WO2019044400A1

WO2019044400A1 - Motor drive system

Info

Publication number: WO2019044400A1
Application number: PCT/JP2018/029436
Authority: WO
Inventors: 山崎　正裕; 憲一相馬
Original assignee: 株式会社日立産機システム
Priority date: 2017-08-28
Filing date: 2018-08-06
Publication date: 2019-03-07
Also published as: JP6915066B2; JPWO2019044400A1; CN110945778A; CN110945778B

Abstract

According to the present invention, an operation command is issued to a motor intuitively and safety using gesture recognition. This motor drive system is characterized by being provided with: an inverter which supplies a power source to a motor; a gesture recognizing unit which recognizes a gesture; a motor operating state managing unit which manages an operating state of the motor; an operation command generating unit which generates an operation command from a gesture recognized by the gesture recognizing unit; a parameter generating unit which generates a parameter of the inverter on the basis of the operation command generated by the operation command generating unit; and a database which holds a user verification necessity list indicating whether it is necessary to verify with the user as to whether or not the operation command can be executed, from a relationship between the operation command and the operating state of the motor; wherein the operation command generating unit refers to the user verification necessity list to determine whether to verify with the user as to whether the generated operation command can be executed.

Description

Motor drive system

The present invention relates to a technique for operating / setting a motor drive system provided with a motor represented by industrial equipment with a gesture.

Conventionally, a technique for performing a complicated operation by combining a touch panel and gesture recognition has been proposed (for example, Patent Document 1).

JP, 2009-42796, A

In the system described in Patent Document 1, it is possible to intuitively generate a complex operation instruction by combining the gesture and the touch panel operation.

In the case of industrial equipment, if malfunctioning is involved in equipment and human life, it is necessary to avoid malfunctioning due to false recognition of a gesture.

In the system described in Patent Document 1, even if misrecognized, the instruction is executed as it is.

That is, an object of the present invention is to improve the safety when operating and setting the motor drive system by a gesture.

Although this application contains multiple invention which solves the said subject, it will be as follows if a representative example is given.

The operation state of the motor is managed, and the operation command is confirmed from the relationship between the recognition result of the gesture recognition unit and the motor operation state.

According to the present invention, the safety when operating and setting the motor drive system by gesture can be improved.

FIG. 1 is a configuration diagram showing a configuration of a system according to a first embodiment. FIG. 1 is a block diagram showing an example of a functional configuration of a system according to a first embodiment. FIG. 2 is a block diagram showing a hardware configuration of a control unit according to the first embodiment. FIG. 7 is a diagram showing the configuration of an operation command correspondence table provided in the control unit according to the first embodiment. FIG. 7 is a diagram showing the configuration of a user confirmation necessity list included in the control unit according to the first embodiment. FIG. 7 is a diagram showing the configuration of a user confirmation method list provided in the control unit according to the first embodiment. FIG. 7 is a diagram showing the configuration of a parameter generation table provided in the control unit according to the first embodiment. It is a figure which shows the processing flow at the time of the system which concerns on Example 1 acquiring a recognition result, and issuing an operation command to an inverter. It is a figure which shows the processing flow at the time of the system which concerns on Example 1 confirming the executability of an operation command. It is a figure which shows the processing flow at the time of the system which concerns on Example 1 notifying a user of confirmation. It is a figure which shows the processing flow at the time of the system which concerns on Example 1 notifying an inverter of a parameter. FIG. 8 is a diagram showing a display example of the display unit when the system according to the first embodiment recognizes a hand. FIG. 7 is a diagram showing a display example of the display unit when the system according to the first embodiment recognizes a rotation gesture. It is a figure showing an example of a display of a display part when a system concerning Example 1 recognizes rotation gesture and can confirm continuation of a gesture for a definite period of time. FIG. 7 is a diagram showing a display example of the display unit when the system according to the first embodiment recognizes a frequency change gesture. FIG. 7 is a diagram showing a display example of the display unit when the system according to the first embodiment recognizes a lock release gesture. FIG. 7 is a diagram showing a display example of the display unit when the system according to the first embodiment recognizes a frequency change gesture in the unlocked state. FIG. 7 is a diagram showing a display example of the display unit when the system according to the first embodiment recognizes an emergency stop gesture. FIG. 7 is a block diagram illustrating an example of a functional configuration of a system according to a second embodiment. FIG. 7 is a configuration diagram showing configurations of a drive unit and an emergency stop reception unit included in an inverter according to a second embodiment. It is a figure which shows the processing flow at the time of the system which concerns on Example 2 acquiring a recognition result, and transmitting an operation command and an emergency stop signal to an inverter. FIG. 18 is a diagram illustrating a processing flow when the system according to the third embodiment acquires an error of the gesture recognition unit.

FIG. 1 is a block diagram showing the configuration of a system (motor drive system) according to the first embodiment.

The same reference numerals are assigned to the same components in the respective drawings. Further, each embodiment described below is not limited to the illustrated example.

FIG. 1 shows a gesture recognition unit 10, a control unit 20, an inverter 30, a display unit 40, a motor 50, and a load 60. The gesture recognition unit 10, the control unit 20, and the display unit 40 are arranged near the inverter 30, the motor 50, and the load 60, respectively.

In the first embodiment, when the user holds the hand over the motor 50 and moves the hand intuitively, an operation command to the motor 50 can be issued. Specifically, the gesture recognition unit 10 according to the first embodiment is installed so that when the user makes a gesture representing the rotation of the motor 50 from the direction of the rotation axis of the motor 50, the rotation direction can be recognized. When the user is away from the motor 50, the motor 50 is displayed on the display unit 40 disposed far from the motor 50, and remote control is performed at a location away from the motor 50 while looking at the display unit 40. good. In that case, the gesture recognition unit 10 is installed so that the user's gesture on the front side of the display unit 40 can be recognized.

Moreover, although the display part 40 and the gesture recognition part 10 illustrated the example connected with the control part 20 by wire communication, data may be exchanged by wireless. The display unit 40 may be a glasses-type wearable display device. The display unit 40 and the gesture recognition unit 10 may be integrated.

FIG. 2 is a block diagram illustrating an example of a functional configuration of the system according to the first embodiment.

The gesture recognition unit 10 recognizes the position and / or movement of a human limb such as a hand, an arm or a finger, a face or a trunk. An imaging unit 101, a matching processing unit 102, and a feature amount database 103 are provided, and gesture information including the type of gesture is output. The imaging unit 101 includes, for example, an infrared camera and an infrared LED (Light Emitting Diode) that emits infrared light. The infrared LED emits infrared light, and the infrared camera detects infrared light reflected by an object near the imaging unit 101. Then, the detected infrared image is output. In addition, it does not limit to an infrared camera, and a camera of visible light may be used. In that case, there is no need for the infrared LED to emit infrared light.

The matching processing unit 102 performs image processing on the image of the gesture output by the imaging unit 101, and data corresponding to the data items stored in the feature database 103 (for example, the position of the hand or finger in the image, Extract coordinates of movement, direction vector, etc.)

The position extraction is performed, for example, in the case of an infrared image, extraction of a white area, extraction of a hand area, extraction of finger tip coordinates, etc., and in the case of an image obtained from a visible light camera, human skin By extracting the area where the color of the image is captured, and thereafter performing the same process as the infrared image, the position of the hand, the finger, or the like can be extracted.

The movement can be extracted by extracting time-series positional information of a body such as a hand that makes a gesture from a plurality of images at consecutive imaging times. For example, by comparing the position of the hand in the image at time t with the position of the hand in the image at time t + 1, it can be extracted in which direction the hand is moving, and furthermore, the hand in the image from time t to time t + n It can be extracted that the hand is "rotated" when the position of the circle changes in a circle.

The matching processing unit 102 refers to the feature amount database 103, identifies a gesture type from the degree of correlation between the position of the gesture and / or the movement from the captured image and the feature amount database 103, and outputs it as gesture information.

The feature amount database 103 is a database storing feature amounts of the position and / or movement of the hand, and is referred to by the matching processing unit 102. Specifically, for example, for each gesture type such as "rotation" or "flick", position and / or movement (for example, relative coordinates of the forefinger's fingertip and its temporal change when the thumb's fingertip is the origin Etc) are accumulated. The position may be a relative distance. Further, reference to the feature amount database 103 may be made only when the type of gesture can not be specified only by the processing in the matching processing unit 102.

The control unit 20 generates the parameter for the inverter using the gesture information including the gesture type acquired from the gesture recognition unit 10, and transmits the parameter signal to the inverter when the user's confirmation is obtained as needed. By setting the parameters of the inverter 30, the operation of the motor 50 can be set variously. For example, the rotation of the motor 50 can be made faster or slower. Further, by acquiring the value of the parameter, the operating state such as the rotational speed of the motor 50 can be acquired.

Also, the gesture recognition unit 10 may be a wearable device. For example, a device such as a ring worn on the user's hand or toes, or a device worn on an arm may be used. In that case, the gesture recognition unit 10 may include, for example, an acceleration sensor or a gyro sensor that can recognize the position and / or the movement of a hand or a finger instead of the imaging unit 101.

Further, the display unit 40 is a display device provided with a touch panel, and the user may recognize an operation of tracing the touch panel with a hand or a finger as a gesture.

The control unit 20 includes a motor operation state management unit 201, an operation instruction generation unit 202, a parameter generation unit 203, a communication unit 204, a database (operation instruction correspondence table 205, user confirmation necessity list 206, user confirmation method list 207, A parameter generation table 208) is provided.

The motor operation state management unit 201 manages the operation state of the motor 50. For example, the motor 50 is stored as an internal variable whether it is at rest, rotating, accelerating or decelerating.

The operation command generation unit 202 acquires gesture information from the gesture recognition unit 10, and determines an operation instruction to the motor 50 from the acquired gesture information. In the first embodiment, instead of immediately transmitting to the inverter 30, it is first confirmed from the operating state of the motor 50 and the operation command whether the user really intends the operation command as needed. When confirmation to the user is obtained, the parameter is converted into a parameter of the inverter 30 and transmitted. For conversion to a parameter, a conversion instruction is issued to a parameter generation unit 203 described later. In addition, for transmission of parameters, an instruction for transmission is issued to the communication unit 204 described later.

The parameter generation unit 203 generates a parameter to be transmitted to the inverter from the type and data of the operation command. The type of operation command is, for example, operation start, operation stop, frequency change, and the like. The data of the operation command indicates, for example, the value of the frequency to be changed if the type of the operation command is “frequency change”.

The communication unit 204 communicates with the inverter 30 and an external device. For example, communication is performed using the Modbus communication protocol.

The operation command correspondence table 205 is a table in which the correspondence between the gesture recognition result and the operation command is described.

FIG. 4 shows a configuration example of the operation command correspondence table 205. In the operation command correspondence table 205, an operation command 2052 for the gesture recognition result 2051 is described. For example, if the gesture recognition result is "rotate a hand", it becomes an operation command of "operation start". Note that the gesture recognition result of "locking" and "opening a key" indicates not the operation instruction to the motor 50 but the unlocking and locking of the "locked state" described later.

The user confirmation necessity list 206 is a list indicating whether or not confirmation to the user is necessary. Whether the confirmation is necessary or not depends on the operation command and the operating state of the motor 50.

The structural example of the user confirmation necessity list 206 is shown in FIG. The user confirmation necessity list 206 includes an operation command 2061 and an operation state of the motor 50. The operating state of the motor 50 is, for example, stopping 2062, rotating (constant speed) 2063, rotating (accelerating) 2064, rotating (decelerating) 2065 and the like. Here, for example, when the operation command 2061 is “operation start”, if the operation state of the motor 50 is stopping 2062, the necessity of user confirmation is “necessary”. This is dangerous in the case of false recognition, since the motor 50 is rotated by the start of operation from the state where the motor 50 is stopped. Therefore, confirmation to the user is required.

On the other hand, when the operation command 2061 is “change frequency”, when the operation state of the motor 50 is stopped 2062, the necessity of the user confirmation is “not”. This is a state in which the motor 50 is stopped, so even if the frequency setting is changed, operation does not start and no danger occurs. Therefore, confirmation to the user is unnecessary.

When the operation command 2061 is "emergency stop", the necessity of the user confirmation is "not" regardless of the operation state of the motor 50 in any case. Since this is an emergency stop, it is an operation command to be executed with the highest priority. Thus, the operation command for emergency stop is immediately transmitted to the inverter without user confirmation.

As described above, it is possible to realize an intuitive and safe device operation input interface by determining whether or not confirmation to the user is necessary according to the operation command and the operation state of the motor 50.

The user confirmation method list 207 is a list showing how to confirm when confirmation to the user is required.

FIG. 6 shows a configuration example of the user confirmation method list 207. The user confirmation method list 207 includes an operation command 2071, a confirmation method 2072 and the like.

For example, when the operation command 2071 is "operation start", it is indicated that the confirmation method 2072 is a confirmation method of "continue for a predetermined time". This indicates that it is determined that the user's confirmation has been obtained when the hand rotation operation, which is a gesture to start driving, is continuously performed for a predetermined fixed time. That is, for example, when the user continues the rotation gesture for a predetermined time such as 3 seconds, the control unit 20 determines that the user intends to surely start the driving.

Further, when the operation command 2071 is "frequency change", the confirmation method 2072 indicates a confirmation method of "lock release". "Unlocking" is, for example, a gesture such as turning a door key, and is a gesture different from other operation command gestures. When the user performs the “unlocking” gesture, the control unit 20 determines that the confirmation by the user has been obtained.

The parameter generation table 208 is a list for generating parameters to be transmitted to the inverter based on the type and data of the operation command.

FIG. 7 shows a configuration example of the parameter generation table (operation command-parameter relationship) 208. It comprises an operation command type 2081, operation command data 2082, parameter address 2083, parameter data 2084 and the like. The operation command type 2081 indicates the type of operation command such as “operation start” or “frequency change”. The operation command data 2082 indicates data such as how much the frequency is to be changed, for example, when the operation command type is “frequency change”.

For example, when the operation command data is 1, the parameter data 2084 has a current value + 1. If the current value of the frequency is, for example, 50, it becomes an operation command to set the frequency to 51.

As a method of calculating parameter data, a value obtained by multiplying operation command data by a predetermined coefficient may be used. If you want to change the parameters greatly with small hand movement gestures, increase the coefficient, and if you want to make finer settings, decrease the coefficient.

The parameter address 2083 is an address for identifying a parameter managed by the inverter 30. For example, the parameter indicating the value of frequency is stored at the address “0x0006”. The parameter value can be changed by changing the value of the data stored in this address.

Further, for example, the parameter of the parameter address “0x0001” indicates the operating state, and when the parameter data is 1, it indicates the start of operation, and when the parameter data is 0, it indicates the stop of the operation. In the operation command types “emergency stop” and “stop operation”, the parameter address is “0x0001” and the parameter data is “0”.

Next, a processing flow when the system according to the first embodiment acquires gesture information as a result of gesture recognition and issues an operation command to the inverter will be described using FIG. 8.

First, the control unit 20 acquires gesture information as a recognition result from the gesture recognition unit 10 (step S101). Next, the control unit 20 refers to the action command correspondence table 205 to obtain an action command corresponding to the gesture information (step S102). Then, whether or not the acquired operation command is executable is confirmed (step S103). The detailed process flow of confirmation will be described later with reference to FIG. After execution confirmation processing, if the execution of the operation command is OK (step S104; Yes), the parameter is notified to the inverter 30 (step S105). If the execution of the operation command is NG (step S104; No), the process ends without doing anything. The detailed process flow of the parameter notification will be described later with reference to FIG.

As described above, it is possible to realize an intuitive and safe operation by confirming whether or not the operation command can be executed based on the recognition result acquired from the gesture recognition unit 10 without immediately notifying the parameter to the inverter.

Next, details of the process flow (S103 and S104) at the time of confirming whether or not the operation command can be executed will be described using FIG.

First, the control unit 20 acquires the operation state of the motor 50 managed by the motor operation state management unit 201 (step S201). The motor operation state management unit 201 inquires of the inverter 30 about the operation state of the motor 50 and acquires it. Specifically, the value of the address at which the operation state is stored is acquired from the storage unit in the inverter 30 using Modbus communication or the like. For example, an address of 0x0021 indicates the operating state, and if the value is “1”, it is determined that the vehicle is in operation if it is “1”, and if it is “0” it is in the stopped state. Also, if the address of 0x0022 indicates the target value of frequency f0 and the address of 0x0023 indicates the current value of frequency f1 and if the frequency target value f0> the frequency current value f1, then during acceleration, the frequency target value f0 <the frequency current value f1 It is determined that the vehicle is decelerating. Thus, the control unit 20 can obtain the operating state of the motor 50.

Next, the control unit 20 refers to the user confirmation necessity list 206 and acquires the necessity of confirmation of the operation command (step S202).

For example, in the user confirmation necessity list 206 shown in FIG. 5, when the operation command is "operation start", if the operation state of the motor 50 is "stopped", the confirmation necessity to the user is "necessary" Become. Since the start of operation is dangerous when notified by the user without intention, the control unit 20 confirms the user's confirmation and confirms that the operation command is intended by the user. On the other hand, when the operation command is "emergency stop", the necessity of the user's confirmation is "not" regardless of the operation state of the motor 50 in any case. Emergency stop is important because it is important to immediately issue an operation command and put it in a safe state without waiting for confirmation to the user.

As described above, by referring to the user confirmation necessity list 206, the control unit 20 can reliably transmit the operation command causing the danger such as operation start and the operation command for emergency stop to the inverter 30 immediately. . As a result, the user can use the gesture to intuitively and safely issue an operation command to the motor 50.

And when confirmation to a user is required (Step S203; Yes), confirmation to a user is notified (Step S204). The detailed processing flow of the notification will be described later with reference to FIG. Further, when confirmation to the user is not necessary (step S203; No), it is determined that the operation instruction execution is OK, and the present execution availability confirmation process is ended. Then, the process returns to the process (step S104) shown in FIG. 8 and continues.

If the confirmation by the user can be detected after notifying the user of the confirmation (step S205; Yes), it is determined that the operation command execution is OK, and the present executability confirmation process is ended. If the confirmation by the user is not detected (step S205; No), it is determined that the operation instruction execution is NG, and the present execution availability confirmation process is ended.

Next, details of a process flow (S204) at the time of notifying the user of the confirmation will be described using FIG.

First, the control unit 20 acquires the operation command and the operation state of the motor 50 (step S301). Then, referring to the user confirmation method list 207, a confirmation method for the user is acquired (step S302).

For example, in the case of operation start or operation stop, “Continuous time” continues, and in the case of frequency change or rotation direction change, the user is confirmed by the operation of “unlocking”.

If the acquired confirmation method for the user is "continue for a fixed time" (step S302; continued for a fixed time), a gauge is displayed on the display unit 40 (step S303). The gauge is, for example, a horizontally long rectangle or a tachometer, and is displayed with animation that approaches 100% over time only while the gesture operation continues. By looking at this gauge, the user recognizes that the gesture needs to be continued.

In addition, the example of a display screen which displays a gauge on the display part 40 is shown to FIG. 13 and FIG.

Then, when the gesture operation continues for a predetermined time (step S304; Yes), it is determined that the confirmation by the user has been obtained (step S305). If the gesture operation is interrupted before the predetermined time elapses (step S305; No), it is determined that confirmation for the user has not been obtained (step S310).

If the acquired confirmation method for the user is "lock release" (step S302; lock release), the display unit 40 displays the operation method of the lock release (step S306). The unlocking operation method displays, for example, an image or animation in which a key is turned by hand. In addition, a warning message such as “The motor is rotating. Confirm that it is not a false recognition and release the lock” may be displayed. By looking at these displays, the user confirms that the gesture he / she has made matches the gesture recognized by the machine, and also recognizes that unlocking is necessary to transmit an operation command.

FIGS. 15 and 16 show examples of the display screen on which the operation method of the lock release is displayed on the display unit 40. FIG.

When the unlocking operation is detected (step S307; Yes), the process proceeds to step S305. When the unlocking operation is not detected (step S307; No), the process proceeds to step S310 to execute each process.

If the acquired confirmation method for the user is "plurality" (step S302; plural), the operation method by the plural is displayed on the display unit 40 (step S308). For example, words such as “Please perform gestures by multiple people at the same time” are displayed on the display unit 40. By looking at this display, the user recognizes that it is necessary for a plurality of people to simultaneously make a gesture. For example, when two right hands are detected by the gesture recognition unit 10, gestures by a plurality of people are recognized as gestures by the plurality of people.

Then, if the motion of a plurality of persons is detected (step S309; Yes), the process proceeds to step S305. If the operation can not be detected (step S309; No), the process proceeds to step S310 to execute each process.

Further, details of a process flow (S105) at the time of notifying a parameter to the inverter 30 will be described using FIG.

First, the control unit 20 acquires the gesture recognition result from the gesture recognition unit 10, and acquires the type and data of the operation command (step S401). Next, the control unit 20 refers to the parameter generation table 208, and acquires parameter addresses and parameter data (step S402). Then, an error check of parameter data is performed (step S403). If there is no error in the parameter data (step S404; Yes), the communication unit 204 of the control unit 20 transmits the parameter address and parameter data to the communication unit 301 of the inverter 30 (step S405). If there is an error in the parameter data (step S404; No), an error is notified (step S406), and the process is ended.

The inverter 30 includes a communication unit 301, a parameter management unit 302, and a drive unit 303, and supplies power to the motor 50 for operation.

The communication unit 301 exchanges data with the control unit 20 and other external devices. For example, it transmits and receives data of parameters. Multiple communication protocols such as Modbus, EtherCAT, TCP / IP, etc. may be provided in order to be available.

The parameter management unit 302 manages parameters stored inside the inverter 30. The parameter information acquired by the communication unit 301 is reflected on the parameters stored in the inverter 30, or the information on the parameters stored in the inverter 30 is output to the communication unit 301 and transmitted to the external device Do.

The drive unit 303 supplies power for applying torque to the motor 50.

Next, the hardware configuration of the control unit 20 according to the first embodiment will be described with reference to FIG. The control unit 20 includes a processing unit 211, a storage unit 212, an operation unit 213, a communication unit 214, a display unit 215, and the like.

The processing unit 211 is configured by, for example, a CPU (Central Processing Unit) and a program operating on the CPU. For example, processing programs of the motor operation state management unit 201, the operation command generation unit 202, and the parameter generation unit 203 are executed.

The storage unit 212 is configured by an appropriate storage device such as a read only memory (ROM), a random access memory (RAM), an auxiliary storage device, and the like, and stores various data and various programs. For example, the operation command correspondence table 205 and the user confirmation necessity list 206 are stored. The storage unit 212 also has a work area of the processing unit 211. The storage unit 212 may be configured from at least one of a built-in memory or a removable external memory. In addition, the storage unit 212 may be provided with a part of the function outside if the processing unit 211 can access it.

The operation unit 213 includes, for example, a touch panel, a keyboard, a microphone, and the like, and receives user input.

The communication unit 204 exchanges data with other information processing apparatuses. The control unit 20 performs communication processing and the like for accessing the inverter 30, the Internet, and other information processing apparatuses. In addition, the communication unit 204 is not limited to using only one, and, for example, can use a plurality of communication methods such as Modbus, EtherCAT, Code Division Multiple Access (CDMA), Long Term Evolution (LTE), and wireless LAN. You may have more than one to do.

The display unit 215 is configured of, for example, a liquid crystal display (LCD) or an organic electro luminescence (EL), and displays an image and information.

An example of the display screen of the display unit 40 is shown in FIG.

The display unit 40 displays a state display 400 indicating the operation state of the motor 50, icons 401 to 405 indicating the operation method of the gesture, a recognition result 406 of the user's hand, and the like. The control unit 20 determines where on the screen the display of the recognition result 406 is to be displayed based on the recognized position coordinates of the hand. For example, if the position coordinates of the hand are x = 10 and y = 20, the position coordinates of the hand are added to the coordinates of a predetermined reference point of the display unit 40, for example, x = 300 and y = 10. The hand recognition result 406 is displayed at the coordinates of x = 310 and y = 30. As a result, the hand recognition result 406 is displayed in accordance with the movement of the user's hand, and can be operated intuitively.

FIG. 13 shows an example of a display screen when a gauge is displayed on the display unit 40. As shown in FIG. A frame icon 407 is displayed around the “start of rotation” icon to indicate that the user has made a start of rotation gesture.

A gauge icon 408 indicates the operation duration time. When the user continues the gesture, the black part of the gauge icon 408 displays an animation in which the area expands in the right direction. The notification icon 409 is a notification displayed to urge the user to continue the gesture.

The example of a display screen of the display part 40 when the gesture by a user is continued and a gauge becomes full is shown in FIG. The black part of the gauge icon 408 is filled in the entire area. In addition, the notification icon 409 displays that the continuation has been confirmed. In addition, “motor operation state” of the state display 400 of the motor 50 is displayed as “during rotation”.

FIG. 15 shows an example of a display screen of the display unit 40 when a gesture for raising the frequency is made by the user. A frame icon 407 is displayed around the "frequency up" icon to indicate that the user has made a gesture to raise the frequency.

The notification icon 409 displays that the motor 50 is rotating, and the user is urged to release the lock. In addition, an icon 410 indicating the unlocking operation is displayed near the icon. The user can know how to unlock by looking at the icon 410.

And the example of a display screen of the display part 40 when the gesture of lock release is made by the user is shown in FIG. The notification icon 409 displays a message that the lock has been released. In addition, “motor operation state” of the state display 400 of the motor 50 is displayed as “during rotation (lock release)”, and a display indicating that the lock is released is performed.

Then, the example of a display screen of the display part 40 at the time of the gesture in which a frequency is raised again by the user is shown in FIG. The icon 411 displays the value of the frequency whose setting has been changed. This screen shows that the frequency is set to 56 Hz. Every time the user moves his hand up and down, the value of the frequency is changed according to the position of the user's hand.

FIG. 18 shows an example of a display screen of the display unit 40 when a gesture indicating an emergency stop is made by the user. The user's two hands are recognized, and the hand recognition result 406 and the recognition result 412 are displayed. The notification icon 409 also displays that an emergency stop is to be performed. In addition, “motor operation state” of the state display 400 of the motor 50 is displayed as “during stop”.

Thus, the user can intuitively issue an operation command of the motor 50 by the icon indicating the operation method of the gesture. Further, since the operating state of the motor 50 can be easily grasped, the motor 50 can be operated intuitively.

In addition, the gesture for instructing the operation of the motor 50 is usually composed of a one-hand gesture. On the other hand, the gesture for performing the emergency stop operation command is a gesture using both hands and is clearly separated from the normal operation command. Thus, the user is well intuitive just by holding both hands at the time of emergency stop. Further, as the gesture recognition unit 10 has a clear difference as to whether there are two hands or only one hand, the difference between the two is clear and the possibility of misrecognition can be reduced.

Next, an embodiment will be described in which, when an emergency stop gesture is recognized, not only the parameter setting for operation stop is transmitted to the inverter 30, but also the emergency stop signal is transmitted to reliably stop the motor 50. .

According to the functional safety standard IEC 61800-5-2 for motor control devices such as the inverter 30 and servo, the function (STO: Safe torque off) to shut off the torque to the motor 50 and the motor 50 after decelerating and stopping Various safety functions such as a function to execute STO (SS1: Safe stop 1) are defined.

In the second embodiment, a safety stop function such as STO or SS1 mounted on the inverter 30 is used.

FIG. 19 is a block diagram illustrating an example of a functional configuration of a system according to a second embodiment.

The control unit 20 includes an emergency stop transmission unit 220 in addition to the components described in the first embodiment. Further, the inverter 30 includes an emergency stop reception unit 320 in addition to the components described in the first embodiment.

The emergency stop reception unit 320 is connected to the drive unit 303. When receiving the emergency stop signal, the emergency stop reception unit 320 cuts off the power supplied by the drive unit 303 to apply torque to the motor 50. As a result, the motor 50 is not supplied with torque and stops rotating.

FIG. 20 is a diagram showing an example of the configuration of the drive unit 303 and the emergency stop reception unit 320 included in the inverter 30 according to the second embodiment. The mechanism of driving of the motor 50 and emergency stop will be described with reference to FIG.

The emergency stop reception unit 320 includes an STO signal reception unit 321 and an STO signal reception unit 322. The STO signal reception unit 321 is a terminal for receiving an emergency stop signal, and transmits an emergency stop signal output from the emergency stop transmission unit to the drive unit 303. The STO signal receiving unit 322 is similarly configured.

The driving unit 303 includes a gate driving unit 3035, a rectification circuit unit 3032, a DC smoothing circuit unit 3033, an inverter unit 3034, and a main body control unit 3030.

The rectifier circuit unit 3032 is formed of, for example, a diode bridge, and converts an AC voltage supplied from the external AC power supply 70 into a DC voltage.

The DC smoothing circuit unit 3033 is formed of, for example, a capacitor, and smoothes the DC voltage converted by the rectifier circuit unit 3032.

The inverter unit 3034 includes, for example, six IGBTs (Insulated Gate Bipolar Transistors), and converts the DC voltage smoothed by the DC smoothing circuit unit 3033 into an AC voltage.

The gate drive unit 3035 is formed of, for example, a gate driver IC (Integrated Circuit), and drives the IGBT of the inverter unit 3034.

The main body control unit 3030 outputs a PWM (Pulse Width Modulation) control signal. For example, it is a program operating on the CPU. The main body control unit 3030 outputs the PWM control signal to the gate drive unit 3035, and the gate drive unit 3035 outputs the received PWM control signal to the inverter unit 3034. The inverter unit 3034 generates a PWM controlled AC voltage using the received PWM control signal, and supplies the AC voltage to the motor 50. Thereby, drive control of the motor 50 is possible.

Further, the gate driver 3035 receives an emergency stop signal from the

STO signal receivers

321 and 322. The gate drive unit 3035 that has received the emergency stop signal shuts off the PWM control signal supplied to the inverter unit 3034. As a result, the PWM control of the voltage supplied to the motor 50 by the inverter unit 3034 is also cut off, and the torque of the motor 50 is not generated.

Thus, the drive unit 303 stops the torque supply to the motor 50 and stops the motor 50.

Next, a process flow when the system according to the second embodiment acquires a recognition result and transmits an operation command and an emergency stop signal to the inverter 30 will be described using FIG.

First, processing similar to that of FIG. 8 is performed to obtain a gesture recognition result (step S101), and an operation command is obtained (step S102).

Then, it is determined whether or not the type of the acquired operation command is "emergency stop", and if it is "emergency stop" (step S501; Yes), the emergency stop transmission unit 220 transmits an emergency stop signal (step S502). ). If the type of operation command is other than "emergency stop" (step S501; No), nothing is performed. Thereafter, the same processing as that of step S103 and thereafter in FIG. 8 is executed.

As described above, by transmitting the emergency stop signal, the motor 50 can be reliably stopped, which is more secure.

Next, an embodiment in which an emergency stop signal is transmitted to the inverter 30 when an error of the gesture recognition unit 10 is received or when a recognition result can not be obtained from the gesture recognition unit 10 will be described.

A processing flow when the system according to the third embodiment acquires an error of the gesture recognition unit will be described with reference to FIG.

First, the control unit 20 inquires the gesture recognition unit 10 about the recognition result (step S600). Then, if the recognition result can be acquired (step S601; Yes), the process proceeds to step S102, and the same processing as step S102 and subsequent steps in FIG.

If the recognition result can not be obtained (step S601; No), it is checked whether it is a time out (step S602). Then, if a time out occurs (step S602; Yes), the emergency stop transmission unit 220 transmits an emergency stop signal (step S605).

If a timeout has not occurred (step S602; No), it is checked whether an error has been acquired from the gesture recognition unit 10 (step S603).

The error output from the gesture recognition unit 10 is, for example, “camera contamination error” indicating that the camera lens of the imaging unit 101 is dirty, or the communication speed of data between the gesture recognition unit 10 and the control unit 20 is For example, "a communication speed decrease error" indicating that it is extremely slow.

When these errors occur, the gesture recognition result can not be correctly acquired from the gesture recognition unit 10. Therefore, even if the user makes an emergency stop gesture, the control unit 20 can not obtain the gesture, so the motor 50 can not be stopped. . In order not to fall into such a dangerous state, when an error of the gesture recognition unit 10 is detected, an emergency stop signal is sent to stop the motor 50 and keep it in a safe state.

When an error is acquired from the gesture recognition unit 10 (step S603; Yes), the emergency stop transmission unit 220 transmits an emergency stop signal (step S605).

If an error can not be acquired from the gesture recognition unit 10 (step S603; No), wait processing is performed for a predetermined time interval (step S604), and the recognition result is again inquired to the gesture recognition unit 10 (step S604) Step S600).

As described above, when the gesture recognition unit 10 is in the error state, the motor 50 can be stopped by transmitting the emergency stop signal, so that the safety can be further improved.

When an error is acquired from the gesture recognition unit 10, instead of transmitting the emergency stop signal, the display unit 40 may be displayed to notify the user that the error is to be notified. By doing this, the operation of the motor 50 can be continued, and the availability of the system is improved.

The function of the control unit 20 may be provided in the inverter 30.

10 gesture recognition unit 20 control unit 30 inverter 40 display unit 50 motor 60 load 101 imaging unit 102 matching processing unit 103 feature amount database 201 motor operation state management unit 202 operation command generation unit 203 parameter generation unit 204 communication unit 205 operation command correspondence table 206 User confirmation necessity list 207 User confirmation method list 208 Parameter generation table 211 CPU
212 storage unit 213 operation unit 214 communication unit 215 display unit 301 communication unit 302 parameter setting unit 303 drive unit 320 emergency stop reception unit 321 STO signal reception unit 322 STO signal reception unit 3030 main body control unit 3032 rectification circuit unit 3033 DC smoothing circuit unit 3034 inverter unit 3035 gate drive unit 400 status display 401 to 405 icon 406 recognition result of hand 407 frame icon 408 gauge icon 409 notification icon 410 icon 411 indicating unlocking operation result of recognition of hand

Claims

An inverter that supplies power to the motor;
A gesture recognition unit that recognizes a gesture;
A motor operation state management unit that manages an operation state of the motor;
A motion command generation unit that generates a motion command from the gesture recognized by the gesture recognition unit;
A parameter generation unit that generates a parameter of the inverter based on the operation command generated by the operation command generation unit;
A database holding a user confirmation necessity list indicating whether or not the user needs to confirm whether or not the operation command can be executed from the relationship between the operation command and the motor operation state;
Equipped with
The operation command generation unit refers to the user confirmation necessity list to determine whether the user can confirm the executability of the generated operation command to the user.
Motor drive system characterized by
When the generated operation command is an emergency stop, the operation command generation unit determines that the operation command can be executed regardless of the motor operation state.
The motor drive system according to claim 1, characterized in that
The operation command generation unit refers to the user confirmation necessity list, and when it is determined that the confirmation to the user is necessary, the user's confirmation is made when the gesture operation continues only at a predetermined time interval. To determine that the
The motor drive system according to claim 1, characterized in that
The operation command generation unit refers to the user confirmation necessity list, and when it is determined that the confirmation to the user is necessary, the gesture of the predetermined unlocking operation can be detected when the user's gesture is detected. Determining that confirmation has been detected,
The motor drive system according to claim 1, characterized in that
It has an emergency stop transmitter that sends an emergency stop signal,
The operation command generation unit may transmit an emergency stop signal when the generated operation command is an emergency stop.
The motor drive system according to claim 1, characterized in that
It has an emergency stop transmitter that sends an emergency stop signal,
The operation command generation unit may transmit an emergency stop signal when an error is received from the gesture recognition unit.
The motor drive system according to claim 1, characterized in that
It has an emergency stop transmitter that sends an emergency stop signal,
The operation command generation unit may transmit an emergency stop signal when a recognition result can not be obtained after waiting for a predetermined time interval from the gesture recognition unit.
The motor drive system according to claim 1, characterized in that
A motor drive system for performing an operation command to an inverter that controls power supply to a motor by a gesture of a user,
A motor drive system characterized in that execution conditions of an operation command by the gesture are changed according to an operation condition of the motor.