JP7047370B2 - Motor control device, motor control method and program - Google Patents

Description

The present invention relates to a motor control device, a motor control method and a program.

In a robot that operates by imitating some kind of living body by providing servomotors at each joint, the number of servomotors used by the entire robot increases, so serials such as UART (Universal Signal Receiver / Transmitter) are used. A configuration may be adopted in which a plurality of servomotors are connected on the same signal line by using a communication interface.

In this case, the signal from the controller that controls all the servomotors collectively is delivered as the same signal to each servomotor on the same signal line. Each servomotor stores ID information unique to the internal memory, and can determine whether or not the signal is transmitted to itself based on the ID information added to the distributed signal. ..

Since the same ID information is assigned to the servo motor in the initial state, the controller connects only one servo motor to the signal line on the signal line, and the controller can recognize only one motor in a one-to-one state. Therefore, it is necessary to repeatedly perform the work of rewriting the ID information to the servomotor as many as the number of servomotors to be used, which requires a very complicated work.

FIG. 3 is a block diagram illustrating an operation of setting ID information to the servomotor. In the figure, 11 is a controller, 12 is a UART serial signal line connected to the controller 11, and 131 to 13n are servomotors (servos) connected to the serial signal line 12. In the figure, only the second servomotor 132 is connected to the serial signal line 12, and the controller 11 writes the ID information to the servomotor 132 in a state where the controller 11 can recognize only the servomotor 132. Illustrates the state of being.

In the field of numerical control devices as well, in order to avoid similar complicated work, parameter settings that occur when the device is started up are automated as much as possible to prevent erroneous settings even when the user has to set them, and in a short time. Techniques for achieving the desired control have been proposed. (For example, Patent Document 1)

Japanese Unexamined Patent Publication No. 9-062323

However, also in Patent Document 1, there is a problem that complicated work is required when writing ID information unique to each of the above-mentioned servomotors.

The present invention has been made in view of the above circumstances, and an object thereof is to be able to efficiently perform initial setting of a plurality of servomotors connected via a common signal line. To provide a motor control device, a motor control method and a program.

One aspect of the present invention includes a plurality of servomotors connected to a common signal line and having a memory for storing identification information for identifying each motor, a controller, and a display unit, and the controller is the same. , The identification information stored in the servomotor and the corresponding information corresponding to the part of the controlled object in which the plurality of servomotors are arranged are managed in association with each other, and the information indicating the part is displayed on the display unit. In this state, a command for storing the identification information in the memory is transmitted to the signal line, and the plurality of servomotors are rotated while the controller is transmitting the command to the signal line. It is characterized in that the identification information is stored in the above memory.

According to the present invention, it is possible to efficiently perform the initial setting of a plurality of servomotors connected via a common signal line.

The block diagram which shows the structure of the initial setting environment of the motor control device for a pet robot which concerns on one Embodiment of this invention is extracted. The flowchart which shows the processing content at the time of initial setting executed by the controller which concerns on the same embodiment. The block diagram which exemplifies the setting operation of ID information to a general servomotor. The figure which illustrates the motor / ID code table which concerns on one Embodiment of this invention.

Hereinafter, an embodiment when the present invention is applied to a motor control device for a pet robot will be described with reference to the drawings.
FIG. 1 is a block diagram showing an extraction of the configuration of the initial setting environment for a plurality of servo motors (servos) 231 to 23n. In the figure, the servomotors 231 to 23n are commonly connected by a UART standard serial signal line 22, and operate based on a control signal given from the controller 21 via the serial signal line 22.

The controller 21 controls the pet robot in an integrated manner, and includes a processor, a program memory for storing an operation program and fixed data executed by the processor, a work memory of the processor, and the like.

The servomotors 231 to 23n are composed of, for example, stepping motors, which are arranged one by one for each rotation axis at the joint portion of the pet robot. Each servomotor 231 (to 23n) detects a memory that stores an ID code unique to each motor as identification information and an operation result based on a control signal from the controller 21 and gives a feedback response to the controller 21. It has a resolver such as a rotary encoder as a device.

The display unit 24 is composed of, for example, two circular color liquid crystal panels, a driver thereof, and a backlight mechanism, which are equipped at positions corresponding to both eyes of the face of the pet robot, and can be used as an actual pet robot. At the time of operation, various images are displayed on both eyes under the control of the controller 121 in order to produce facial expressions and the like.

On the other hand, at the time of initial setting of the above-mentioned servomotors 231 to 23n, which will be described later, the display unit 24 previously, for example, by controlling the controller 21, provides correspondence information indicating the corresponding portion of the joint axis in the pet robot with respect to the servomotors 231 to 23n. Display in the set order.

Next, the operation of the above embodiment will be described.
FIG. 2 is a flowchart showing the processing contents when individually registering the ID code of the servomotors 231 to 23n connected to the serial signal line 22 at the time of initial setting.

FIG. 4 is a motor / ID code table showing the relationship between the correspondence information indicating which portion of the joint axis in the pet robot each servomotor 231 to 23n corresponds to and the set ID code.

Now, for example, a servomotor 231 is attached to the joint axis of the right hand of a pet robot, a servomotor 232 is attached to the joint axis of the left hand, a servomotor 23n-1 is attached to the joint axis of the right foot, and a servomotor is attached to the joint axis of the left foot. 23n is associated with it.

In the state where all the servomotors 231 to 23n are connected to the serial signal line 22, in the initial state, the same ID code as the initial value, for example, "ID00" is assigned to all the servomotors 231 to 23n. ing.

The controller 21 selects one correspondence information, for example, "left hand" for specifying the corresponding portion of the joint axis that has not been set, according to a predetermined order (step S102).

The controller 21 determines whether or not all the joint axis registration settings have been completed, depending on whether or not the selection can be made (step S103).

When one correspondence information for specifying the corresponding part of the joint axis which has not been set, for example, "left hand" can be selected (Yes in step S103), the controller 21 displays the selected correspondence information, for example, "left hand". A command to be displayed in the unit 24 and to rewrite the ID code "ID02" corresponding to the "left hand" to the internal memory of the servomotor is transmitted to the serial signal line 22 (step S104).

In this state, the servomotors 231 to 23n connected to the serial signal line 22 wait to be rotated by the worker who performs the initial setting (step S105).

In FIG. 1 above, a state in which the servomotor 232 corresponding to the “left hand” is rotated by an operator who performs this initial setting is illustrated as shown by an arrow M.

When the servomotor 232 is rotated by a worker while a command to rewrite the ID code "ID02" to the internal memory of the servomotor is transmitted to the serial signal line 22, the servomotor 232 is moved to the internal memory. The ID code "ID00" assigned as the initial value is rewritten to "ID02", and the response signal is transmitted to the serial signal line 22 (step S106).

On the other hand, after the rewriting command is transmitted, the controller 21 waits for the response signal to be transmitted from the servomotor 23x (step S107).

When any one of the servo motors 231 to 23n is operated in this way and the rewriting response signal is input to the controller 21 as a feedback response, the controller 21 determines that the ID code of the servo motor has been rewritten. (Yes in step S107), the process returns to the process from step S102 again in order to continue the same process for the other parts.

By repeatedly executing the processes of steps S102 to 107 in this way, the ID code is sequentially set in the servomotors 231 to 23n regarding the corresponding portion of the joint axis that has not been set.

Then, when the setting of the ID code for the servomotors 231 to 23n for all the joint axes and the registration process in the controller 21 are completed, the serial number for specifying the corresponding part of the joint axis that has not been set is selected. If it is determined in step S103 that the registration settings for all the joint axes have been completed (No in step S103), the controller 21 sets the servomotors 231 to 23n at the time of initial setting according to FIG. 2 above. The process of individually registering the ID code is completed.

In the above embodiment, the display unit 24 has been described as being a liquid crystal display panel mounted at a position corresponding to both eyes of the pet robot. However, instead of the liquid crystal display panel, the display unit 24 is, for example, multicolored. It may be composed of two LEDs (light emitting diodes) capable of emitting light. In that case, by presetting the pattern of the combination of the emission color of each LED constituting the binocular part and the state of lighting / blinking / extinguishing, the corresponding information indicating the corresponding part of the joint axis in the pet robot is obtained in the above work. Can be presented to a person.

As described in detail above, according to the present embodiment, it is possible to efficiently carry out the initial setting of the plurality of servomotors 231 to 23n connected via a common signal line.

In particular, in the above embodiment, the ID code stored in the servomotors 231 to 23n is managed by the controller 21 in association with the correspondence information of the portion indicating the joint axis in the pet robot in which the servomotors 231 to 23n are arranged. As a result, the actual operation after the initial setting can be started.

In the actual operation, the controller 21 uses the serial signal line 22 as a signal including an ID code indicating the servomotor required for the operation and a control amount including the rotation direction and the rotation amount based on the above correspondence information. It is transmitted to the servomotors 231 to 23n via.

In the servo motors 231 to 23n that received this, the ID code in the signal transmitted from the controller 21 is compared with the ID code stored in the internal memory, and when the comparison results match, oneself It recognizes that it is a signal sent to the address, and rotates based on the control amount received together. Since the detection signal of the feedback response due to rotation is transmitted to the controller 21 with the ID code of the motor 23x added, it can be confirmed that the necessary operation has been executed on the controller 21 side.

Further, although not described in the above embodiment, a command-type servo control in which the controller 21 transmits a series of data including header information, an ID code, a control amount, and a check sum to the serial signal line 22 as packet data. By realizing the above, the data transmission efficiency on the serial signal line 22 can be improved, and the data transmission to a plurality of servo motors can be multiplexed.

Further, in the above embodiment, if the order of the corresponding parts of the plurality of servomotors 231 to 23n in the pet robot is predetermined, the ID code is set to the motor and the registration process is performed on the controller 21 side without the display unit 24. However, by displaying the information indicating the part on the display unit 24 each time, it is possible to reliably execute the initial setting while reducing the burden on the operator who performs the initial setting.

In addition, in the above embodiment, for example, in a dog-shaped pet robot, the initial setting is efficiently performed in a robot in which the number of servomotors used is particularly large, such as when the number of rotation shafts using servomotors exceeds 20. It becomes possible.

In the above embodiment, the display unit 24 is provided at a position corresponding to both eyes of the pet robot, but the present invention does not limit the position of the display unit.

In addition, the present invention is not limited to the above embodiment, and can be variously modified at the implementation stage without departing from the gist thereof. In addition, each embodiment may be carried out in combination as appropriate, in which case the combined effect can be obtained. Further, the above-described embodiment includes various inventions, and various inventions can be extracted by a combination selected from a plurality of disclosed constituent requirements. For example, even if some constituent elements are deleted from all the constituent elements shown in the embodiment, if the problem can be solved and the effect is obtained, the configuration in which the constituent elements are deleted can be extracted as an invention.

The inventions described in the original claims of the present application are described below.
[Claim 1]
It comprises a plurality of servomotors connected to a common signal line and having a memory for storing identification information for identifying each motor, and a controller.
The controller sends a command to store the identification information in the memory to the signal line.
The plurality of servomotors store identification information in the memory when the controller is rotated while transmitting the command to the signal line.
Motor control device.
[Claim 2]
The motor control device according to claim 1, wherein the controller associates and manages the identification information stored in the servomotor and the corresponding information corresponding to the portion of the controlled object in which the plurality of servomotors are arranged. ..
[Claim 3]
The motor control device according to claim 2, wherein the controller transmits a signal including identification information indicating an operating servomotor and a control amount to the plurality of servomotors via the signal line based on the corresponding information. ..
[Claim 4]
Each of the plurality of servomotors compares the identification information in the signal transmitted from the controller with the identification information stored in the memory, and rotates based on the control amount received together with the identification signal when the comparison results match. , The motor control device according to claim 3.
[Claim 5]
The motor control device according to claim 3 or 4, wherein the controller converts a signal including identification information indicating an operating servomotor and a control amount into packet data based on the corresponding information and transmits the signal to the plurality of servomotors. ..
[Claim 6]
It also has a display unit that displays information indicating the part of the control target.
The motor control device according to any one of claims 2 to 5, wherein the controller transmits a command for storing identification information in the memory while displaying information indicating a portion on the display unit.
[Claim 7]
The control target is a robot in which the plurality of servomotors are arranged at joints.
Based on the operation control content of the robot, the controller transmits a signal including identification information indicating the servomotor to be operated and a control amount to the plurality of servomotors via the signal line.
The motor control device according to any one of claims 3 to 6.
[Claim 8]
A motor control method in a device including a plurality of servomotors connected to a common signal line and having a memory for storing identification information for identifying each motor, a controller, and the like.
The controller sends a command to store the identification information in the memory to the signal line.
The plurality of servomotors store identification information in the memory when the controller is rotated while transmitting the command to the signal line.
Motor control method.
[Claim 9]
A program executed by a computer built in a device having a plurality of servomotors connected to a common signal line and having a memory for storing identification information for identifying each motor.
Send a command to store the identification information in the memory to the signal line,
When one of the plurality of servomotors is rotated while the command is transmitted to the signal line, the identification information is stored in the memory of the servomotor.
program.

11 ... Controller 12 ... Serial signal lines 131 to 13n ... Servo motor 21 ... Controller 22 ... Serial signal lines 231 to 23n ... Servo motor 24 ... Display unit

Claims (7)

It comprises a plurality of servomotors connected to a common signal line and having a memory for storing identification information for identifying each motor, a controller, and a display unit .
The controller manages the identification information stored in the servomotor in association with the corresponding information corresponding to the part of the controlled object in which the plurality of servomotors are arranged.
With the information indicating the part displayed on the display unit, a command to store the identification information in the memory is transmitted to the signal line.
The plurality of servomotors store identification information in the memory when the controller is rotated while transmitting the command to the signal line.
A motor control device characterized by that . The controller is characterized in that, based on the corresponding information, a signal including identification information indicating an operating servomotor and a control amount is transmitted to the plurality of servomotors via the signal line. The motor control device described. Each of the plurality of servomotors compares the identification information included in the signal transmitted from the controller with the identification information stored in the memory, and is based on the control amount received together with the identification signal when the comparison results match. The motor control device according to claim 2, wherein the motor is rotated . The second or third claim, wherein the controller converts a signal including identification information indicating an operating servomotor and a control amount into packet data based on the corresponding information and transmits the signal to the plurality of servomotors. Motor control device. The control target is a robot in which the plurality of servomotors are arranged at joints.
The controller is characterized in that a signal including identification information indicating an operating servomotor and a control amount is transmitted to the plurality of servomotors via the signal line based on the operation control content of the robot. Item 6. The motor control device according to any one of Items 2 to 4 . A motor control method for a device including a plurality of servomotors connected to a common signal line and having a memory for storing identification information for identifying each motor, a controller, and a display unit.
The identification information stored in the servomotor and the corresponding information corresponding to the part of the controlled object in which the plurality of servomotors are arranged are associated and managed.
Including a transmission step of transmitting a command for storing the identification information in the memory to the signal line while displaying the information indicating the part on the display unit.
The plurality of servomotors are motor controls, characterized in that identification information is stored in the memory when the controller is rotated while transmitting the command to the signal line in the transmission step. Method. A program executed by a computer having a device having a plurality of servomotors connected to a common signal line and having a memory for storing identification information for identifying each motor and a display unit, the above-mentioned computer. ,
A management means for associating and managing the identification information stored in the servomotor and the corresponding information corresponding to the part of the controlled object in which the plurality of servomotors are arranged.
A transmission means for transmitting a command for storing the identification information in the memory to the signal line while displaying information indicating a part on the display unit.
A storage control means for storing identification information in the memory of the servomotor when one of the plurality of servomotors is rotated while the command is transmitted to the signal line.
A program that functions as.

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