KR102252815B1 - A method for guiding a method of synchronizing a servo motor and an encoder, and a system implementing the same - Google Patents

Abstract

The embodiment provides a method for guiding a method of synchronizing a servo motor and an encoder, which includes: displaying, by a terminal, an image captured by a servomotor system consisting of an automatic synchronization module, a stepper motor, a servomotor and an encoder; transmitting, by the terminal, first marker information to a server by recognizing a first marker attached to each device of the servomotor system; receiving, by the terminal, 3D model data for at least some of the devices matched with the first marker information from the server, and displaying the 3D model; displaying, by the terminal, a guide information list window in response to selection of a device in the captured image; and receiving, by the terminal, guide content matching the selected guide information among guide information in the guide information list window from the server and displaying the received guide content, wherein the guide content is the content for guiding a method of coupling at least some devices and separating at least some devices among the devices in the servomotor system for synchronizing the servomotor and the encoder.

Description

A method for guiding a method of synchronizing a servo motor and an encoder, and a system implementing the same}

The present invention relates to a method for guiding a method of synchronizing a servomotor and an encoder, and a system implementing the same.

When the motor starts up, information on the initial magnetic pole position detected from the magnetic pole detector is indispensable, and is controlled according to the command based on the information on the initial magnetic pole position. In the worst case where the information on the initial magnetic pole position is offset by ±90 degrees from the actual magnetic pole, the motor does not move because torque does not occur. In addition, when it deviates by ±90 degrees or more, there is a fear of running backward. For this reason, information on the exact initial magnetic pole position in the motor is important, and in order to obtain the accurate initial magnetic pole position information, various methods of mechanical positioning when installing the encoder with a motor and correcting the stagger angle during installation have been studied. . This is not only when the first motor and encoder are combined with each other, but also when the existing encoder coupled to the motor is separated and a new encoder is coupled to the motor, mechanical alignment of the motor and encoder and compensation of the misalignment are inevitably important. none. Relatedly, in the invention of the magnetic pole position adjusting device of an AC synchronous motor in Japanese Patent Laid-Open Publication No. 2004-072902, in the magnetic pole position adjusting device of an AC synchronous motor used in the work of installing an encoder with an AC synchronous motor, AC A magnetic pole position adjusting device for an AC synchronous motor, characterized in that the staggering angle between the magnetic pole origin of the synchronous motor and the encoder origin is calculated, stored in a memory device, and then adjusted by softly correcting the staggering angle. I am introducing. In addition, in the invention of the method and apparatus for phase aligning a brushless motor in Japanese Patent Laid-Open Publication No. 2003-023791, a technique capable of accurately phase aligning a motor and an encoder without a special inspection tool or special technology is introduced. In addition, in the invention of the synchronous motor control device and its initial phase setting method of Japanese Patent Laid-Open No. 2006-067744, a synchronous motor control device provides an initial phase setting means of the magnetic pole position to pass a constant current to the motor, and the electric angle rotates one cycle By calculating the initial phase offset value from the relationship between the start position and the stop position during operation and the Z-phase position, the installation effort of the encoder can be reduced by automatic setting, and good control of the synchronous motor is possible by improving the encoder installation accuracy. Introducing technology. In addition, in Korean Patent Laid-Open Publication No. 2003-0018969, the invention related to the management device and control method of the rotary encoder, in order to solve the limitation that only simple defect determination of the encoder is possible in the case of error detection of the encoder using an external power supply and an oscilloscope. Determination of defects in encoders under various rotational conditions by using a rotation device that supplies various rotations to the device, a configuration that moves the encoder to a specific position to be coupled with the rotation device, and a device that provides various environmental conditions and a computing device. Introducing the technology to do. Conventional techniques are techniques related to synchronization between motor and encoder, measurement of staggered angle, and correction of errors on the premise of proper separation of the existing encoder mounted on the motor and proper mechanical attachment of the motor and the new encoder. However, since the types of motors and encoders are very diverse and highly skilled skills are required to perform proper mechanical positioning of them, it is still large for unskilled persons to perform correct removal and synchronization control of motors and encoders. The reality is that barriers exist.

Japanese Patent Laid-Open Publication No. 2004-072902 Japanese Patent Laid-Open Publication No. 2003-023791 Japanese Patent Laid-Open Publication No. 2006-067744 Korean Patent Publication No. 2003-0018969

An object of the present invention is to implement a method for guiding a method of synchronizing a servo motor and an encoder for providing a step-by-step operation guide in an augmented reality environment, and a system implementing the same.

In an embodiment, the terminal displays an image photographed of a servo motor system comprising an automatic synchronization module, a step motor, a servo motor, and an encoder; Recognizing, by the terminal, a first marker attached to each device of the servomotor system and transmitting first marker information to a server; Receiving, by the terminal, 3D model data for at least some of the devices matched with the first marker information from the server and displaying a 3D model; Displaying, by the terminal, a guide information list window in response to selection of a device in the captured image; And receiving and displaying, by the terminal, guide content matching the guide information selected among guide information in the guide information list window from the server, wherein the guide content is used for synchronizing the servomotor and the encoder. It is possible to provide a method for guiding a method of synchronizing a servo motor and an encoder, which is content for guiding a method of combining at least some of the devices in a servomotor system and a method of separating at least some devices.

In another aspect, a method for guiding a method of synchronizing a servo motor and an encoder displaying a guide information list window including different guide information according to devices selected in the captured image may be provided.

In another aspect, a method for guiding a method of synchronizing a servomotor and an encoder that receives driving state information of a selected device in the captured image from the automatic synchronization module and displays it as augmented reality on the selected device may be provided.

In another aspect, the guide content may provide a method for guiding a method of synchronizing a servomotor and an encoder including tool content necessary for combining at least some of the devices in the servomotor system and separating at least some devices. I can.

In another aspect, the terminal establishes a guide process matched with the selected guide information, and guides a method of synchronizing a servomotor and an encoder for sequentially receiving and displaying guide contents from the server at each step of the guide process. Can provide a way.

In another aspect, according to the guide process, the terminal transmitting an origin signal detection control command signal to the automatic synchronization module to detect the origin signal of the encoder in response to selection of a coupling completion information icon; The terminal displaying a Z-phase pulse signal of the encoder received from the automatic synchronization module; Transmitting, by the terminal, a fixing command signal of the rotor of the servomotor to the automatic synchronization module in response to selection of a rotor fixing request icon; And receiving and displaying, from the server, guide contents for separating the servo motor and the encoder in response to a selection of a separation request icon between the servo motor and the encoder, by the terminal further comprising a servo motor and an encoder. A method for guiding the synchronization method may be provided.

In another aspect, the terminal recognizing the second marker attached to the new encoder and transmitting the second marker information to the server; Receiving and displaying, by the terminal, 3D model data of the new encoder matched with the second marker information from the server; And receiving and displaying guide contents for combining the servo motor and the new encoder from the server, the terminal may provide a method for guiding a method for synchronizing the servo motor and the encoder further comprising.

In another aspect, the terminal transmits a synchronization command signal for synchronization of the new encoder to the automatic synchronization module in response to completion of coupling of the servo motor and the new encoder; further comprising, the automatic synchronization module Calculates the electric angle of the servomotor at the current position from the position signal output from the new encoder without flowing current to the three-phase coil of the servomotor, and at the position, the servomotor should stop. The three-phase current of the phase is passed to the three-phase coil, the position at which the servomotor rotates and stops by the current flowing in the previous process is read, and the position information before and after the current is passed is transmitted to the terminal, and the terminal receives It is possible to provide a method for guiding a method of synchronizing a servo motor and an encoder indicating whether the position of the servo motor and the new encoder is aligned by comparing the difference between the position before and after the current is passed with a preset value.

In another aspect, the terminal comprises: displaying an image photographed of a servo motor system consisting of an automatic synchronization module, a step motor, a servo motor, and an encoder; Recognizing, by the terminal, a first marker attached to each device of the servomotor system and transmitting first marker information to a server; Receiving, by the terminal, 3D model data for at least some of the devices matched with the first marker information from the server and displaying a 3D model; Receiving, by the terminal, guide information for coupling the step motor and the servo motor from the server and displaying the information; Transmitting, by the terminal, an origin signal detection control command signal to the automatic synchronization module to detect the origin signal of the encoder; Transmitting, by the terminal, a fixed command signal of the rotor of the servomotor to the automatic synchronization module based on the Z-phase pulse signal of the encoder received from the automatic synchronization module; The terminal displaying guide information for separating the servo motor and the encoder; The terminal recognizing a second marker attached to a new encoder and transmitting second marker information to a server; Receiving the 3D model data of the new encoder matched with the second marker information from the server and displaying the 3D model; The terminal displaying guide information for combining the servo motor and the new encoder; And transmitting a synchronization command signal for synchronization between the servo motor and the new encoder to the automatic synchronization module.

The embodiment may provide an intuitive and accurate work guide by matching virtual contents of a work guide matched to each of the devices in a captured image to a work space according to work and displaying them as augmented reality contents and a three-dimensional model.

According to the embodiment, virtual content matched to the work space of the user's field of view is output to display the work information at each step of the work, so that the user can easily follow the work.

The embodiment makes it possible for an unskilled person to easily perform coupling or separation between devices constituting a servomotor system and synchronization between a servomotor and an encoder.

In the embodiment, the repair history information of the device is displayed in augmented reality and an image related to the repair history is displayed, thereby storing the repair history of the devices and managing the history of the repair history.

1 is an exemplary diagram of a system implementing a method for guiding a method of synchronizing a servomotor and an encoder according to an embodiment of the present invention.
2 is a flowchart illustrating a method for guiding a method of synchronizing a servo motor and an encoder according to an embodiment of the present invention.
3 to 11 are for explaining a method for guiding a method of synchronizing a servo motor and an encoder based on a terminal.
12 is a graph for explaining a phase relationship between an electric angle and a current.

Since the present invention can apply various transformations and have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. Effects and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms. In the following embodiments, terms such as first and second are used for the purpose of distinguishing one constituent element from other constituent elements rather than a limited meaning. In addition, expressions in the singular include plural expressions unless the context clearly indicates otherwise. In addition, terms such as include or have means that the features or components described in the specification are present, and do not preclude the possibility of adding one or more other features or components in advance. In addition, in the drawings, the size of components may be exaggerated or reduced for convenience of description. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, and thus the present invention is not necessarily limited to what is shown.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the drawings, the same or corresponding constituent elements are assigned the same reference numerals, and redundant descriptions thereof will be omitted. .

1 is an exemplary diagram of a system implementing a method for guiding a method of synchronizing a servomotor and an encoder according to an embodiment of the present invention.

2 is a flowchart illustrating a method for guiding a method of synchronizing a servo motor and an encoder according to an embodiment of the present invention.

Referring to FIG. 1, a system 10 implementing a method for guiding a method of synchronizing a servomotor and an encoder according to an embodiment of the present invention includes a servomotor system 100, a terminal 200, a server 300, and Network 400 may be included.

The terminal 200 may include a memory including an application, a processor assembly, a communication module, an interface module, an input system, a sensor system, and a display system. In addition, the components may be implemented to be included in the housing of the terminal 200. An application for augmented reality is stored in the memory of the terminal, and the application may include virtual contents, image buffers, location engines, and virtual contents display engines for providing an augmented reality environment. That is, the memory can store commands and data that can be used to create an augmented reality environment. However, the present invention is not limited thereto, and the terminal 200 may receive at least some of the content from the server 300.

The application may include a communication application for performing communication based on an augmented reality environment. The communication application may include various applications, engines, data, and commands for providing a network speed responsive augmented reality communication service.

The memory of the terminal 200 may include at least one non-transitory computer-readable storage medium and a temporary computer-readable storage medium. For example, the memory may be various storage devices such as ROM, EPROM, flash drive, hard drive, and the like, and may include web storage that performs a storage function of the memory over the Internet.

The processor assembly of the terminal 200 may include at least one processor capable of executing instructions of an application stored in a memory in order to perform various tasks for creating an augmented reality environment.

The processor assembly of the terminal 200 may include a central processing unit (CPU) and/or a graphic processor unit (GPU). In addition, the processor assembly 120 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and controllers. ), micro-controllers, microprocessors, and electrical units for performing other functions.

The communication module of the terminal 200 may include one or more devices for communicating with other computing devices (eg, the server 300). Such a communication module may communicate through a wireless network. The communication module of the terminal 200 may communicate with a computing device such as the server 300 storing a virtual content source for implementing an augmented reality environment, and communicate with various user input components such as a controller receiving a user input. I can.

The communication module of the terminal 200 includes technical standards or communication methods for mobile communication (e.g., LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced)), 5G NR (New Radio), WIFI. ) Or, it is possible to wirelessly transmit and receive data with at least one of a base station, an external terminal, and an arbitrary server on a mobile communication network established through a communication device capable of performing a short-range communication method.

The sensor system of the terminal 200 may include various sensors such as an image sensor, a position sensor (IMU), an audio sensor, a distance sensor, a proximity sensor, a contact sensor, or a tag.

The image sensor of the terminal 200 may capture an image and/or an image of a physical space around the terminal 200 and devices in the physical space.

The image sensor of the terminal 200 may be a camera assembly including at least one camera. The camera assembly may include a general camera for photographing a visible light band, and may further include a special camera such as an infrared camera and a stereo camera.

The servo motor system 100 may include an automatic synchronization module 110, a servo motor 120, an encoder 130 and a step motor 140.

In general, the servomotor refers to the whole combined motor and encoder, but in describing the embodiment of the present invention, the servomotor refers to a motor from which the encoder is separated.

The server 300 includes a work guide providing server that provides a work guide based on an augmented reality environment to a user, a virtual content database storing virtual contents included in the work guide, a previously learned work space, spatial information on the device, It may include a spatial and device information database including feature information such as markers, spatial coordinates, and three-dimensional model data of devices.

The automatic synchronization module 110 may provide driving power to the step motor 140 and control the step motor 140. In detail, the automatic synchronization module 110 may rotate the axis of the servomotor 120 by driving the step motor 140.

In addition, the automatic synchronization module 110 may control the servomotor 120 by providing driving power to the servomotor 120. In particular, the automatic synchronization module 110 may apply voltage to the power lines U, V, and W of the servo motor 120. In some embodiments, the automatic synchronization module 110 applies a +,-voltage to the power lines U, V, and W of the servo motor 120 to apply direct current excitation to the servo motor 120, The rotor can be fixed. In some embodiments, the automatic synchronization module 110 may fix the rotor of the servomotor 120 by applying voltages of the "-" pole in the U phase and the "+" pole in the V and W phases to the servomotor 120. I can.

In addition, the automatic synchronization module 110 may receive sensing information from the encoder 130.

The automatic synchronization module 110 may include at least one processor, a memory, a communication device, and a power supply device. And, the automatic synchronization module 110 communicates with the terminal 200 to receive a control signal from the terminal 200 to control the servo motor 120, the encoder 130 and the step motor 140, and the servo motor 120, the state information, driving information, and sensing information of the encoder 130 and the step motor 140 may be transmitted to the terminal 200.

2, a method for guiding a method of synchronizing a servo motor and an encoder according to an embodiment of the present invention (S100) is a method in which a terminal photographs a servo motor system consisting of an automatic synchronization module, a step motor, a servo motor, and an encoder. Displaying the image (S101), the terminal recognizing the first marker attached to each device of the servomotor system and transmitting the first marker information to the server (S103), the terminal matches the first marker information from the server Receiving 3D model data for at least some of the devices that have been captured and displaying the 3D model (S105), the terminal displaying the guide information list window in response to the selection of the device in the captured image (S107), and the terminal May include receiving and displaying guide content matching the guide information selected from among guide information in the guide information list window (S109).

The terminal receives and displays the guide content matching the guide information selected among the guide information in the guide information list window from the server (S109), in which the terminal receives guide information for coupling the step motor and the servo motor from the server. It can be the stage of marking.

In addition, an embodiment is a step in which the terminal transmits an origin signal detection control command signal to the automatic synchronization module to detect the origin signal of the encoder in response to the selection of the coupling completion information icon (S111), and the terminal receives the received from the automatic synchronization module. Displaying the Z-phase pulse signal of the encoder (S113), the terminal transmitting the fixing command signal of the rotor of the servomotor to the automatic synchronization module in response to the selection of the rotor fixing request icon (S115), the terminal is servo In response to the selection of the separation request icon for the motor and the encoder, receiving and displaying the guide contents for separation of the servomotor and the encoder from the server (S117), the terminal recognizes the second marker attached to the new encoder, and a second marker Transmitting the information to the server (S119), the terminal receives the 3D model data of the new encoder matched with the second marker information from the server and displays the 3D model (S121), the terminal combines the servomotor and the new encoder Receiving and displaying the guide contents for the server (S123), and the terminal transmits a synchronization command signal for synchronization of the servomotor and the new encoder to the automatic synchronization module in response to the selection of the icon for completing the combination of the servomotor and the new encoder. It may further include a step (S125).

3 to 11 are for explaining a method for guiding a method of synchronizing a servo motor and an encoder based on a terminal.

3 to 11, each step of FIG. 2 will be described in detail.

-Step of displaying an image of a servo motor system consisting of an automatic synchronization module, a step motor, a servo motor and an encoder by the terminal (S101)

Referring to FIG. 3, an application for an automatic synchronization module may be installed in the terminal 200. When the application for the automatic synchronization module is executed in the terminal 200, the application may communicate with the server 300 to transmit and receive various types of information. In addition, after the application is executed, the camera function is executed so that the captured image may be displayed on the terminal 200.

The application may recognize a physical space and a device through the marker, and may display virtual content matched to a specific location of the recognized space to correspond to the user's view. Such virtual content may include visual content such as an image or video that can be displayed in a portion of the user's field of view in the terminal 200. For example, the virtual content may include virtual object images that overlay various parts of a physical space. This virtual object image can be rendered as a 2D image or a 3D image.

In an embodiment, the user may use the terminal 200 to take pictures of the servomotor system 100, which are devices that need synchronization.

-Step of recognizing the first marker attached to each device of the servomotor system by the terminal and transmitting the first marker information to the server (S103)

The terminal 200 may detect the first marker MK1 in the captured image.

The first marker MK1 may serve as a reference point for implementing augmented reality content on an actual device in the captured image. In addition, the first marker MK1 may include unique information of the skin attachment device. Accordingly, the first marker MK1 attached to each of the devices may have different information.

The terminal 200 may detect the first marker MK1 and transmit first marker information identified from the first marker MK1 to the server 300.

According to an embodiment, a first marker MK1 is attached to each of the automatic synchronization module 110, the servo motor 120, the encoder 130, and the step motor 140. In addition, the terminal 200 may detect the first marker information of each of these devices in the captured image and transmit it to the server 300.

-The terminal receives 3D model data for at least some of the devices matched with the first marker information from the server and displays the 3D model (S105)

Referring to FIG. 4, when receiving first marker information, the server 300 may read 3D model data of devices matched with device-specific information included in the first marker information and stored in advance from a database. In addition, the server 300 may transmit the read 3D model data to the terminal 200.

According to an embodiment, three-dimensional model data of various servomotors, three-dimensional model data of various encoders, and three-dimensional model data of various step motors are stored in the database of the server 300. In addition, the server 300 may read the three-dimensional model data of the servo motor, encoder, and step motor matching the received first marker information from the database and transmit it to the terminal 200.

The terminal 200 may receive 3D model data from the server 300 and display a first 3D model 3DM1 for each of the servo motor 120, the encoder 130, and the step motor 140.

In some embodiments, a photographed image may be displayed in a first area of the display area of the terminal 100, and 3D models may be displayed in a second area 100b different from the first area 100a.

-The terminal displays a guide information list window in response to selection of a device in the captured image (S107)

Referring to FIG. 5, a user may select (eg, touch input) devices within a captured image displayed on the first area 100a.

The terminal 200 may display the guide information list window GW in response to selection of devices in the captured image.

In some embodiments, the terminal 200 may detect selection of a plurality of devices. The terminal 200 may display a guide information list window GW matched with a correlation between the selected devices in response to selection of a plurality of devices. For example, when the user selects the servomotor 120 and the encoder 130, the terminal 200 may display the first guide information list window matched with the correlation between the servomotor 120 and the encoder 130. have. In contrast, when the user selects the step motor 140 and the servo motor 120, the terminal 200 displays the second guide information list window matched with the correlation between the servo motor 120 and the step motor 140. I can.

-The terminal receives and displays guide content matching the guide information selected among guide information in the guide information list window (S109)

Referring to FIG. 6, the terminal 200 may transmit the selected guide information to the server 300 in response to a user's selection of any one of guide information in the displayed guide information list window GW.

The server 300 may transmit guide content matching the received guide information to the terminal 200.

As an example, the first guide information list window may include separation guide information of the servo motor 120 and the encoder 130, combined guide information of the servo motor 120 and the encoder 130, and the like.

In addition, the second guide information list window may include separation guide information of the servo motor 120 and the step motor 140, information on a combination guide of the servo motor 120 and the step motor 140, and the like.

Exemplarily, when the user selects the combined guide information of the servo motor 120 and the step motor 140 in the second guide information list window, the terminal 200 is sent from the server 300 to the servo motor 120 and the step. Guide content guiding a method of coupling the motor 140 may be received and displayed (GCD).

The guide content may be content for guiding a method of combining at least some of the devices in the servomotor system for synchronizing the servomotor with the encoder and a method of separating at least some devices. In detail, the guide content guides the three-dimensional servo motor model, the step motor three-dimensional model, the connection relationship between the coupling device for coupling the servo motor and the step motor, and how to connect the servo motor and the step motor to each other using the coupling device. It may include content to be described.

According to some embodiments, different guide processes may be matched to each of the guide information in the guide information list window GW. Accordingly, when any one of the guide information in the guide information list window GW is selected, a guide process matching the guide information may be established. That is, the terminal 200 may establish a guide process matching the selected guide information. In addition, various guide contents may be sequentially received and displayed from the server 300 according to the established guide process.

Hereinafter, a case in which an exemplary established guide process is a process of separating the existing encoder 130 from the servomotor 120 and coupling the long-gyu encoder to the servomotor 120 and synchronizing them will be described.

-In response to the selection of the coupling completion information icon, the terminal transmits an origin signal detection control command signal to the automatic synchronization module to detect the origin signal of the encoder (S111)

Referring to FIG. 6, a user may couple the servo motor 120 and the step motor 140 to each other through assistance with the guide content. After completing the coupling between the servo motor 120 and the step motor 140, the user may select the coupling completion information icon i1 on the terminal 200.

The terminal 200 may transmit an origin signal detection control command signal to the automatic synchronization module in response to selection of the coupling completion information icon i1.

The automatic synchronization module 110 1) drives the step motor 140 to rotate the servomotor 120 in response to the reception of the origin signal detection control command signal, and 2) detects the sensing information of the encoder 130 accordingly. can do. In detail, the Z-phase detection information of the encoder 130 may be detected. 3) And, the automatic synchronization module 110 may transmit the detected Z-phase detection information of the encoder 130 to the terminal 200.

-The terminal displays the Z-phase pulse signal of the encoder received from the automatic synchronization module (S113)

Referring to FIG. 7, the terminal 200 may display a Z-phase pulse signal of the encoder 130 received from the automatic synchronization module 110.

In some embodiments, the terminal 200 may receive status information of the servomotor system 100 in real time from the automatic synchronization module 110. The terminal 200 may display state information (SI) of each of the devices in augmented reality on the captured image.

In some embodiments, the terminal 200 may display driving state information SI of the selected device by overlapping with the selected device in response to selection of a device in the captured image. In addition, the terminal 200 may display the driving state information SI at a preset position using the first marker recognized by each device as a reference point.

In some embodiments, the terminal 200 may change and display the location of the 3D content according to the selection of the displayed 3D content and the moving direction of the touch. For example, when the user wants to adjust the position of the 3D content displayed on the terminal 200, the displayed 3D content may be selected and a touch input may be moved. The terminal 200 may change the position of the 3D content according to the direction of movement of the touch or rotate the 3D content in proportion to the movement distance of the touch.

-The terminal transmits a fixed command signal of the rotor of the servomotor to the automatic synchronization module in response to the selection of the rotor fixing request icon (S115)

Referring to FIG. 8, the terminal 200 displays the Z-phase pulse signal and “can fix the rotor of the servomotor based on the Z-phase pulse signal. If you want to fix it, you can display (GW1) the message "Please select the icon above."

The terminal 200 may transmit a fixing command signal of the rotor of the servomotor 120 to the automatic synchronization module 110 in response to selection of the rotor fixing request icon i2.

The automatic synchronization module 110 applies voltage to the U, V, and W phases of the servomotor 120 in response to the reception of the rotor fixing command signal from the terminal 200 to reach the origin position based on the Z-phase pulse signal. The rotor of the servomotor 120 may be fixed.

The automatic synchronization module 110 may fix the rotor of the servomotor 120 and then transmit a rotor fixing completion signal to the terminal 200.

-A step in which the terminal receives and displays the guide contents for separating the servo motor and the encoder from the server in response to the selection of the separating request icon for the servo motor and the encoder (S117)

Referring to FIG. 8, the terminal 200 may display a separation request icon i3 between the servomotor and the encoder when receiving a signal for completing the rotor fixation from the automatic synchronization module 110.

In addition, the terminal 200 said, “The servo motor and encoder are ready for separation. Select the icon above to separate the servo motor and encoder” message (GW2) can be displayed.

The terminal 200 may receive and display guide information for separating the servomotor and the encoder from the server in response to selection (i3) of an icon requesting separation of the servomotor and the encoder.

In detail, the server 300 transmits a content signal related to the separation process of the servomotor and the encoder and the tools used therein in response to a request signal for guide information for separating the servomotor and the encoder from the terminal 200. Can be transferred to.

The terminal 200 may display guide information for separating the received servo motor and encoder. On the terminal 200, a process of separating a servo motor and an encoder, which is a three-dimensional model, from each other may appear in chronological order. In addition, a three-dimensional model for various tools required for separation and a message about how to use each movement tool may be displayed.

-Recognizing the second marker attached to the new encoder by the terminal and transmitting the second marker information to the server (S119)

Referring to FIG. 9, the terminal 200 may display a message GW3 requesting photographing of a new encoder.

The terminal 200 may detect the second marker MK2 in the captured image.

The terminal 200 may detect the second marker MK2 and transmit the second marker information to the server 300.

The second marker MK2 may serve as a reference point for implementing augmented reality content on an actual new encoder in the captured image. In addition, the second marker MK2 may include unique information of a new encoder.

-The terminal receives the 3D model data of the new encoder matched with the second marker information from the server and displays the 3D model (S121)

Referring to FIG. 10, when receiving the second marker information, the server 300 may read 3D model data of a new encoder that is matched with unique information of a new encoder device included in the second marker information and stored in advance from a database. . In addition, the server 300 may transmit the read 3D model data to the terminal 200. In addition, the terminal 200 may display a 3D model corresponding to the 3D model data received from the server 300.

Referring to FIG. 11, the user may also select (eg, touch input) devices within a captured image.

The terminal 200 may display the guide information list window GW in response to selection of devices in the captured image.

In some embodiments, the terminal 200 may detect selection of a plurality of devices. The terminal 200 may display a guide information list window GW matched with a correlation between the selected devices in response to selection of a plurality of devices. For example, when the user selects the servo motor 120 and the new encoder, the terminal 200 may display the guide information list window GW matched with the correlation between the servo motor 120 and the new encoder.

The terminal 200 may transmit the selected guide information to the server 300 in response to a user's selection of one of guide information in the displayed guide information list window GW.

The server 300 may transmit guide content matching the received guide information to the terminal 200.

For example, the guide information list window GW may include guide information for coupling the servo motor 120 and the new encoder.

For example, when the user selects the guide information for the combination of the servo motor 120 and the new encoder in the guide information list window GW, the terminal 200 You can request guide content that guides you how to combine.

-A step in which the terminal receives and displays the guide contents for combining the servo motor and the new encoder from the server (S123)

The server 300 may transmit the guide content for combining the servo motor and the new encoder to the terminal 200 in response to a request for guide content guiding a method of combining the servo motor 120 and the new encoder.

In some embodiments, tool content required for combining the servomotor and the new encoder may be further displayed on the terminal 200.

-The terminal transmits a synchronization command signal for synchronization of the servo motor and the new encoder to the automatic synchronization module in response to the selection of the icon for completing the combination of the servo motor and the new encoder (S125)

The user can combine the servo motor and the new encoder through the guide contents for combining the servo motor and the new encoder.

When the combination of the servo motor and the new encoder is completed, the terminal 200 may display a message GW4 to select the above icon. In addition, the terminal 200 may transmit a synchronization command signal for synchronization of a new encoder to the automatic synchronization module 110 in response to selection of a combination completion icon i4 of a servo motor and a new encoder.

The automatic synchronization module 110 may complete synchronization by controlling the servomotor and the new encoder in response to a synchronization command signal for synchronization of the new encoder.

In some embodiments, the terminal 200 may record and store all screen information displayed from steps S101 to S125 as a repair history image. In addition, the terminal 200 may display a repair history storage icon after transmitting a synchronization command signal for synchronization of a new encoder to the automatic synchronization module 110. The terminal 200 may transmit, to the server 300, a repair history image for at least some of the screen information displayed from steps S101 to S125 in response to the selection of the repair history storage icon.

In some embodiments, if the terminal 200 detects at least one of the second marker on the new encoder or the first marker on the servomotor 120 to which the new encoder is attached in the captured image, the repair history content is converted into augmented reality in the captured image. The browsing icon can be displayed. In addition, the terminal 200 may transmit marker information of the first marker or the second marker to the server 300 in response to selection of a repair history content viewing icon. In addition, the terminal 200 may receive and display a repair history image matched with the marker information from the server 300. In some embodiments, the terminal 200 may be a head mounted display device.

In some embodiments, the terminal 200 may display the repair history by the corresponding device in response to a selection (eg, a touch input) of a device to which each of the first and second markers is attached in the captured image. In addition, a repair process for a selected device and a device that is combined with or separated from each other may be displayed through the 3D model guide content.

12 is a graph for explaining a phase relationship between an electric angle and a current.

Referring to FIG. 12, on the other hand, the automatic synchronization module 110 may supply power to a new encoder in response to a synchronization command signal. In addition, the application of power to the servomotor 120 may be blocked. In addition, the automatic synchronization module 110 may detect location information of a new encoder. In addition, the automatic synchronization module 110 may calculate the electric angle at the current position of the servomotor from the detected position information of the new encoder. For example, assuming that the current position is 270 degrees (point 1 in Fig. 12(a)), U-phase = -2a (point 2 in Fig. 12(b)), V-phase = a (Fig. 12(b)) If the current of point 3), W phase = a (point 3) is passed, the motor will not move. The automatic synchronization module 110 passes this current to the servo motor 120. After that, the automatic synchronization module 110 may read the location information of the new encoder. The automatic synchronization module 110 may transmit location information before and after passing current to the terminal 200. The terminal 200 calculates a difference in the positional relationship before and after passing the current. Then, the terminal 200 compares whether this difference is greater than a reference value. If the difference is greater than the standard value, the new encoder will not be installed correctly, so an alarm can be output. If the difference is within the reference value, the exchange is correct, and the terminal 200 may not output an alarm. Here, the reference value may be a value determined according to a margin value in consideration of a deviation such that the characteristics of the servomotor 120 are not deteriorated.

The embodiments according to the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention or may be known and usable to those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magnetic-optical media such as floptical disks. medium), and a hardware device specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device can be changed to one or more software modules to perform the processing according to the present invention, and vice versa.

Specific implementations described in the present invention are examples, and do not limit the scope of the present invention in any way. For brevity of the specification, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings exemplarily represent functional connections and/or physical or circuit connections. It may be referred to as a connection, or circuit connections. In addition, if there is no specific mention such as “essential” or “importantly”, it may not be an essential component for the application of the present invention.

In addition, although the detailed description of the present invention has been described with reference to a preferred embodiment of the present invention, the spirit of the present invention described in the claims to be described later if one of ordinary skill in the relevant technical field or those of ordinary skill in the relevant technical field And it will be understood that various modifications and changes can be made to the present invention within a range not departing from the technical field. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be determined by the claims.

100: servo motor system
110: automatic synchronization module
120: servo motor
130: encoder
140: step motor
200: terminal
300: server
400: network

Claims (9)

Displaying an image of a servo motor system composed of an automatic synchronization module, a step motor, a servo motor, and an encoder, at the terminal;
Recognizing, by the terminal, a first marker attached to each device of the servomotor system and transmitting first marker information to a server;
Receiving, by the terminal, 3D model data for at least some of the devices matched with the first marker information from the server and displaying a 3D model;
Displaying, by the terminal, a guide information list window in response to selection of a device in the captured image; And
Including, the terminal receiving and displaying guide content matching guide information selected from among guide information in a guide information list window from the server; and
The guide content is content for guiding a method of combining at least some of the devices in the servo motor system for synchronization of the servo motor and the encoder and a method of separating at least some devices,
The terminal establishes a guide process matching the selected guide information, sequentially receives and displays guide content from the server in each step of the guide process,
Transmitting, by the terminal according to the guide process, an origin signal detection control command signal to the automatic synchronization module to detect the origin signal of the encoder in response to selection of a coupling completion information icon;
The terminal displaying a Z-phase pulse signal of the encoder received from the automatic synchronization module;
Transmitting, by the terminal, a fixing command signal of the rotor of the servomotor to the automatic synchronization module in response to selection of a rotor fixing request icon; And
The terminal receiving and displaying guide contents for separating the servo motor and the encoder from the server in response to selection of a separation request icon for the servo motor and the encoder;
A method to guide how to synchronize the servo motor and encoder. The method of claim 1,
Displaying a guide information list window including different guide information according to devices selected in the captured image
A method to guide how to synchronize the servo motor and encoder. The method of claim 1,
Receiving driving state information of the selected device in the captured image from the automatic synchronization module and displaying it as augmented reality on the selected device
A method to guide how to synchronize the servo motor and encoder. The method of claim 1,
The guide content includes tool content necessary for combining at least some of the devices in the servomotor system and separating at least some devices.
A method to guide how to synchronize the servo motor and encoder. delete delete The method of claim 1,
The terminal recognizing a second marker attached to a new encoder and transmitting second marker information to a server;
Receiving and displaying, by the terminal, 3D model data of the new encoder matched with the second marker information from the server; And
The terminal receiving and displaying guide contents for combining the servo motor and the new encoder from the server; further comprising
A method to guide how to synchronize the servo motor and encoder. The method of claim 7,
The terminal further includes, in response to the completion of coupling of the servomotor and the new encoder, transmitting a synchronization command signal for synchronization of the new encoder to the automatic synchronization module; and
The automatic synchronization module calculates the electric angle of the servomotor at the current position from the position signal output from the new encoder without passing current to the three-phase coil of the servomotor, and at the position, the servomotor The three-phase current of the phase to be stopped is flowed to the three-phase coil, and the position at which the servomotor rotates and stopped is read by the current flowing in the previous process, and the position information before and after the current is passed is transmitted to the terminal,
The terminal compares the difference in position before and after passing the received current with a preset value and displays whether the position of the servo motor and the new encoder are aligned.
A method to guide how to synchronize the servo motor and encoder. Displaying an image of a servo motor system composed of an automatic synchronization module, a step motor, a servo motor, and an encoder, at the terminal;
Recognizing, by the terminal, a first marker attached to each device of the servomotor system and transmitting first marker information to a server;
Receiving, by the terminal, 3D model data for at least some of the devices matched with the first marker information from the server and displaying a 3D model;
Receiving, by the terminal, guide information for coupling the step motor and the servo motor from the server and displaying the information;
Transmitting, by the terminal, an origin signal detection control command signal to the automatic synchronization module to detect the origin signal of the encoder;
Transmitting, by the terminal, a fixed command signal of the rotor of the servomotor to the automatic synchronization module based on the Z-phase pulse signal of the encoder received from the automatic synchronization module;
The terminal displaying guide information for separating the servo motor and the encoder;
The terminal recognizing a second marker attached to a new encoder and transmitting second marker information to a server;
Receiving the 3D model data of the new encoder matched with the second marker information from the server and displaying the 3D model;
The terminal displaying guide information for combining the servo motor and the new encoder; And
Including, the terminal transmitting a synchronization command signal for synchronization of the servo motor and the new encoder to the automatic synchronization module;
A method to guide how to synchronize the servo motor and encoder.

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