KR20010036915A - Data generation apparatus for position measurement and data generation method for the same - Google Patents

Abstract

PURPOSE: An apparatus and method for generating data for a location measurement are provided to generate data for location measurement at super high speed by receiving an input and using a program stored in a microcontroller. CONSTITUTION: A plurality of sensors(X,Y,Z) output a plurality of signals having predetermined phase differences. A microcontroller(20) counts the plurality of signals from the plurality of sensors(X,Y,Z), generates and stores data for a location measurement in an internal memory, and totally outputs the data in response to an external control signal. A plurality of display devices(40) output the data generated by the microcontroller(20) in response to an external control signal. A microprocessor(30) outputs a control signal to the microcontroller(20), controls an operation of the plurality of display devices(40), and stops an operation of a total system when an error signal from the microcontroller(20) is inputted thereto.

Description

Data generation apparatus for position measurement and data generation method for the same}

The present invention relates to a data generating device for position measurement and a method of generating the same.

More specifically, the present invention relates to a position measuring data generating device for generating position measuring data at a high speed by using a program stored in a micro controller and receiving a signal input from a plurality of sensors, and a method of generating the same.

In general, a robot or a machine tool moves from a predetermined position to a predetermined position according to a processing procedure programmed by a user or by a user's manual operation, performs a predetermined task, and then returns to the original position. It can be referred to as an automatic system designed to perform a predetermined task while repeatedly performing.

The working means of the above-described robot or machine tool must be moved from the original position to the working position accurately from the working position to the original position. Therefore, the most important control process is the position control of the motor that enables the robot or machine tool to perform the above-described work process.

Therefore, the means for generating the position measuring data for the position control of the motor described above can be said to be the most important component, and the position measuring data generating means must generate the position measuring data at high speed.

In order to implement the means for generating the position measurement data at a high speed as described above, there is a method implemented using a general circuit or an ASIC integrated device.

However, when the means for generating the position measuring data is constituted by a general circuit as described above, the circuit configuration becomes very complicated, and the size of the component itself of the position measuring data generating means becomes large.

On the other hand, in order to minimize the size of the position measuring data generating means implemented in one ASIC device there was a problem that the development and production costs are high.

Accordingly, an object of the present invention is to generate a position measurement data for generating a position measurement data at a very high speed using a program stored in the microcontroller to receive a signal input from a plurality of sensors to solve the above problems An apparatus and a method of generating the same are provided.

1 is a schematic block diagram of an apparatus for generating position measurement data according to the present invention;

2 is an area display diagram of a temporary memory that temporarily stores a signal read by the microcontroller of FIG. 1;

3 is a waveform diagram of an oscillation signal input to a microcontroller applied to FIG. 1;

4 is an operation flowchart for explaining a method for generating position measurement data according to the present invention;

FIG. 5 is a detailed flowchart of an X-axis process applied to FIG. 4.

* Description of Signs of Main Parts of Drawings *

10: oscillation circuit 20: microcontroller

30: microprocessor 40: display unit

The apparatus of the present invention for achieving the above object is to generate a plurality of sensors for outputting a plurality of signals having a predetermined phase difference, the signal input from the plurality of sensors to generate position measurement data and to store in the internal memory A microcontroller which outputs collectively in response to a control signal input from the outside, a plurality of display units which output position measurement data generated by the microcontroller in response to a control signal input from the outside, and a position measurement generated by the microcontroller Outputs a control signal to the microcontroller so as to receive the data for a batch, and outputs the position measurement data output from the microcontroller to be output to the plurality of display units for the user to view, and to the microcontroller. When an error signal is input by And a microprocessor for controlling so that the operation of the entire system down.

In addition, the method of the present invention for achieving the above object, (1) the process of initial setting, and (2) the output terminal XA (XB) (YA) (YB) (ZA) (ZB) of each sensor Temporarily storing signals input from the ports RB0 to RB5 through the first buffer, and (3) comparing the signals stored in the first buffer and the second buffer, Storing one signal and storing the second signal in a third buffer if the comparison is not the same; (4) determining whether the signals input to all ports RB0 to RB5 have changed; ) If the signals input to all ports (RB0 to RB5) are changed, the X-axis processing is performed, the Y-axis processing is performed after the X-axis processing, and the Z-axis processing is performed after the Y-axis processing. After that, the signal stored in the first buffer is stored in the second buffer, and then the process is performed again from step (2). And a gong.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic block diagram of an apparatus for generating position measurement data according to the present invention.

As shown, a plurality of sensors (X) (Y) (Z) have a plurality of signals (XA) (XB) (YA) (YB) having a phase difference of 90 ° from each other, as shown in FIG. Outputs (ZA) (ZB).

The microcontroller 20 receives the signals output from the plurality of sensors X, Y, and Z described above through the ports RB0 to RB5 and counts them respectively to generate position measurement data, as shown in FIG. 2. After storing in the internal memory, it is output to the microprocessor 30 collectively in response to the control signal input from the microprocessor 30.

The microcontroller 20 controls the driving of the entire system to be stopped when an error signal is input.

The above-described internal memory stores position data BX0, BX1, and BX2 of one-digit, ten-digit, and hundred-digit positions on the X-axis as shown in FIG. Counts and stores the error count number XERCNT sequentially. At this time, of course, the data (BY0) (BY1) (BY2) and (YERCNT) generated on the Y axis and the data (BZ0 (BZ1) (BZ2) (ZERCNT) generated on the Z axis are sequentially in the region below it. Stored as.

In the lower area XERCOU (YERCOU) (ZERCOU) (XYZERCOU), data stored in the above-mentioned areas BX0 to ZERCNT and a signal for clearing an error count are stored. That is, the microcontroller 20 is generated by the sensor X or the sensor Y or the sensor Z, respectively, by using the signals stored in the above-described region XERCOU or YERCOU or ZERCOU. Clear the data and error counts.

Then, the microcontroller 20 clears all data and error counts generated by the sensor X, the sensor Y, and the sensor Z using the signals stored in the above-described area XYZERCOU.

The display unit 40 includes the first, second, and third display units 41, 42, and 43. The display unit 40 stores the X, Y, and Z position measurement data generated by the microcontroller 20 as described above. In response to a control signal input from 30, the first, second, and third display units 41, 42, 43 are respectively output to be viewed by the user.

The microprocessor 30 outputs a control signal to the above-described microcontroller 20 so that the position measurement data generated by the above-described microcontroller 20 can be collectively input, and the microcontroller 20 The output position measurement data is controlled to be output to the display unit 40 described above so that the user can see it.

Here, the microprocessor 30 is a control unit for controlling the panel side, and controls the position measurement by controlling the position measurement data input from the micro controller 20 and the error data at the position to be displayed on the display unit 40. Let your administrator know.

Reference numeral 10 denotes an oscillation circuit, which generates and outputs an oscillation signal so that the microcontroller 20 can operate normally.

The operation of the position measuring data generating apparatus according to the present invention configured as described above will be described in more detail with reference to the accompanying drawings.

4 is a flowchart illustrating a method of generating position measurement data according to the present invention, and FIG. 5 is a detailed flowchart of an X-axis processing process applied to FIG. 4.

As shown, first, the microcontroller 20 sets the address of the internal memory in response to the control signal of the microprocessor 30 input through the terminals RA0 to RA3, and stores the data BX0 to ZERCNT stored in the internal memory. Is output to the microprocessor 30 through the output ports RC0 to RC7, and the subsequent address performs an initial setting process (S200) while clearing error counts of X, Y, and Z.

The microcontroller 20 is input from the ports RB0 to RB5 through the output ports XA, XB, YA, YB, ZA, and ZB of the respective sensors X, Y, and Z. Temporarily store the signal in the first buffer (not shown), compare the signals stored in the first buffer with the second buffer (not shown), and if the comparison result is equal to '0' If it is not the same as a result of the comparison, store the '1' in the third buffer (S250).

Here, the first buffer is a buffer for storing the currently input signal, the second buffer is a buffer for storing the previously input signal, the third buffer is exclusive to the signals stored in the above-described first buffer and the second buffer. If the signals stored in the two buffers are the same by performing the OR operation, the third buffer stores the '0' signal, and if not, stores the signal '1'.

Then, the microcontroller 20 determines whether the signals input to all the ports RB0 to RB5 have changed (S300).

As described above, when signals input to all ports RB0 to RB5 are changed, the X-axis processing is performed (S350), the X-axis processing is performed, then the Y-axis processing is performed (S400), and the Y-axis processing is performed. After performing the Z-axis process (S450), the signal stored in the first buffer is stored in the second buffer (S500), and the process is performed again from the process (S250).

If, as a result of the determination in step S300, the signals input to all the ports RB0 to RB5 have not changed, the strobe signal ( ) Determines whether 'O' (S550).

As described above, the strobe signal ( In the case where 0 is '0', it is determined whether the flag F is '1' (S600), and the strobe signal ( If) is not '0', it is determined whether the flag F is '0' (S700).

If the strobe signal described above ( If) is '0' and flag (F) is not '1', perform command to generate position measurement data on X, Y, Z axis, set flag (F) to '1' (S650) , The strobe signal described above ( If 0) and the flag F is '1', the process is repeated from step S250.

On the other hand, the strobe signal described above ( ) Is not '0' and the flag (F) is '1' ) Is set to '1', the flag F is set to '0' (S750), and the process is repeated from the above-described process (S250).

Here, the above-described X-axis, Y-axis, and Z-axis processing (S350), (S400) (S450) generates data on the X-side, on the Y-axis, and on the Z-axis, respectively, but because the processing is the same, here X Axis processing (S350) will be described as representative.

First, when comparing the signal XA input from the port RB0 with a signal input previously, it is determined whether it has been changed (S311), and as a result of the determination, the signal XA input to the port RB0 is changed. In operation S312, it is determined whether the signal XA input to the current port RB0 is '1'.

When the signal XA input to the port RB0 is not '1', it is determined whether the signal XB currently input to the port RB1 is '1' (S313).

For the signal BX input to the port RB1 when the signal XA input to the port RB1 is '1' and the signal XA input to the port RB0 is not '1'. The cumulative value is decreased one by one (S314), and then an error is checked to set an error flag in error (S317).

At this time, if the change of the signals XA and XB is continuous twice, the error flag F is set to '1'. If there is an error in one axis in case of multiple axes, the error of the next axis is not checked.

That is, an error is output when the input changes beyond the execution speed.

It is determined whether the signal XA input to the port RB0 described above is '1' and the signal XB input to the port RB1 is '1' (S315), and the input signal is input to the port RB0 described above. When the signal XA is '1' and the signal XB input to the port RB1 is '1', the cumulative value is increased or decreased one by one with respect to the signal XB input to the port RB1 (S316) (S314). After checking, the error is checked and an error flag is set in error (S317).

When the signal XA input to the port RB0 described above is '1' and the signal XB input to the port RB1 is not '1', the signal BX input to the port RB1 is determined. The cumulative value is increased one by one (S316) and then the error is checked to set an error flag in error (S317). The cumulative values of the signal XB input to the port RB1 are increased or decreased one by one (S316) and (S314), and then an error is checked to set an error flag upon an error (S317).

When the signal XA input to the port RB0 is not '1' and the signal XB input to the port RB1 is not '1', the signal BX input to the port RB1 is input. The cumulative value is decreased one by one (S314), and then an error is checked to set an error flag in error (S317).

When comparing the signal XA input to the port RB0 described above with the previous signal, it is determined whether the signal XB input to the port RB1 has changed (S318).

As a result of the determination in step S318, when the signal XB input to the port RB1 is changed, it is determined whether the signal XB input to the port RB1 described above is '1' (S319). When the resultant signal is not '1', when the signal XA input to the port RB0 is '1' by re-determining whether the signal XA input to the port RB0 is '1' (S320), the port is '1'. The cumulative value is incremented one by one (S316) for the signal XB inputted to (RB1), and then an error is checked to set an error flag in error (S317).

When the signal XB inputted to the port RB1 is '1' and the signal XA inputted to the port RB0 is '1', the cumulative value for the signal BX inputted to the port RB1 is set. Decrement by one (S314) and then check the error to set the error flag in error (S317).

When the signal XB input to the port RB1 is '1' and the signal XA input to the port RB0 is not '1', the cumulative value for the signal XB input to the port RB1 is Increase by one (S316) and then check the error to set an error flag in error (S317).

As described above, the Y-axis and Z-axis processing is performed on the ports RB2 and RB3 and RB4 and RB5 instead of the signals input to the ports RB0 and RB1 during the X-axis processing in the flowchart of FIG. 5. The cumulative values BY and BZ are calculated by processing the signals YA (YB) and (ZA) (ZB) inputted as), and thus the detailed description thereof will be omitted.

The position measuring data generating apparatus as described above is configured to interface with a general computer chip, and is easily upgraded when using a microchip.

Therefore, as described above, the present invention can generate the positioning data at a high speed by implementing an encoder for generating the positioning data by using a microcontroller that incorporates a separate program and performs all operations accordingly. Not only will the components of the microcontroller itself become smaller, but the development and production costs required to implement a single microcontroller will be significantly reduced.

Although described above with reference to a preferred embodiment of the present invention, those skilled in the art will be variously modified and changed within the scope of the invention without departing from the spirit and scope of the invention described in the claims below It will be appreciated.

Claims (8)

A plurality of sensors for outputting a plurality of signals having a predetermined phase difference; A microcontroller which counts signals input from a plurality of sensors, generates data for position measurement, stores them in an internal memory, and outputs them collectively in response to a control signal input from the outside; A plurality of display units configured to output position measurement data generated by the microcontroller in response to a control signal input from an external device; And Outputs a control signal to the microcontroller to collectively receive the position measurement data generated by the microcontroller, and outputs the position measurement data output from the microcontroller to the plurality of display units for the user to view. And a microprocessor for controlling the driving of the entire system to be stopped when an error signal is input by the microcontroller. 2. The position measurement data generating device according to claim 1, wherein the plurality of signals output from the respective sensors have a phase difference of 90 degrees. The apparatus of claim 1, wherein the plurality of sensors are sensors for sensing a predetermined position on X, Y, or Z. 3. (1) initial setting; (2) temporarily storing a signal input to the ports RB0 to RB5 through the output terminals XA, XB, YA, YB, ZA, and ZB of each sensor in a first buffer; (3) comparing the signals stored in the first buffer and the second buffer, storing the first signal in the third buffer if the comparison result is the same, and storing the second signal in the third buffer if the comparison result is not identical; (4) determining whether signals input to all ports RB0 to RB5 have changed; (5) If the signals input to all ports (RB0 to RB5) are changed, perform X axis processing, Y axis processing after X axis processing, and Z axis processing after Y axis processing. And storing the signal stored in the first buffer in the second buffer and performing the process again from the step (2). 5. The strobe signal according to claim 4, wherein if the signals inputted to all the ports RB0 to RB5 have not changed as a result of the determination of step (4), Determining whether a) is the first signal; The strobe signal ( Is a first signal, it is determined whether the flag F is the second signal, and the strobe signal ( Determining whether the flag F is the first signal when?) Is not the first signal; The strobe signal ( ) Is the first signal and the flag F is the second signal, perform command to generate position measurement data, set the flag as the second signal, and the strobe signal ( Repeating from step (2) when () is the first signal and the flag (F) is the second signal; The strobe signal ( Is not the first signal and the flag F is not the second signal, ) Is set as the second signal, and the flag (F) is set as the first signal, and the step (2) is repeated. The method of claim 4, wherein the X-axis processing in the step (5), (5-1) determining whether the signal XA input to the port RB0 has changed when compared with a signal input previously; (5-2) when the signal XA input to the port RB0 is changed, determining whether the signal XA currently input to the port RB0 is the second signal; (5-3) determining whether the signal XB input to the current port RB1 is the second signal when the signal XA input to the port RB0 is not the second signal; (5-4) Signal XB input to port RB1 when signal XB input to port RB1 is a second signal while signal XA input to port RB0 is not a second signal Reducing the cumulative value one by one and checking an error to set an error flag in error; (5-5) determining whether the signal XA input to the port RB0 is the second signal and the signal XB input to the port RB1 is the second signal; (5-6) When the signal XA input to the port RB0 is the second signal and the signal XB input to the port RB1 is the second signal, the signal XB input to the port RB1 Increasing the cumulative value one by one and checking an error to set an error flag in error; (5-7) When signal XA input to port RB0 is the second signal and signal XB input to port RB1 is not the second signal, signal BX input to port RB1 Reducing the cumulative value one by one and checking an error to set an error flag in error; And (5-8) When the signal XA input to the port RB0 is the second signal and the signal XB input to the port RB1 is not the second signal, the signal XB input to the port RB1 And a step of reducing the cumulative value one by one and checking an error to set an error flag in case of error. The method of claim 6, further comprising: determining whether the signal XB input to the port RB1 has changed when comparing the signal XA input to the port RB0 with a previous signal; It is determined whether the signal XB input to the port RB1 is the second signal. If the determination result is not the second signal, it is determined again whether the signal XA input to the port RB0 is the second signal. When the signal XA input to the port RB0 is the second signal, increasing the cumulative value one by one with respect to the signal BX input to the port RB1 and checking an error to set an error flag; With respect to the signal BX input to the port RB1 when the signal XA input to the port RB1 is not the second signal and the signal XA input to the port RB0 is not the second signal. Reducing the cumulative value one by one and checking an error to set an error flag; If the signal XB input to the port RB1 is the second signal and the signal XA input to the port RB0 is not the second signal, the cumulative value of the signal XB input to the port RB1 is Incrementing by one and checking an error to set a flag on error; And When the signal input to the port XB is the second signal and the signal input to the port XA is the second signal, the cumulative value is reduced by one for the signal BX input to the port RB1 and error A method of generating data for position measurement, characterized in that the process of setting a flag on error by checking. 8. The method of claim 5, wherein the first signal and the second signal are signals having opposite levels.