WO2022191607A1 - Dispositif électronique comprenant un servomoteur et procédé de commande d'un servomoteur - Google Patents

Dispositif électronique comprenant un servomoteur et procédé de commande d'un servomoteur Download PDF

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Publication number
WO2022191607A1
WO2022191607A1 PCT/KR2022/003307 KR2022003307W WO2022191607A1 WO 2022191607 A1 WO2022191607 A1 WO 2022191607A1 KR 2022003307 W KR2022003307 W KR 2022003307W WO 2022191607 A1 WO2022191607 A1 WO 2022191607A1
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Prior art keywords
servo motor
electronic device
function
communication
predetermined
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PCT/KR2022/003307
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English (en)
Korean (ko)
Inventor
심재규
이경섭
이길범
이봉열
이승환
Original Assignee
삼성전자 주식회사
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Publication of WO2022191607A1 publication Critical patent/WO2022191607A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048—Monitoring; Safety
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • Embodiments of the present disclosure relate to an electronic device including a servo motor and a servo motor control method.
  • Servo motors are widely used for general purpose implementation of articulated robots and various applications.
  • servo motors include an input connector and an output connector including communication and/or power for system configuration, and internally, the same signal line between the two connectors is shorted. Since the servo motors are controlled using a single communication signal, each servo motor can be controlled by assigning an identification (ID).
  • ID an identification
  • An electronic device including a servo motor and a servo motor control method have an object of assigning an ID to each servo motor when a system is constructed using a plurality of servo motors.
  • the servo motor includes: a communication circuit; driving circuit; motor; sensor; and a control circuit, wherein the control circuit controls the at least one or more servo motors to enter a standby state, and when the at least one or more servo motors enter the standby state, It is determined whether or not the predetermined function is on, and when the predetermined function is in the on state, the position information of the at least one or more servo motors is checked using the sensor, and based on the position information, the at least one or more It is determined whether the position of the servo motor is within a predetermined position range or an initial position, and if the position of the at least one servo motor is within a predetermined position range or an initial position, the communication function may be turned off.
  • a method of controlling a servo motor includes controlling the at least one servo motor to enter a standby state; an operation of determining whether a communication control function of the at least one or more servo motors is on when the at least one or more servo motors enter a standby state; checking the position information of the at least one servo motor using a sensor when the predetermined function is in an on state; determining whether a position of the at least one servo motor is within a predetermined position range or an initial position based on the position information; And when the position of the at least one or more servo motors is within a predetermined position range or an initial position, it may include an operation of turning off the communication function.
  • the electronic device including the servo motor and the servo motor control method according to the embodiments of the present disclosure can set the ID to each of the plurality of servo motors by software, additional information is added even when the servo motor is assembled in the electronic device.
  • Servo motors can be managed without resource input.
  • FIG. 1 is a block diagram of an electronic device in a network environment according to various embodiments of the present disclosure
  • FIG. 2 is a block diagram illustrating a structure of a servo motor according to an embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating an electronic device including a servo motor according to an embodiment of the present disclosure.
  • FIG. 4 is a flowchart illustrating a servo motor control method in an electronic device according to an embodiment of the present disclosure.
  • FIG. 5 is a flowchart illustrating a servo motor control method in an electronic device according to an embodiment of the present disclosure.
  • FIG. 6 is a flowchart illustrating a servo motor control method in an electronic device according to an embodiment of the present disclosure.
  • FIGS. 7A to 7C are diagrams illustrating a servo motor control method of a servo motor system according to an exemplary embodiment of the present disclosure.
  • FIG. 1 is a block diagram of an electronic device 101 in a network environment 100, according to various embodiments.
  • an electronic device 101 communicates with an electronic device 102 through a first network 198 (eg, a short-range wireless communication network) or a second network 199 . It may communicate with at least one of the electronic device 104 and the server 108 through (eg, a long-distance wireless communication network). According to an embodiment, the electronic device 101 may communicate with the electronic device 104 through the server 108 .
  • a first network 198 eg, a short-range wireless communication network
  • a second network 199 e.g., a second network 199
  • the electronic device 101 may communicate with the electronic device 104 through the server 108 .
  • the electronic device 101 includes a processor 120 , a memory 130 , an input module 150 , a sound output module 155 , a display module 160 , an audio module 170 , and a sensor module ( 176), interface 177, connection terminal 178, haptic module 179, camera module 180, power management module 188, battery 189, communication module 190, subscriber identification module 196 , or an antenna module 197 .
  • at least one of these components eg, the connection terminal 178
  • some of these components are integrated into one component (eg, display module 160 ). can be
  • the processor 120 for example, executes software (eg, a program 140) to execute at least one other component (eg, a hardware or software component) of the electronic device 101 connected to the processor 120. It can control and perform various data processing or operations. According to one embodiment, as at least part of data processing or operation, the processor 120 converts commands or data received from other components (eg, the sensor module 176 or the communication module 190 ) to the volatile memory 132 . may be stored in , process commands or data stored in the volatile memory 132 , and store the result data in the non-volatile memory 134 .
  • software eg, a program 140
  • the processor 120 converts commands or data received from other components (eg, the sensor module 176 or the communication module 190 ) to the volatile memory 132 .
  • the volatile memory 132 may be stored in , process commands or data stored in the volatile memory 132 , and store the result data in the non-volatile memory 134 .
  • the processor 120 is a main processor 121 (eg, a central processing unit or processor) or a secondary processor 123 (eg, a graphics processing unit, a neural network processing unit (NPU) that can operate independently or together with the main processor 121 ). : neural processing unit), image signal processor, sensor hub processor, or communication processor).
  • main processor 121 e.g, a central processing unit or processor
  • secondary processor 123 e.g, a graphics processing unit, a neural network processing unit (NPU) that can operate independently or together with the main processor 121 ).
  • NPU neural network processing unit
  • the secondary processor 123 may, for example, act on behalf of the main processor 121 while the main processor 121 is in an inactive (eg, sleep) state, or when the main processor 121 is active (eg, executing an application). ), together with the main processor 121, at least one of the components of the electronic device 101 (eg, the display module 160, the sensor module 176, or the communication module 190) It is possible to control at least some of the related functions or states.
  • the coprocessor 123 eg, an image signal processor or a communication processor
  • may be implemented as part of another functionally related component eg, the camera module 180 or the communication module 190 ). have.
  • the auxiliary processor 123 may include a hardware structure specialized for processing an artificial intelligence model.
  • Artificial intelligence models can be created through machine learning. Such learning may be performed, for example, in the electronic device 101 itself on which the artificial intelligence model is performed, or may be performed through a separate server (eg, the server 108).
  • the learning algorithm may include, for example, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but in the above example not limited
  • the artificial intelligence model may include a plurality of artificial neural network layers.
  • Artificial neural networks include deep neural networks (DNNs), convolutional neural networks (CNNs), recurrent neural networks (RNNs), restricted boltzmann machines (RBMs), deep belief networks (DBNs), bidirectional recurrent deep neural networks (BRDNNs), It may be one of deep Q-networks or a combination of two or more of the above, but is not limited to the above example.
  • the artificial intelligence model may include, in addition to, or alternatively, a software structure in addition to the hardware structure.
  • the memory 130 may store various data used by at least one component (eg, the processor 120 or the sensor module 176 ) of the electronic device 101 .
  • the data may include, for example, input data or output data for software (eg, the program 140 ) and instructions related thereto.
  • the memory 130 may include a volatile memory 132 or a non-volatile memory 134 .
  • the program 140 may be stored as software in the memory 130 , and may include, for example, an operating system 142 , middleware 144 , or an application 146 .
  • the input module 150 may receive a command or data to be used by a component (eg, the processor 120 ) of the electronic device 101 from the outside (eg, a user) of the electronic device 101 .
  • the input module 150 may include, for example, a microphone, a mouse, a keyboard, a key (eg, a button), or a digital pen (eg, a stylus pen).
  • the sound output module 155 may output a sound signal to the outside of the electronic device 101 .
  • the sound output module 155 may include, for example, a speaker or a receiver.
  • the speaker can be used for general purposes such as multimedia playback or recording playback.
  • the receiver can be used to receive incoming calls. According to one embodiment, the receiver may be implemented separately from or as part of the speaker.
  • the display module 160 may visually provide information to the outside (eg, a user) of the electronic device 101 .
  • the display module 160 may include, for example, a control circuit for controlling a display, a hologram device, or a projector and a corresponding device.
  • the display module 160 may include a touch sensor configured to sense a touch or a pressure sensor configured to measure the intensity of a force generated by the touch.
  • the audio module 170 may convert a sound into an electric signal or, conversely, convert an electric signal into a sound. According to an embodiment, the audio module 170 acquires a sound through the input module 150 , or an external electronic device (eg, a sound output module 155 ) connected directly or wirelessly with the electronic device 101 .
  • the electronic device 102) eg, a speaker or headphones
  • the electronic device 102 may output a sound.
  • the sensor module 176 detects an operating state (eg, power or temperature) of the electronic device 101 or an external environmental state (eg, a user state), and generates an electrical signal or data value corresponding to the sensed state. can do.
  • the sensor module 176 may include, for example, a gesture sensor, a gyro sensor, a barometric pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an IR (infrared) sensor, a biometric sensor, It may include a temperature sensor, a humidity sensor, or an illuminance sensor.
  • the interface 177 may support one or more specified protocols that may be used by the electronic device 101 to directly or wirelessly connect with an external electronic device (eg, the electronic device 102 ).
  • the interface 177 may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.
  • the connection terminal 178 may include a connector through which the electronic device 101 can be physically connected to an external electronic device (eg, the electronic device 102 ).
  • the connection terminal 178 may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (eg, a headphone connector).
  • the haptic module 179 may convert an electrical signal into a mechanical stimulus (eg, vibration or movement) or an electrical stimulus that the user can perceive through tactile or kinesthetic sense.
  • the haptic module 179 may include, for example, a motor, a piezoelectric element, or an electrical stimulation device.
  • the camera module 180 may capture still images and moving images. According to an embodiment, the camera module 180 may include one or more lenses, image sensors, image signal processors, or flashes.
  • the power management module 188 may manage power supplied to the electronic device 101 .
  • the power management module 188 may be implemented as, for example, at least a part of a power management integrated circuit (PMIC).
  • PMIC power management integrated circuit
  • the battery 189 may supply power to at least one component of the electronic device 101 .
  • battery 189 may include, for example, a non-rechargeable primary cell, a rechargeable secondary cell, or a fuel cell.
  • the communication module 190 is a direct (eg, wired) communication channel or a wireless communication channel between the electronic device 101 and an external electronic device (eg, the electronic device 102, the electronic device 104, or the server 108). It can support establishment and communication performance through the established communication channel.
  • the communication module 190 may include one or more communication processors that operate independently of the processor 120 (eg, an application processor) and support direct (eg, wired) communication or wireless communication.
  • the communication module 190 is a wireless communication module 192 (eg, a cellular communication module, a short-range communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module 194 (eg, : It may include a local area network (LAN) communication module, or a power line communication module).
  • a wireless communication module 192 eg, a cellular communication module, a short-range communication module, or a global navigation satellite system (GNSS) communication module
  • GNSS global navigation satellite system
  • wired communication module 194 eg, : It may include a local area network (LAN) communication module, or a power line communication module.
  • a corresponding communication module among these communication modules is a first network 198 (eg, a short-range communication network such as Bluetooth, wireless fidelity (WiFi) direct, or infrared data association (IrDA)) or a second network 199 (eg, legacy It may communicate with the external electronic device 104 through a cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (eg, a telecommunication network such as a LAN or a WAN).
  • a first network 198 eg, a short-range communication network such as Bluetooth, wireless fidelity (WiFi) direct, or infrared data association (IrDA)
  • a second network 199 eg, legacy It may communicate with the external electronic device 104 through a cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (eg, a telecommunication network such as a LAN or a WAN).
  • a telecommunication network
  • the wireless communication module 192 uses subscriber information (eg, International Mobile Subscriber Identifier (IMSI)) stored in the subscriber identification module 196 within a communication network such as the first network 198 or the second network 199 .
  • subscriber information eg, International Mobile Subscriber Identifier (IMSI)
  • IMSI International Mobile Subscriber Identifier
  • the electronic device 101 may be identified or authenticated.
  • the wireless communication module 192 may support a 5G network after a 4G network and a next-generation communication technology, for example, a new radio access technology (NR).
  • NR access technology includes high-speed transmission of high-capacity data (eMBB (enhanced mobile broadband)), minimization of terminal power and access to multiple terminals (mMTC (massive machine type communications)), or high reliability and low latency (URLLC (ultra-reliable and low-latency) -latency communications)).
  • eMBB enhanced mobile broadband
  • mMTC massive machine type communications
  • URLLC ultra-reliable and low-latency
  • the wireless communication module 192 may support a high frequency band (eg, mmWave band) to achieve a high data rate, for example.
  • a high frequency band eg, mmWave band
  • the wireless communication module 192 uses various techniques for securing performance in a high-frequency band, for example, beamforming, massive multiple-input and multiple-output (MIMO), all-dimensional multiplexing. It may support technologies such as full dimensional MIMO (FD-MIMO), an array antenna, analog beam-forming, or a large scale antenna.
  • the wireless communication module 192 may support various requirements defined in the electronic device 101 , an external electronic device (eg, the electronic device 104 ), or a network system (eg, the second network 199 ).
  • the wireless communication module 192 may include a peak data rate (eg, 20 Gbps or more) for realizing eMBB, loss coverage (eg, 164 dB or less) for realizing mMTC, or U-plane latency for realizing URLLC ( Example: Downlink (DL) and uplink (UL) each 0.5 ms or less, or round trip 1 ms or less) can be supported.
  • a peak data rate eg, 20 Gbps or more
  • loss coverage eg, 164 dB or less
  • U-plane latency for realizing URLLC
  • the antenna module 197 may transmit or receive a signal or power to the outside (eg, an external electronic device).
  • the antenna module 197 may include an antenna including a conductor formed on a substrate (eg, a PCB) or a radiator formed of a conductive pattern.
  • the antenna module 197 may include a plurality of antennas (eg, an array antenna). In this case, at least one antenna suitable for a communication method used in a communication network such as the first network 198 or the second network 199 is connected from the plurality of antennas by, for example, the communication module 190 . can be selected. A signal or power may be transmitted or received between the communication module 190 and an external electronic device through the selected at least one antenna.
  • other components eg, a radio frequency integrated circuit (RFIC)
  • RFIC radio frequency integrated circuit
  • the antenna module 197 may form a mmWave antenna module.
  • the mmWave antenna module comprises a printed circuit board, an RFIC disposed on or adjacent to a first side (eg, bottom side) of the printed circuit board and capable of supporting a designated high frequency band (eg, mmWave band); and a plurality of antennas (eg, an array antenna) disposed on or adjacent to a second side (eg, top or side) of the printed circuit board and capable of transmitting or receiving signals of the designated high frequency band. can do.
  • peripheral devices eg, a bus, general purpose input and output (GPIO), serial peripheral interface (SPI), or mobile industry processor interface (MIPI)
  • GPIO general purpose input and output
  • SPI serial peripheral interface
  • MIPI mobile industry processor interface
  • the command or data may be transmitted or received between the electronic device 101 and the external electronic device 104 through the server 108 connected to the second network 199 .
  • Each of the external electronic devices 102 or 104 may be the same as or different from the electronic device 101 .
  • all or a part of operations executed in the electronic device 101 may be executed in one or more external electronic devices 102 , 104 , or 108 .
  • the electronic device 101 may perform the function or service itself instead of executing the function or service itself.
  • one or more external electronic devices may be requested to perform at least a part of the function or the service.
  • One or more external electronic devices that have received the request may execute at least a part of the requested function or service, or an additional function or service related to the request, and transmit a result of the execution to the electronic device 101 .
  • the electronic device 101 may process the result as it is or additionally and provide it as at least a part of a response to the request.
  • cloud computing, distributed computing, mobile edge computing (MEC), or client-server computing technology may be used.
  • the electronic device 101 may provide an ultra-low latency service using, for example, distributed computing or mobile edge computing.
  • the external electronic device 104 may include an Internet of things (IoT) device.
  • the server 108 may be an intelligent server using machine learning and/or neural networks.
  • the external electronic device 104 or the server 108 may be included in the second network 199 .
  • the electronic device 101 may be applied to an intelligent service (eg, smart home, smart city, smart car, or health care) based on 5G communication technology and IoT-related technology.
  • FIG. 2 is a block diagram illustrating a structure of a servo motor 200 according to an embodiment of the present disclosure.
  • the servo motor 200 may include a communication circuit 210 , a control circuit 220 , a memory 221 , a driving circuit 230 , a motor 240 , a sensor 250 , and a power circuit 260 .
  • the communication circuit 210 may be connected to the communication line 201 .
  • the electronic device 101 may be electrically connected to the servo motor 200 .
  • the electronic device 101 may transmit data to the servo motor 200 through the communication line 201 .
  • the communication line 201 may transmit data received from the electronic device 101 to the servo motor 200 .
  • the communication circuit 210 may receive the received data and transmit it to the control circuit 220 .
  • the communication circuit 210 controls the connection of the communication line 201 of the servo motor 200 to the servo motor 200 under the control of the control circuit 220 to activate the communication function of the servo motor 200 or can be deactivated.
  • the communication circuit 210 may be included in the control circuit 220 .
  • the control circuit 220 may include a memory 221 .
  • the memory 221 may be a non-volatile memory.
  • the control circuit 220 may be a micro controller unit (MCU).
  • the control circuit 220 may store data received through the communication circuit 210 in the memory 221 .
  • the control circuit 220 operates and/or operates the communication circuit 210 , the driving circuit 230 , the motor 240 , the sensor 250 , and/or the power circuit 260 according to a command previously stored in the memory 221 . function can be controlled.
  • the control circuit 220 is the communication circuit 210 , the driving circuit 230 , the motor 240 , the sensor 250 and / or control the operation and / or function of the power circuit 260 .
  • the control circuit 220 may transmit a control command to the driving circuit 230 that controls the output of the motor 240 .
  • the control circuit 220 may control an output position and/or an output speed of the motor 240 based on the position information of the motor 240 collected from the sensor 250 .
  • the driving circuit 230 may control an output (eg, an output position and/or an output speed) of the motor 240 based on a command transmitted from the control circuit 220 .
  • An output position and/or an output speed of the motor 240 may be changed according to the output control of the driving circuit 230 .
  • the sensor 250 may sense the rotation speed and position of the motor 240 and transmit it to the control circuit 220 .
  • the sensor 250 may be an encoder.
  • the sensor 250 may include an absolute encoder that detects the absolute position of the motor 240 .
  • An absolute encoder can place an optically binary-coded position code on a rotating disc.
  • the motor 240 may include a rotating disk at least in part, and the central axis of the rotating disk may be the same as the rotational axis of the motor 240 .
  • the light emitting element irradiates light to the rotating disk of the absolute encoder
  • the light receiving element of the absolute encoder may transmit the location code to the control circuit 220 .
  • the control circuit 220 may determine the output position and/or the output speed of the motor 240 based on the position code of the motor 240 received from the sensor 250 .
  • the senor 250 may include an incremental encoder capable of detecting only the relative position from the initial position of the motor 240 .
  • the incremental encoder may include slots arranged at regular intervals on the circumference of the rotating disk.
  • the motor 240 may include a rotating disk at least in part, and the central axis of the rotating disk may be the same as the rotational axis of the motor 240 .
  • the light emitting element irradiates light to the rotating disk of the incremental encoder
  • the light-receiving element of the incremental encoder counts the light acquired through slots arranged at regular intervals on the circumference of the rotating disk, and the detection waveform ( For example, pulse waves) can be generated.
  • the control circuit 220 may determine the output position and/or the output speed of the motor 240 based on the detected waveform of the motor 240 received from the sensor 250 .
  • the power circuit 260 may receive power through the first power line 202 and the second power line 203 .
  • the first power line 202 and the second power line 203 are connected to the electronic device 101 and/or the power supply, the first power line 202 is a positive (+) power line, and the second power source
  • the line may be a negative (-) power line or a ground line.
  • the power circuit 260 may transmit power received through the first power line 202 and the second power line 203 to the servo motor 200 .
  • the power circuit 260 transmits power received through the first power line 202 and the second power line 203 to the communication circuit 210, the control circuit 220, the memory 221, the driving circuit 230, may be transmitted to the motor 240 and/or the sensor 250 .
  • FIG 3 is a diagram illustrating an electronic device 101 according to an embodiment of the present disclosure.
  • the electronic device 101 may include a master device 301 and/or a plurality of servo motors 302 and 303 .
  • the plurality of servo motors may include a first servo motor 302 and a second servo motor 303 .
  • the plurality of servo motors may further include N (N is a natural number) number of servo motors as well as the first servo motor 302 and the second servo motor 303 according to a configuration.
  • the plurality of servo motors 302 and 303 may be the same as, for example, the servo motor 200 of FIG. 2 .
  • the master device 301 and the plurality of servo motors 302 and 303 may be connected in series.
  • the master device 301 may be a controllable electronic device including a processor 310 (eg, the processor 120 of FIG. 1 ).
  • the master device 301 may be electrically connected to the first servo motor 302 through the communication line 201 , the first power line 202 , and/or the second power line 203 .
  • the master device 301 may be communicatively connected with another electronic device 201 external to the electronic device 101 .
  • the electronic device 101 may communicate with the other electronic device 102 using a universal asynchronous receiver/transmitter (UART).
  • UART universal asynchronous receiver/transmitter
  • the other electronic device 201 may transmit a control command and/or a communication control function to the master device 301 .
  • the other electronic device 102 may be a processing computer.
  • the first servo motor 302 may be electrically connected to the master device 301 and the second servo motor 302 through a communication line 201 , a first power line 202 and/or a second power line 203 .
  • the second servo motor 303 may be electrically connected to the first servo motor 301 through a communication line 201 , a first power line 202 , and/or a second power line 203 .
  • the first servo motor 302 and / or the second servo motor 303 is internally the input and output of the communication line 201, the first power line 202 and / or the second power line 203 is electrically short-circuited ( short), and the internal circuits 312 and 313 may be electrically connected in parallel from the communication line 201 , the first power line 202 and/or the second power line 203 .
  • the internal circuits 312 and 313 included in each of the first servo motor 302 and/or the second servo motor 303 may be the communication circuit 210 and/or the power supply circuit 260 of FIG. 2 .
  • FIG. 4 is a flowchart illustrating a servo motor control method in the electronic device 101 according to an embodiment of the present disclosure.
  • the servo motor 200 may enter a standby state under the control of the control circuit 220 in operation 401 . When power is applied, the servo motor 200 may enter a standby state until a command is input from the electronic device 101 and/or another electronic device 102 .
  • the servo motor 200 in operation 401, under the control of the control circuit 220, while maintaining the activation state of the communication function (or, communication) other functions can enter the idle (idle) state. have.
  • the servo motor 200 may determine whether a predetermined function is in an on state under the control of the control circuit 220 .
  • the predetermined function may be a control function of turning off a communication function (or communication) of the servo motor 200 when the servo motor 200 is located in a predetermined range or an initial position.
  • the predetermined function may be a control function of turning off a communication function (or communication) of the servo motor 200 when the servo motor 200 is not located outside a predetermined range or at an initial position.
  • the predetermined function may be a communication control function.
  • the control circuit 220 turns on the predetermined function It can be determined whether or not
  • the servo motor 200 may branch from operation 403 to operation 405 when a predetermined function is turned on.
  • the servo motor 200 may branch from operation 403 to operation 413 .
  • the servo motor 200 may check the position information of the servo motor 200 under the control of the control circuit 220 in operation 405 .
  • the servo motor 200 may check the position information of the motor 240 using the sensor 250 under the control of the control circuit 220 in operation 405 .
  • the sensor 250 may include an absolute encoder.
  • the servo motor 200 including the absolute encoder may check the position information of the servo motor 200 based on the position code of the motor 240 received from the sensor 250 .
  • the servo motor 200 may check the position information of the motor 240 using the sensor 250 under the control of the control circuit 220 in operation 405 .
  • the sensor 250 may include an incremental encoder.
  • the servo motor 200 including the incremental encoder may check the position information of the servo motor 200 based on the detection waveform received from the sensor 250 .
  • the servo motor 200 may determine whether the position of the servo motor 200 is within a predetermined range or an initial position based on the position information under the control of the control circuit 220 .
  • the predetermined range or initial position may be an angle or position range of the servo motor 200 .
  • the servo motor 200 in operation 407, under the control of the control circuit 220, the position of the servo motor 200 based on the position information It can be determined whether it is within a predetermined range.
  • the servo motor 200 if the servo motor 200 includes an incremental encoder, the servo motor 200, under the control of the control circuit 220, in operation 407, based on the position information of the servo motor 200 It may be determined whether the position is in the initial position.
  • the servo motor 200 may move the position of the servo motor 200 within a predetermined range or to an initial position by an external force.
  • the external force may be a force that moves the drive shaft of the servo motor 200 by the force of a human or an external driving source.
  • the servo motor 200 may branch from operation 407 to operation 409 under the control of the control circuit 220 .
  • the servo motor 200 may branch from operation 407 to operation 413 under the control of the control circuit 220 .
  • the servo motor 200 may turn off the communication function under the control of the control circuit 220 in operation 409 .
  • the servo motor 200 may perform a standby operation under the control of the control circuit 220 in operation 411 .
  • the servo motor 200 may perform a standby operation while the communication function is turned on or off under the control of the control circuit 220 .
  • the servo motor 200 may turn on a communication function under the control of the control circuit 220 in operation 413 .
  • FIG. 5 is a flowchart illustrating a servo motor control method in the electronic device 101 according to an embodiment of the present disclosure.
  • the servo motor 200 may enter a standby state under the control of the control circuit 220 in operation 501 . When power is applied, the servo motor 200 may enter a standby state until a command is input from the electronic device 101 and/or another electronic device 102 .
  • the servo motor 200 may, in operation 501 , enter an idle state for another function while maintaining the activation state of the communication function (or communication) under the control of the control circuit 220 . have.
  • the servo motor 200 may determine whether a predetermined function is in an on state under the control of the control circuit 220 in operation 503 .
  • the predetermined function may be a control function of turning off a communication function (or communication) of the servo motor 200 when the servo motor 200 is located in a predetermined range or an initial position.
  • the predetermined function may be a control function of turning off a communication function (or communication) of the servo motor 200 when the servo motor 200 is not located outside a predetermined range or at an initial position.
  • the predetermined function may be a communication control function.
  • the control circuit 220 turns on the predetermined function It can be determined whether or not
  • the servo motor 200 may branch from operation 503 to operation 505 when a predetermined function is turned on.
  • the servo motor 200 may branch from operation 503 to operation 517 when a predetermined function is turned off.
  • the servo motor 200 may check the position information of the servo motor 200 under the control of the control circuit 220 in operation 505 .
  • the servo motor 200 may check the position information of the motor 240 using the sensor 250 under the control of the control circuit 220 in operation 505 .
  • the sensor 250 may include an absolute encoder.
  • the servo motor 200 including the absolute encoder may check the position information of the servo motor 200 based on the position code of the motor 240 received from the sensor 250 .
  • the servo motor 200 may check the position information of the motor 240 using the sensor 250 under the control of the control circuit 220 in operation 505 .
  • the sensor 250 may include an incremental encoder.
  • the servo motor 200 including the incremental encoder may check the position information of the servo motor 200 based on the detection waveform received from the sensor 250 .
  • the servo motor 200 may determine whether the range inversion function is executed under the control of the control circuit 220 in operation 507 .
  • the control circuit 220 may determine whether a command relating to a range inverse function has been transmitted and/or executed.
  • the control circuit 220 may invert the positioning range when a command related to the function of inverting the positioning range is executed in the memory 221 .
  • the servo motor 200 may branch from operation 507 to operation 509 .
  • the servo motor 200 may branch from operation 507 to operation 515 .
  • the servo motor 200 determines whether the position of the servo motor 200 is outside a predetermined range or a position other than the initial position based on the position information under the control of the control circuit 220 . can
  • the servo motor 200 determines whether the position of the servo motor 200 is outside a predetermined range based on the position information under the control of the control circuit 220 . can judge
  • the servo motor 200 includes an incremental encoder, the servo motor 200, in operation 509, under the control of the control circuit 220, the position of the servo motor 200 based on the position information is the initial position You can determine if it is in a non-existent location.
  • the servo motor 200 may move the position of the servo motor 200 to a position outside a predetermined range or out of an initial position by an external force.
  • the external force may be a force that moves the drive shaft of the servo motor 200 by the force of a human or an external driving source.
  • the servo motor 200 may branch from operation 509 to operation 511 under the control of the control circuit 220 .
  • the servo motor 200 may branch from operation 509 to operation 517 under the control of the control circuit 220 .
  • the servo motor 200 may turn off the communication function under the control of the control circuit 220 in operation 511 .
  • the servo motor 200 may perform a standby operation under the control of the control circuit 220 in operation 513 .
  • the servo motor 200 may perform a standby operation while the communication function is turned on or off under the control of the control circuit 220 .
  • the servo motor 200 may turn on a communication function under the control of the control circuit 220 in operation 517 .
  • the servo motor 200 may determine whether the position of the servo motor 200 is within a predetermined range or an initial position based on the position information under the control of the control circuit 220 .
  • the predetermined range or initial position may be an angle or position range of the servo motor 200 .
  • the servo motor 200 in operation 515, under the control of the control circuit 220, the position of the servo motor 200 based on the position information It can be determined whether it is within a predetermined range.
  • the servo motor 200 may move the position of the servo motor 200 to a position outside a predetermined range or out of an initial position by an external force.
  • the external force may be a force that moves the drive shaft of the servo motor 200 by the force of a human or an external driving source.
  • the servo motor 200 in operation 515 , under the control of the control circuit 220 , based on the position information of the servo motor 200 It may be determined whether the position is in the initial position.
  • the servo motor 200 may branch from operation 515 to operation 511 under the control of the control circuit 220 .
  • the servo motor 200 may branch from operation 515 to operation 517 under the control of the control circuit 220 .
  • the servo motor 200 may turn off the communication function under the control of the control circuit 220 in operation 511 .
  • the servo motor 200 may perform a standby operation while the communication function is turned on or off under the control of the control circuit 220 .
  • the servo motor 200 may turn on a communication function under the control of the control circuit 220 in operation 517 .
  • FIG. 6 is a flowchart illustrating a servo motor ID setting method of the electronic device 101 according to an embodiment of the present disclosure.
  • step 601 when the assembly of the servo motors (eg, 200 , 302 , 303 ) and/or the master device 301 included in the electronic device 101 is completed, the electronic device 101 is the master device 301 .
  • the processor 310 of the plurality of servo motors eg, 200, 302, 303 can be controlled to turn off the communication function (or communication).
  • step 603 the communication function of at least one servo motor is turned on by moving the servo motors (eg, 200, 302, 303) by external force, and the communication function of the remaining servo motors is turned off.
  • the servo motors eg, 200, 302, 303
  • the servo motor (eg, 200 , 302 , 303 ) has a preset function in an assembled state, and the position of the servo motor 200 is within a predetermined range. If present or in the initial position, the servo motor (eg, 200 , 302 , 303 ) may turn off the communication function.
  • the servo motor (eg, 200 , 302 , 303 ) has a preset function on when the range reversal function is executed, the position of the servo motor 200 is outside the predetermined range, or When in a position other than the initial position, the servo motor (eg, 200 , 302 , 303 ) may turn off the communication function.
  • step 605 the communication function is set to the ID of at least one servo motor (eg, 200, 302, 303) in the on state, and the ID is set to the servo motor (eg, 200, 302, 303) It is possible to turn off (off) a predetermined function of.
  • the communication function is set to the ID of at least one servo motor (eg, 200, 302, 303) in the on state, and the ID is set to the servo motor (eg, 200, 302, 303) It is possible to turn off (off) a predetermined function of.
  • the electronic device 101 may transmit the ID received from the other electronic device 102 to the servo motors (eg, 200 , 302 , 303 ) by the master device 301 .
  • the master device 301 may transmit the ID received from the other electronic device 102 to the servo motors (eg, 200 , 302 , 303 ).
  • the ID may include a different ID for each of the plurality of servo motors (eg, 200 , 302 , 303 ).
  • the servo motors may store the ID received from the master device 301 in the memory 221 .
  • the electronic device 101 may turn off a predetermined function of the servo motor to which the ID is set under the control of the processor 310 of the master device 301 .
  • the electronic device 101 may receive a command related to turning off a predetermined function of the servo motor to which the ID is set from the other electronic device 102 .
  • the servo motors eg, 200 , 302 , and 303 ) may turn off a predetermined function according to a command regarding turning off a predetermined function received from the master device 301 .
  • the predetermined function of FIG. 6 is to turn off the communication function (or communication) of the servo motor 200 when the servo motor 200 is located in a predetermined range or initial position. It may be a control function. In various embodiments, the predetermined function may be a control function of turning off a communication function (or communication) of the servo motor 200 when the servo motor 200 is not located outside a predetermined range or at an initial position. .
  • the servo motor whose ID is set may have a predetermined function turned off and a communication function may be maintained in an on state.
  • step 607 it is determined whether the ID setting of the plurality of servo motors (eg, 200, 301, 302) is completed, and the ID setting of the plurality of servo motors (eg, 200, 301, 302) is completed. If not, it can branch from step 607 to step 605.
  • the ID setting of the plurality of servo motors eg, 200, 301, 302
  • step 607 when the ID setting of the plurality of servo motors (eg, 200 , 301 , 302 ) is completed, the ID setting process may be completed.
  • the ID setting process is completed, a predetermined function of the plurality of servo motors (eg, 200 , 301 , 302 ) included in the electronic device 101 is in an off state, so communication is performed regardless of the angle of the servo motor.
  • the feature is on and you can set different IDs.
  • FIGS. 7A to 7C are diagrams illustrating a servo motor control method of the servo motor system 300 according to an exemplary embodiment of the present disclosure.
  • the electronic device 101 may be electrically connected to the first servo motor 302 and the second servo motor 303 .
  • the first servo motor 302 and the second servo motor 303 may enter a standby state.
  • the communication function (or communication) may be turned off and a predetermined function may be turned on.
  • the IDs of the first servo motor 302 and the second servo motor 303 may be factory initial states, and the first servo motor 302 and the second servo motor 303 may have the same ID.
  • the first servo motor 302 if the first servo motor 302 is in the predetermined range 701 and the second servo motor 303 is outside the predetermined range 701, the first servo motor ( The communication function of the 302 may be turned off and the communication function of the second servo motor 303 may be turned on.
  • the second servo motor 303 may receive the ID from the master device 301 and/or another electronic device 102 and store it in the memory 221 .
  • the second servo motor 303 may set an ID and receive an off command of a predetermined function from the master device 301 and/or another electronic device 102 .
  • the communication function may be turned on regardless of the angle of the servo motor.
  • the ID of the second servo motor 303 may be 1.
  • the communication function of the first servo motor 302 may be turned on.
  • the first servo motor 302 may receive the ID from the master device 301 and/or another electronic device 102 and store it in the memory 221 .
  • the first servo motor 302 may set an ID and receive an off command of a predetermined function from the master device 301 and/or another electronic device 102 .
  • the communication function may be turned on regardless of the angle of the servo motor.
  • the ID of the first servo motor 302 may be 2.
  • the electronic device may have various types of devices.
  • the electronic device may include, for example, a portable communication device (eg, a smart phone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a home appliance device.
  • a portable communication device eg, a smart phone
  • a computer device e.g., a smart phone
  • a portable multimedia device e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a wearable device e.g., a smart bracelet
  • a home appliance device e.g., a home appliance
  • first, second, or first or second may simply be used to distinguish an element from other elements in question, and may refer elements to other aspects (e.g., importance or order) is not limited. It is said that one (eg, first) component is “coupled” or “connected” to another (eg, second) component, with or without the terms “functionally” or “communicatively”. When referenced, it means that one component can be connected to the other component directly (eg by wire), wirelessly, or through a third component.
  • module used in various embodiments of this document may include a unit implemented in hardware, software, or firmware, and is interchangeable with terms such as, for example, logic, logic block, component, or circuit.
  • a module may be an integrally formed part or a minimum unit or a part of the part that performs one or more functions.
  • the module may be implemented in the form of an application-specific integrated circuit (ASIC).
  • ASIC application-specific integrated circuit
  • Various embodiments of the present document include one or more instructions stored in a storage medium (eg, internal memory 136 or external memory 138) readable by a machine (eg, electronic device 101).
  • a storage medium eg, internal memory 136 or external memory 138
  • the processor eg, the processor 120
  • the device eg, the electronic device 101
  • the one or more instructions may include code generated by a compiler or code executable by an interpreter.
  • the device-readable storage medium may be provided in the form of a non-transitory storage medium.
  • 'non-transitory' only means that the storage medium is a tangible device and does not contain a signal (eg, electromagnetic wave), and this term is used in cases where data is semi-permanently stored in the storage medium and It does not distinguish between temporary storage cases.
  • a signal eg, electromagnetic wave
  • the method according to various embodiments disclosed in this document may be provided in a computer program product (computer program product).
  • Computer program products may be traded between sellers and buyers as commodities.
  • the computer program product is distributed in the form of a machine-readable storage medium (eg compact disc read only memory (CD-ROM)), or via an application store (eg Play Store TM ) or on two user devices ( It can be distributed (eg downloaded or uploaded) directly or online between smartphones (eg: smartphones).
  • a portion of the computer program product may be temporarily stored or temporarily created in a machine-readable storage medium such as a memory of a server of a manufacturer, a server of an application store, or a relay server.
  • each component eg, a module or a program of the above-described components may include a singular or a plurality of entities, and some of the plurality of entities may be separately disposed in other components. have.
  • one or more components or operations among the above-described corresponding components may be omitted, or one or more other components or operations may be added.
  • a plurality of components eg, a module or a program
  • the integrated component may perform one or more functions of each component of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. .
  • operations performed by a module, program, or other component are executed sequentially, in parallel, repeatedly, or heuristically, or one or more of the operations are executed in a different order, or omitted. , or one or more other operations may be added.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

Dans un dispositif électronique comprenant au moins un servomoteur, le servomoteur comprend : un circuit de communication ; un circuit d'attaque ; un moteur ; un capteur ; et un circuit de commande, le circuit de commande pouvant : commander ledit servomoteur pour qu'il entre dans un état de veille ; lorsque ledit servomoteur entre dans l'état de veille, déterminer si une fonction prédéterminée dudit servomoteur est activée ; lorsque la fonction prédéterminée est activée, identifier des informations de position concernant ledit servomoteur à l'aide du capteur ; sur la base des informations de position, déterminer si la position dudit servomoteur est comprise dans une plage de positions prédéterminée ou se trouve à une position initiale ; et, lorsque la position dudit servomoteur est comprise dans la plage de positions prédéterminée ou se trouve à la position initiale, désactiver une fonction de communication.
PCT/KR2022/003307 2021-03-11 2022-03-08 Dispositif électronique comprenant un servomoteur et procédé de commande d'un servomoteur WO2022191607A1 (fr)

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KR1020210032078A KR20220127596A (ko) 2021-03-11 2021-03-11 서보 모터를 포함하는 전자 장치 및 서보 모터 제어 방법
KR10-2021-0032078 2021-03-11

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KR20110013040A (ko) * 2009-07-31 2011-02-09 삼성중공업 주식회사 통합 서보 드라이브 및 모터 제어 방법
KR20140007477A (ko) * 2011-08-26 2014-01-17 미쓰비시덴키 가부시키가이샤 일체형 서보 시스템, 모터 시스템 및 모터의 제어 방법
KR20150040655A (ko) * 2013-10-07 2015-04-15 삼성전자주식회사 액추에이터 유닛, 이를 포함한 로봇 및 감속기 장치
KR20150134323A (ko) * 2013-03-29 2015-12-01 파나소닉 아이피 매니지먼트 가부시키가이샤 모터 구동 장치의 서보 조정 방법

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070048667A (ko) * 2003-03-06 2007-05-09 다마가와 세이끼 가부시키가이샤 구동 회로 내장형 서보 모터의 구동 방법
KR20110013040A (ko) * 2009-07-31 2011-02-09 삼성중공업 주식회사 통합 서보 드라이브 및 모터 제어 방법
KR20140007477A (ko) * 2011-08-26 2014-01-17 미쓰비시덴키 가부시키가이샤 일체형 서보 시스템, 모터 시스템 및 모터의 제어 방법
KR20150134323A (ko) * 2013-03-29 2015-12-01 파나소닉 아이피 매니지먼트 가부시키가이샤 모터 구동 장치의 서보 조정 방법
KR20150040655A (ko) * 2013-10-07 2015-04-15 삼성전자주식회사 액추에이터 유닛, 이를 포함한 로봇 및 감속기 장치

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