicable to a case where a plurality of devices 40 (40A, 40B, 40C,...) Are actuators of joints of a robot arm, as shown in FIG.

The cooperation instruction apparatus 20X according to the first embodiment of the present invention considers a deviation in the communication delivery time from the cooperation instruction apparatus 20X to the plurality of devices 40, and outputs an execution instruction signal based on the time point received by the device 40. Since it is generated for each of the plurality of devices 40, the plurality of devices 40 can be cooperatively controlled with a small error without using the absolute time.
Further, since the cooperation instruction device 20X describes the execution instruction signal by the number of clock counters of the corresponding device 40, it is not necessary to convert the time interval between operations into the number of clock counters on the device 40 side, and the processing on the device 40 side The load can be reduced.
In addition, since the cooperation instruction device 20X calculates the communication delivery time using the communication delivery time measurement signal, it is possible to suitably obtain the time required for communication delivery between the cooperation instruction device 20X and each of the plurality of devices 40. As a result, the plurality of devices 40 can be cooperatively controlled with even smaller errors.

<Second Embodiment>
Subsequently, a device control system according to the second embodiment of the present invention will be described focusing on differences from the device control system 1X according to the first embodiment. As shown in FIG. 6, the cooperation instruction apparatus 20Y according to the second embodiment of the present invention sets the detection results of the plurality of devices 40 (40A, 40B, 40C,..., More specifically, the detection times of the detection results. It is a device that cooperates, and includes a time setting signal generation unit 27 instead of the execution instruction signal generation unit 26. In the second embodiment, the clock counter accuracy information database 23a and the clock counter accuracy information management unit 24 include It can be omitted.

≪Time setting signal generator≫
The time setting signal generation unit 27 generates a time setting signal for each of the plurality of devices 40 (40A, 40B, 40C,...) Based on the communication delivery time or the communication delivery time difference stored in the communication delivery time management unit 25. Then, the generated time setting signal is transmitted to the corresponding device 40.

  The time setting signal is a signal generated in consideration of a difference in delivery time of the time setting signals of the plurality of devices 40 (40A, 40B, 40C,...), And the plurality of devices 40 ( 40A, 40B, 40C,...) Are counted in a common time system.

  When the communication delivery times of Table 2 and Table 3 are applied to the example shown in FIG. 7, the time setting signal generation unit 27 refers to the time of the hardware clock 21 as the time setting signal for the device 40B, thereby A time setting signal with an arbitrary time t11 when 40B receives the time setting signal is generated. In addition, the time setting signal generation unit 27 sets a time setting signal for the device 40A as a time setting signal for which the device 40A receives the time setting signal at a time t12 that is 10 [ms] later than the above arbitrary time. Is generated. In addition, the time setting signal generation unit 27 uses, as the time setting signal for the device 40C, a time setting signal in which the time t13 at which the device 40C receives the time setting signal is 20 [ms] after the above arbitrary time. Is generated.

  The time setting signal generation unit 27 broadcasts (multicasts) the generated plurality of time setting signals to the plurality of devices 40 (40A, 40B, 40C,...) Via the network 30. When the control unit 41 of the plurality of devices 40 (40A, 40B, 40C,...) Receives the corresponding time setting signal, the control unit 41 of the system clock 41c or the hardware clock 41a is based on the time included in the received time setting signal. The time is corrected, and the time is measured by the system clock 41b using the clock counter 41c or the hardware clock 41a. That is, when the control unit 41 of the plurality of devices 40 (40A, 40B, 40C,...) Receives the corresponding time setting signal, the clock counter 41c or the hardware is set using the time included in the received time setting signal as the start time. Time is measured using the clock counter of the clock 41a. Therefore, the plurality of devices 40 (40A, 40B, 40C,...) Can perform detection by the sensor 43 in a common time system. In the present embodiment, one of the hardware clock 41a and the system clock 41b can be omitted.

<Applicable target>
The device control system 1Y can be applied to a case where a plurality of devices 40 (40A, 40B, 40C,...) Are cameras that detect the flying object 100 and the like, as shown in FIG. The control unit 41 of the plurality of devices 40 (40A, 40B, 40C,...) Detects the detection result (camera image, position coordinates of the flying object 100, etc.) of the camera as the sensor 43 and the detection time ( (Common time) can be associated with each other and transmitted to the cooperation instruction device 20Y or the like.

  For example, the time setting signal generation unit 27 of the cooperation instruction apparatus 20Y receives a combination of detection results and detection times transmitted from a plurality of devices 40 (40A, 40B, 40C,...), And receives the received detection results. A combination with the detection time can be transmitted to the device control apparatus 10. In this case, the control unit 12 of the device control apparatus 10 receives a combination of detection results and detection times from the plurality of devices 40 and causes the display unit 13 to display the combination of the received detection results and detection times. .

The cooperation instructing device 20Y according to the second embodiment of the present invention takes into account a time difference in communication delivery time from the cooperation instructing device 20X to the plurality of devices 40, and sets a time that is common to the plurality of devices 40. Since the setting signal is generated, the detection results of the plurality of devices 40 can be linked with a small error without using the absolute time.
Further, since the cooperation instruction device 20Y calculates the communication delivery time using the communication delivery time measurement signal, it is possible to suitably obtain the time required for communication delivery between the cooperation instruction device 20Y and each of the plurality of devices 40. As a result, the detection results of the plurality of devices 40 can be linked with even smaller errors.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it can change suitably. For example, the communication delivery time difference is not limited to the difference from the latest communication delivery time, and may be a difference from the earliest communication delivery time in the second embodiment. Further, when the execution instruction signal and the time setting signal are individually transmitted instead of simultaneous transmission (multicast), the execution instruction signal generation unit 26 and the time setting signal generation unit 27 consider the transmission time difference and Each time setting signal can be generated. The present invention can also be embodied as a cooperation instruction program that causes a computer to function as the cooperation instruction devices 20X and 20Y.

DESCRIPTION OF SYMBOLS 1 Device control system 10 Device control apparatus 20X, 20Y Cooperation instruction | indication apparatus 23a Clock counter precision information database (clock counter precision information storage part)
23b Communication delivery time database (communication delivery time storage unit)
26 execution instruction signal generation unit 27 time setting signal generation unit 30 network 40, 40A, 40B, 40C device 41 control unit 41c clock counter

Claims (8)

A coordination instruction apparatus that coordinates control of a plurality of devices,
A communication delivery time difference between the communication instruction time of each of the plurality of devices and the communication delivery time of each of the plurality of devices or a difference between the communication delivery time of each of the plurality of devices and the one communication delivery time is stored. A communication delivery time storage unit;
An execution order list signal indicating at which timing the plurality of devices operate is acquired, the acquired execution order list signal, and the communication delivery time or the communication delivery time stored in the communication delivery time storage unit An execution instruction signal generation unit that generates an execution instruction signal for each of the plurality of devices based on the difference, and transmits the generated execution instruction signal to the corresponding device;
With
The execution instruction signal generation unit determines, based on the communication delivery time or the communication delivery time difference, a timing at which the device operates with reference to a reception time point of the execution instruction signal by the device. The execution instruction signal of each of the plurality of devices is generated based on the timing based on the received reception time. A clock counter accuracy information storage unit for storing clock counter accuracy information related to the accuracy of the clock counters of the plurality of devices;
The said execution instruction | indication signal production | generation part describes the operation timing of the said device in the said execution instruction | indication signal by the number of clock counters of the said corresponding device based on the said clock counter precision information. Linkage instruction device. A communication delivery time measurement signal is transmitted to each of the plurality of devices, a response signal is received from the plurality of devices that have received the communication delivery time measurement signal, and the transmission timing of the communication delivery time measurement signal and the response are received. Based on the signal reception timing, the communication delivery time or the communication delivery time difference of each of the plurality of devices is calculated, and the calculated communication delivery time or the communication delivery time difference is stored in the communication delivery time storage unit. The cooperation instruction device according to claim 1, further comprising a communication delivery time management unit that stores the communication delivery time. A computer as a cooperation instruction device that coordinates control of a plurality of devices,
An execution order list signal indicating at which timing the plurality of devices operate is acquired, and the acquired execution order list signal and a communication delivery time between the cooperation instruction apparatus and each of the plurality of devices, or The communication delivery time or the communication delivery time difference stored in the communication delivery time storage unit in which a communication delivery time difference that is a difference between each of the plurality of devices and the one communication delivery time is stored. On the basis of the generation instruction signal for each of the plurality of devices, function as an execution instruction signal generation unit that transmits the generated execution instruction signal to the corresponding device,
The execution instruction signal generation unit determines, based on the communication delivery time or the communication delivery time difference, at which timing the device operates with reference to the reception time of the execution instruction signal by the device. Each of the execution instruction signals for the plurality of devices is generated. A cooperation instruction method by a cooperation instruction apparatus that coordinates control of a plurality of devices,
The cooperation instruction device is a communication delivery time between the cooperation instruction device and each of the plurality of devices, or a communication delivery that is a difference between the communication delivery time of each of the plurality of devices and the one communication delivery time. A communication delivery time storage unit for storing a time difference;
The cooperation instruction device transmits a communication delivery time measurement signal to each of the plurality of devices, receives a response signal from the plurality of devices that have received the communication delivery time measurement signal, and receives the communication delivery time measurement signal. The communication delivery time or the communication delivery time difference of each of the plurality of devices is calculated based on the transmission timing and the response signal reception timing, and the calculated communication delivery time or the communication delivery time difference is A communication delivery time management step to be stored in the communication delivery time storage unit;
The cooperation instruction apparatus acquires an execution order list signal indicating at which timing the plurality of devices operate, and the communication delivery stored in the acquired execution order list signal and the communication delivery time storage unit An execution instruction signal generation step of generating an execution instruction signal for each of the plurality of devices based on time or the communication delivery time difference, and transmitting the generated execution instruction signal to the corresponding device;
Including
In the execution instruction signal generation step, the cooperation instruction apparatus determines at what timing the device operates with reference to the reception time point of the execution instruction signal by the device based on the communication delivery time or the communication delivery time difference. The execution instruction signal of each of the plurality of devices is generated based on the timing based on the determined reception time point. A cooperation instruction device for linking detection results of a plurality of devices,
A communication delivery time difference between the communication instruction time of each of the plurality of devices and the communication delivery time of each of the plurality of devices or a difference between the communication delivery time of each of the plurality of devices and the one communication delivery time is stored. A communication delivery time storage unit;
Based on the communication delivery time or the communication delivery time difference stored in the communication delivery time storage unit, a time setting signal is generated for each of the plurality of devices, and the generated time setting signal is transmitted to the corresponding device. A time setting signal generation unit for transmission;
With
The time setting signal generation unit generates the time setting signal in consideration of a difference in delivery time of the time setting signals of the plurality of devices, thereby sharing the plurality of devices that have received the time setting signal in common. A collaborative instruction device characterized by timekeeping in a time system. A communication delivery time measurement signal is transmitted to each of the plurality of devices, a response signal is received from the plurality of devices that have received the communication delivery time measurement signal, and the transmission timing of the communication delivery time measurement signal and the response are received. Based on the signal reception timing, the communication delivery time or the communication delivery time difference of each of the plurality of devices is calculated, and the calculated communication delivery time or the communication delivery time difference is stored in the communication delivery time storage unit. The cooperation instruction device according to claim 6, further comprising a communication delivery time management unit to be stored. A computer as a linkage instruction device that links detection results of a plurality of devices,
A communication delivery time difference that is a difference between a communication delivery time between the cooperation instruction apparatus and each of the plurality of devices or a latest communication delivery time of each of the plurality of devices is stored. Based on the communication delivery time or the communication delivery time difference stored in the communication delivery time storage unit, a time setting signal is generated for each of the plurality of devices, and the generated time setting signal is transmitted to the corresponding device. Function as a time setting signal generator
The time setting signal generation unit generates the time setting signal in consideration of a difference in delivery time of the time setting signals of the plurality of devices, thereby sharing the plurality of devices that have received the time setting signal in common. Linkage instruction program characterized by time keeping in time system.

Images