WO2019111582A1

WO2019111582A1 - Device id setting device and setting method

Info

Publication number: WO2019111582A1
Application number: PCT/JP2018/039925
Authority: WO
Inventors: 和義古賀; 修岡崎
Original assignee: 日本電産株式会社
Priority date: 2017-12-06
Filing date: 2018-10-26
Publication date: 2019-06-13
Also published as: JPWO2019111582A1; JP2022020739A; JP6973504B2; CN111434075A

Abstract

[Problem] To provide a device ID setting device capable of setting an ID for each device without adding hardware for ID setting. [Solution] This device ID setting device is provided with: an acquisition unit that acquires a torque value when a device provided in a movable part operates; and a setting unit that sets a device ID for the device on the basis of the acquired torque value.

Description

Device ID setting device and setting method

The present invention relates to an apparatus and method for setting an ID (identification information, identification number) in a device such as a motor module.

Mobile devices such as robots often have a plurality of motor modules. In the case of a robot, motor modules are respectively provided at a plurality of joints of the robot. In order to control each motor module individually, an individual device ID is set to each motor module. The device ID is, for example, a communication address when transmitting an instruction (control signal) to each motor module. Therefore, the motor module used for the robot needs to be provided with a device ID (identification information, identification number) suitable for the purpose of the part of the robot.
When setting an ID in a device, the ID may be set from one master device (hereinafter simply referred to as “master”) to a plurality of slave devices (hereinafter simply referred to as “slave”). An example of a device ID setting technique in such a case is disclosed in Patent Document 1. In Patent Document 1, an ID setting signal line is attached to each slave, and a voltage dividing resistor corresponding to each slave is provided on the ID setting signal line. Then, an ID corresponding to the divided voltage applied by the voltage dividing resistor is set to each slave.

JP 2005-229561 A

In the technology of Patent Document 1, it is necessary to attach an ID setting signal line to each slave. That is, in the technique of Patent Document 1, it is necessary to add hardware for setting an ID in order to set an ID for each slave. Therefore, components and wiring dedicated to ID setting are required in the final product.
The present invention solves the above-described problems, and an object thereof is to provide a device ID setting apparatus capable of setting an ID to each device without adding hardware for setting an ID.

A device ID setting apparatus according to one aspect of the present invention sets a device ID in the device based on an acquisition unit that acquires a torque value at the time of operation of a device provided in a movable unit, and the acquired torque value. And a setting unit.

According to the present invention, the device ID is set based on the operating torque value of the device. Therefore, the device ID can be set without adding hardware.

FIG. 1 is a view showing a robot provided with a motor module according to a first embodiment. FIG. 1 is a schematic view of a motor module according to a first embodiment. FIG. 6 is a flow chart of device ID setting according to the first embodiment. The figure which shows the relationship between a torque value and device ID. FIG. 2 shows an overview of signals used for communication between a system module and a motor module.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the attached drawings. The embodiment described below is an example as a realization means of the present invention, and should be appropriately corrected or changed according to the configuration of the apparatus and system to which the present invention is applied and various conditions. It is not limited to the embodiment.

Embodiment 1
FIG. 1A is a front view of the robot 10 according to the first embodiment. In the present embodiment, the case of setting IDs to six motor modules (symbol 60 in FIG. 2A) provided in the lower leg of the robot 10 will be described. Since the motor module is a type of device, the ID set in the motor module may be referred to as a device ID in the following description.

(Configuration of robot)
As shown in FIG. 1A, the robot 10 includes a head 12, a trunk 14, a left upper arm 16, a left forearm 18, a left hand 20, an upper right arm 22, a right forearm 24, a right hand 26, a groin 28, and a left thigh. 30, left lower thigh 32, left foot 34, right thigh 36, lower right thigh 38 and right foot 40. Moreover, the robot 10 has a movable part between the above-mentioned each part. Specifically, for example, in the lower leg of the robot 10, the first movable portion 42 is provided between the inguinal portion 28 and the right thigh 36, and the second movable portion 44 is provided between the inguinal portion 28 and the left thigh 30. And the third movable portion 46 between the right thigh 36 and the lower right thigh 38, and the fourth movable portion 48 between the left thigh 30 and the lower left thigh 32, and the fourth movable portion 48 between the lower right thigh 38 and the right foot 40. A fifth movable portion 50 is provided, and a sixth movable portion 52 is provided between the lower left thigh 32 and the left foot 34. The first movable portion 42 is the right hip, the second movable portion 44 is the left hip, the third movable portion 46 is the right knee, the fourth movable portion 48 is the left knee, the fifth movable portion 50 is the right ankle, and the sixth movable portion 52 Can also be referred to as the left ankle. In the present embodiment, it is assumed that one motor module 60 is provided for each of the first to sixth movable parts 42 to 52. The six motor modules 60 provided in the first to sixth movable parts 42 to 52 have the same configuration. Although the motor module is provided also in the movable part of the upper limb of the robot 10, in the following description, the description in the case of setting the ID to the motor module provided in the movable part of the upper limb of the robot 10 is omitted.

A system module 54 is provided in the body 14 of the robot 10. The system module 54 controls the overall operation of the robot 10. In addition, the system module 54 sets device IDs in the six motor modules provided in the first to fourth movable units 42 to 52. System module 54 may be referred to as a master, and the six motor modules may be referred to as slaves. The system module 54 and the six motor modules are communicably connected in a wired or wireless manner. The device ID serves as a communication address of each motor module when the system module 54 controls six motor modules.
In the present embodiment, each movable portion is a connection portion (joint) to which two elements are connected. For example, the second movable portion 44 is a connection portion (joint) of the inguinal portion 28 and the left thigh 30. When the motor module provided at the connection portion is rotationally driven (specifically, the motor in the motor module is rotated), the robot 10 moves. When the motor module is rotationally driven, the robot 10 can take, for example, a posture as shown in FIG.

(Configuration of motor module)
FIG. 2A is an external perspective view of the motor module 60, and FIG. 2B is a block diagram of the motor module 60. As shown in FIG. 2A, the motor module 60 has a main body 61 and an output shaft 62. The motor module 60 is a servo motor module.
As described above, in the present embodiment, six motor modules have the same configuration.
Further, it is assumed that the same device ID (initial device ID) is assigned to the six motor modules at the beginning of manufacture of the motor module. Then, before the device ID setting by the system module 54 is performed, it is assumed that six motor modules to which the same device ID is assigned are incorporated in the robot 10.
As shown in FIG. 2B, the motor module 60 includes a motor control MCU (Micro Control Unit) 65, a motor 66, a gear 67, and a sensor 68. In the present specification, that the motor module 60 is rotationally driven means that the motor 66 is rotated.

The motor control MCU 65 rotates the motor 66 based on the detection signal from the sensor 68. Further, the motor control MCU 65 determines its own temporary ID in accordance with an instruction from the system module 54. In the present embodiment, the temporary ID is a two-digit number. The motor control MCU 65 has a random number generation function for temporary ID generation. The motor control MCU 65 also has a communication function for communicating with the system module 54.
The gear 67 receives the rotational output of the motor 66 and changes the output torque and rotational speed of the motor 66 under the control of the motor control MCU 65.
The sensor 68 detects, for example, the temperature, current, and shaft position (angular position of the output shaft 62) of the motor 66. The sensor 68 is depicted as one block in FIG. 2 (b) but may be divided into a temperature sensor, a current center and an axial position sensor. The motor control MCU 65 can calculate (estimate) the torque (load) of the motor based on, for example, the current detected by the sensor 68 and the shaft position.

(Setting of device ID)
Next, with reference to FIG. 3, a flow of setting device IDs in six motor modules 60 will be described. In the following description, the motor module 60 provided in the first movable portion 42 is referred to as a first motor module 60 a, and the motor module 60 provided in the second movable portion 44 is referred to as a second motor module 60 b. The motor module 60 provided in the third movable portion 46 is referred to as a third motor module 60c, and the motor module 60 provided in the fourth movable portion 48 is referred to as a fourth motor module 60d, and provided in the fifth movable portion 50. The motor module 60 thus obtained is referred to as a fifth motor module 60e, and the motor module 60 provided in the sixth movable portion 52 is referred to as a sixth motor module 60f.
When manufacturing the first motor module 60a to the sixth motor module 60f, the same device ID is set to the first motor module 60a to the sixth motor module 60f. Then, it is assumed that the first motor module 60a to the sixth motor module 60f in which the same device ID is set are incorporated in the robot 10. The flow of FIG. 3 starts in this state.

First, at S10, the system module (master) 54 instructs the first motor module 60a to the sixth motor module 60f by broadcast communication to “determine a temporary ID and return it” and “return a slight movement torque value” Send an instruction to Since each motor module is rotationally driven in response to an instruction from the system module 54, it can be said that the system module 54 has an operation function to operate the motor module 60. Further, since each motor module sets a temporary ID based on an instruction from the system module 54, it can be said that the system module 54 has a temporary ID setting function for setting the temporary ID.

In S11, the first motor module 60a that has received the instruction from the system module 54 determines the temporary ID of the first motor module 60a using pseudo random numbers.
Further, in S12, the first motor module 60a slightly rotates the motor 66 according to the instruction from the system module 54, and calculates (measures) the torque value at that time.
Then, in S13, the first motor module 60a transmits the temporary ID and the measured torque value to the system module 54. By this transmission, the system module 54 acquires the temporary ID of the first motor module 60a and the torque value at the time of operation. "Source = provisional ID" of S13 indicates that the provisional ID of the first motor module 60a is used as information indicating the transmission source of the signal. “Destination = Master” in S13 indicates that the transmission destination in the signal transmission in S13 is the system module 54.

In S14, the second motor module 60b that has received the instruction from the system module 54 determines a temporary ID of the second motor module 60b by using pseudo random numbers.
In addition, in S15, the second motor module 60b slightly rotates the motor 66 according to the instruction from the system module 54, and measures the torque value at that time.
Then, in S16, the second motor module 60b transmits the temporary ID and the measured torque value to the system module 54. By this transmission, the system module 54 acquires the temporary ID of the second motor module 60 b and the torque value at the time of operation.
Similarly, the third motor module 60c to the sixth motor module 60f respectively determine temporary IDs by pseudo random numbers. The third motor module 60c to the sixth motor module 60f slightly rotate the motor 66 and measure the torque value at that time. Then, each of the third motor module 60c to the sixth motor module 60f transmits the temporary ID and the measured torque value to the system module 54. By this transmission, the system module 54 acquires temporary IDs of the third motor module 60c to the sixth motor module 60f and torque values at the time of operation.

In S17, the system module 54 determines whether all of the six temporary IDs received from the first to sixth motor modules 60a to 60f are different. If the same temporary ID exists, the system module 54 transmits an instruction “determine the temporary ID and return it” to the first motor module 60 a to the sixth motor module 60 f until all the temporary IDs become different. . If all six temporary IDs become different IDs, the process proceeds to S18.
In S18, the system module 54 specifies (determines) the real ID using the torque-device ID table (FIG. 4) for each motor module based on the received torque value.

FIG. 4 shows a torque-device ID table 70 used in the present embodiment. The torque-device ID table 70 is a table showing the relationship between the measured torque value, the device ID, and the device (motor module) installation position. The measured torque value is a value based on an instruction from the system module 54 to “return a little movement torque value”, and thus is a torque value for starting movement of the motor 66. This torque value is described in Table 70 as "initial torque value". The unit of the torque value in Table 70 is Nm. In the following description, the unit (Nm) is omitted when describing the torque value. For example, the torque value "3" means 3 Nm.

When moving the robot 10, the required torque value differs depending on the installation position of the motor module. Therefore, if the torque value is known, it can be known which part (which movable part) of the robot 10 is the torque value of the motor module installed. In this embodiment, the device ID "1" is set in advance to the motor module installed on the right hip, and the device ID "2" is set on the motor module installed on the left hip, and installed in the right knee. Device ID "3" is set to the motor module, device ID "4" is set to the motor module installed in the left knee, and device ID "5" is set to the motor module installed in the right ankle It is assumed that the device ID “6” is determined to be set for the motor module installed on the left ankle.
The torque-device ID table 70 is prepared in advance and stored in the system module 54 when the robot 10 is manufactured.

In this embodiment, it is assumed that the system module 54 issues an instruction “return the torque value when rotating a little clockwise and the torque value when rotating a little counterclockwise” in S10. In this case, if the system module 54 receives “3” as the torque value when rotating clockwise and “1” as the torque value when rotating counterclockwise, the torque value is right It can be seen that it is received from the motor module 60c provided on the knee. Therefore, the system module 54 specifies (determines) that “3” should be set to the motor module 60 c as the real ID.
If the system module 54 receives “4” as the torque value when rotating clockwise and “1” as the torque value when rotating counterclockwise, the torque value is provided to the right ankle It can be seen that it is received from the motor module 60e. Therefore, the system module 54 specifies that “5” should be set as the main ID in the motor module 60 e.

In the torque-device ID table 70, for example, the initial torque value in the clockwise direction is described as “3 to 4” for the right knee, and “4 to 5” for the right ankle. This indicates that the torque value at the time of clockwise rotation is larger at the right ankle than at the right knee. For example, if the torque value of the right knee when rotating clockwise is “3”, the torque value of the right ankle will be a value larger than “3” (eg “4”) and rotating clockwise. If the torque value of the right knee is “4”, the torque value of the right ankle will be a value (eg, “5”) larger than “4”.

Further, with regard to the clockwise initial torque value, the right hip is described as “0.2 to 0.6”, and the left hip is described as “0.1 to 0.5”. This indicates that the torque value at the time of clockwise rotation is larger at the right hip than at the left hip. For example, if the torque value of the right hip when rotating clockwise is "0.2", the torque value of the left hip becomes a value smaller than "0.2" (for example, "0.1"), and the clock If the torque value of the right hip when rotating around is “0.3”, the torque value of the left hip becomes a value smaller than “0.3” (for example, “0.2”).
As described above, in the present embodiment, based on the received torque value, the installation position (which movable portion is provided) of the motor module is identified using the torque-device ID table 70, and then the movable portion is moved. The device ID to be set can be determined based on the position of the unit.

If the system module 54 specifies the real ID of each motor module in S18, the process proceeds to S19.
In S19, the system module 54 sends an instruction “set the main ID as a device ID” to the first motor module 60a. In the robot 10 of the present embodiment, it is required (predetermined) to set device IDs “1” to “6” to six motor modules 60 a to 60 f. In the state before S19, six different temporary IDs are set to the six motor modules 60a to 60f, but in order to control the robot 10 appropriately, the real ID is replaced with each motor module instead of the temporary ID. It is necessary to set it. Since the temporary ID is a value determined by a random number, it is unknown which value is set for each motor module. In the system module 54, the device ID "1" is set in the first motor module 60a provided on the right hip, the device ID "2" is set in the second motor module 60b provided on the left hip, and the right Device ID "3" is set to the third motor module 60c provided on the knee, device ID "4" is set to the fourth motor module 60d provided on the left knee, and the third motor module 60c provided on the right ankle The device ID "5" is set in the fifth motor module 60e, and the device ID "6" is set in the sixth motor module 60f provided on the left ankle.

When the system module 54 sends an instruction to the first motor module 60a in S19, the system module 54 uses, for example, a communication protocol as shown in FIG. The communication protocol will be described later.
In S20, the first motor module 60a sets the permanent ID specified from the system module 54 as the device ID of the first motor module 60a.
In S21, the system module 54 sends an instruction “set this ID as a device ID” to the second motor module 60b.
In S22, the second motor module 60b sets the permanent ID specified from the system module 54 as the device ID of the second motor module 60b.
Similarly, the system module 54 sends an instruction "set the main ID as a device ID" to the third motor module 60c to the sixth motor module 60f. Then, the third motor module 60c to the sixth motor module 60f set the real ID specified from the system module 54 as the device ID of the third motor module 60c to the sixth motor module 60f.

FIG. 5 shows communication packets (protocols) used for communication between the system module 54 and each motor module.
Header is regular information indicating the start of a communication packet.
DeviceID is a device ID that the system module 54 sends to each motor module. The Device ID includes information (Destination) identifying the communication destination of the device ID and information (Source) identifying the transmission source of the device ID. It is also possible to designate all devices as Destination.
Length is a valid byte length for communication.

CommonDataStructure (Common Data Structure) is information for instructing a target device, and includes Operation and Attirbute. Operation is an operation command to the target device, and is, for example, operation information such as broadcast, write, read, stop, reset, and initialization. Attribute is an attribute-based command to the target device, and is, for example, information such as rotate clockwise by 30 degrees, rotate clockwise by 30 degrees, and the like.
Checksum is information used to confirm whether the communicated data is normal.
The communication packet of FIG. 5 is a packet used when the system module 54 sends an instruction to each motor module 60. The communication packet of FIG. 5 may be used when each motor module 60 sends a signal to the system module 54.

(Effect of Embodiment 1)
According to the present embodiment, the system module 54 sets the device ID in each motor module 60 based on the torque value acquired from each motor module 60. That is, according to the present embodiment, the device ID can be set based on the operating torque value of the device. Therefore, the device ID can be set to the motor module 60 without adding hardware such as a device ID setting signal line to the motor module 60. In this embodiment, different device IDs can be set to the plurality of motor modules 60 only by changing the software of the system module 54 provided in the existing robot.

The robot 10 includes a plurality of motor modules 60, and the device ID individually owned by each motor module 60 is an address when each motor module 60 and the system module 54 communicate with each other. Therefore, by using the address, each motor module 60 and the system module 54 can perform appropriate communication.

Conventionally, a method has been adopted in which individual device IDs are assigned (set) to the motor module before the motor module is incorporated into the robot, and each motor module is incorporated into a target portion according to the device ID. In such an approach, for example, when setting six device IDs, it was necessary to manage six different motor modules before incorporating the motor module into the robot. According to the present embodiment, when incorporating a plurality of motor modules into a robot, the same device ID is set to the plurality of motor modules. Therefore, even when finally setting six different device IDs to six motor modules, it is not necessary to manage six different motor modules before the motor module is incorporated into the robot. According to the present embodiment, after the plurality of motor modules 60 are incorporated into the robot 10, the device ID can be automatically set. In the present embodiment, after a plurality of identical motor modules 60 are incorporated into the robot 10, different device IDs are set in the motor module 60. Therefore, when assembling the robot 10, it is not necessary to manage which motor module is provided at which site.
In the state immediately after assembling the robot 10, duplicate device IDs are set to the six motor modules. According to the present embodiment, the duplicate device ID (initial device ID) can be rewritten to a non-duplicate device ID after the robot 10 is assembled.

(Modification)
Although six motor modules have the same configuration in the above-described embodiment, not all motor modules need to have the same configuration. For example, since it is considered that a large load acts on the motor modules 60e and 60f provided on the fifth movable unit 50 and the sixth movable unit 52, the motor module 60e provided on the fifth movable unit 50 and the sixth movable unit 52 60f may adopt a structure capable of withstanding larger loads than motor modules provided in other moving parts.

In the flow of FIG. 3, in S10, the system module 54 instructs the first motor module 60a to the sixth motor module 60f to "Determine a temporary ID and return it" and an instruction to "return a slight motion torque value". sent. The present embodiment is not limited to such a flow. For example, in S10, the system module 54 may send only the instruction "Determine tentative ID and return" to the first motor module 60a to the sixth motor module 60f. In this case, after S17, the system module 54 sends an instruction “return a little movement torque value” to the first to sixth motor modules 60a to 60f.

In the above embodiment, the sensor 68 calculates the torque (load) of the motor based on the detected current and the shaft position. However, a torque sensor for measuring a torque value may be provided.
Although the system module 54 is provided in the body 14 of the robot 10 in the above embodiment, the installation position of the system module 54 is not limited to the body 14. For example, it may be installed outside the robot 10.
Although the device ID is “1” to “6” in the above embodiment, the device ID of the present invention may be an identification number or identification information other than “1” to “6”.
The torque-device ID table 70 is not limited to that shown in FIG. The torque-device ID table used in the present embodiment may include a plurality of torque values, and connection parts and device IDs associated with the plurality of torque values.

In the above embodiment, the present invention is applied to a robot provided with a plurality of motor devices, but the application of the present invention is not limited to this. The present invention can be applied to the case where identification information or an identification number is given to one or more devices such as a motor. For example, the present invention can be applied to a control device or system provided with a motor.

DESCRIPTION OF SYMBOLS 10 ... Robot, 42 ... 1st movable part, 44 ... 2nd movable part, 46 ... 3rd movable part, 48 ... 4th movable part, 50 ... 5th movable part, 52 ... 6th movable part, 54 ... System module , 60 ... Motor module

Claims

An acquisition unit that acquires a torque value at the time of operation of a device provided in the movable unit;
A setting unit configured to set a device ID to the device based on the acquired torque value;
Device ID setting device provided with
The apparatus further comprises an operation unit for operating the device.
The device is disposed at a connection portion to which two or more elements of the movable portion are connected,
The acquisition unit acquires a torque value at the time of operation of the device operated by the operation unit,
The device ID setting apparatus according to claim 1, wherein the setting unit specifies the connection unit based on the acquired torque value, and sets a device ID to the device based on the specified connection unit.
The operating unit operates the device clockwise or counterclockwise.
The setting unit identifies the connection based on a torque value at the time of the clockwise operation of the device or a torque value at the time of the counterclockwise operation of the device, and based on the identified connection, the device The device ID setting device according to claim 2, wherein the ID is set.
With multiple torque values,
The connection portion and the device ID associated one-to-one with the plurality of torque values;
The device ID setting device according to claim 2, further comprising a table including
The device ID setting device according to any one of claims 1 to 4, wherein the torque value is a torque value at the time of initial operation of the device.
There are a plurality of movable parts, and the plurality of movable parts are provided with devices, respectively.
The device ID setting device according to any one of claims 1 to 5, wherein the setting unit sets different device IDs to the plurality of devices.
The same initial device ID is set to the devices respectively provided to the plurality of movable parts,
The device ID setting apparatus according to claim 6, wherein the setting unit rewrites the initial device ID and sets different device IDs for the plurality of devices.
The device ID setting device according to any one of claims 1 to 7, wherein the device is a motor module.
The device ID setting device according to any one of claims 2 to 4, wherein the element is a component of a robot, and the connection part is a joint of the robot.
The device ID setting device according to claim 9, wherein the device ID setting device is provided inside the robot.
The acquisition unit acquires a temporary device ID set by the device together with the torque value,
The device ID setting device according to any one of claims 1 to 10, wherein the setting unit sets the device ID to the device based on the torque value, instead of the temporary device ID.
There are a plurality of movable parts, and the plurality of movable parts are provided with devices, respectively.
The device ID setting device further includes a temporary ID setting unit for setting a temporary ID for each of the plurality of devices,
The device ID according to any one of claims 1 to 11, wherein the temporary ID setting unit continues to cause the plurality of devices to set the temporary IDs until different temporary IDs are set to each of the plurality of devices. Setting device.
A device ID setting device according to any one of claims 1 to 12,
A device whose device ID is set by the device ID setting device;
System consisting of
An acquiring step of acquiring a torque value at the time of operation of a device provided in the movable portion;
A setting step of setting a device ID to the device based on the acquired torque value.
The device is disposed at a connection portion to which two or more elements of the movable portion are connected,
The device ID setting method further includes the step of operating the device at the connection unit,
The device ID setting method according to claim 14, wherein the setting step specifies the connection based on the acquired torque value, and sets a device ID to the device based on the specified connection.