Position detection assembly, motion control system and robot

Abstract

The application provides a position detection assembly, a motion control system and a robot, wherein the position detection assembly comprises a first position detection channel and a second position detection channel; the first position detection channel is used for detecting an absolute position and a first relative position of a measured object, and generating and outputting an absolute position signal and a first relative position signal; the second position detection channel is used for detecting a second relative position of the measured object, and generating and outputting a second relative position signal; wherein the absolute position signal, the first relative position signal and the second relative position signal are used for judging whether the position detection assembly is abnormal. In this way, the position detection assembly can output three position signals, the three position signals supervise each other, reflect the state of the position detection assembly, and the method of mutual monitoring of the three position signals is used to identify the abnormality of the position detection assembly, so that the safety and reliability are extremely high, and motion control can be performed in time.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a position detection component, a motion control system, and a robot. Background Technology

[0002] With the rapid development of computer technology, internet technology, and artificial intelligence technology, more and more automatic control devices have emerged and are applied in many aspects of people's lives and work. Position detection components are key components in the field of automatic control, widely used in industrial robots, CNC machine tools, automobiles, medical equipment, and other fields. They are used to detect the position information of the measured object, such as angular displacement and linear displacement, and convert it into easily processed electrical signals to control motion.

[0003] Since the position detection component is the position feedback element for the movement of the equipment, its working status directly affects the equipment. An error in the output of the position detection component can lead to abnormal movement of the equipment or even runaway, which can cause harm to the equipment and personnel. Therefore, it is required that the fault status of the position detection component can be detected in a timely manner so that measures such as stopping the movement can be taken.

[0004] In the existing technology, traditional position detection components detect internal intermediate variables, such as voltage and magnetic field strength, through internal processing circuits or MCUs (microcontrollers) and output abnormal status bits. However, such position detection components can only detect abnormal intermediate variables, and cannot reliably detect abnormal positions. The number of abnormal states that can be detected is limited, so the safety and reliability are limited. Motion control cannot be performed in a timely and effective manner, and the timeliness and accuracy of motion control are poor, which can easily lead to danger. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a position detection component, a motion control system, and a robot to address the technical deficiencies existing in the prior art.

[0006] According to a first aspect of the present invention, a position detection component is provided, the position detection component including a first position detection channel and a second position detection channel;

[0007] The first position detection channel is used to detect the absolute position and the first relative position of the object being measured, and to generate and output the absolute position signal and the first relative position signal.

[0008] The second position detection channel is used to detect the second relative position of the object being measured, and to generate and output the second relative position signal.

[0009] Among them, the absolute position signal, the first relative position signal, and the second relative position signal are used to determine whether the position detection component is abnormal.

[0010] According to a second aspect of the present invention, a motion control system is provided, the motion control system including a position detection component, a drive component, and a safety control component;

[0011] The position detection component is configured to output an absolute position signal, a first relative position signal, and a second relative position signal;

[0012] The driving component is configured to acquire the absolute position signal output by the position detection component, determine whether the position detection component is abnormal based on the absolute position signal, and generate a motion stop command if so.

[0013] The safety control component is configured to acquire a first relative position signal and a second relative position signal output by the position detection component, and based on the first relative position signal and the second relative position signal, determine whether the position detection component is abnormal. If so, a motion stop command is generated.

[0014] According to a third aspect of the present invention, a robot is provided, comprising: a motion control system and a motor, wherein the motion control system includes a position detection component, a motor drive component and a safety control component;

[0015] The position detection component is configured to output an absolute position signal, a first relative position signal, and a second relative position signal;

[0016] The motor drive component is configured to acquire the absolute position signal output by the position detection component, determine whether the position detection component is abnormal based on the absolute position signal, and if so, trigger a motion stop command.

[0017] The safety control component is configured to acquire a first relative position signal and a second relative position signal output by the position detection component, and based on the first relative position signal and the second relative position signal, determine whether the position detection component is abnormal. If so, it sends a motion stop command to the motor drive component.

[0018] The motor drive assembly is further configured to control the motor to stop running based on a motion stop command.

[0019] The position detection component provided by this invention includes a first position detection channel and a second position detection channel. The first position detection channel is used to detect the absolute position and the first relative position of the object being measured, generating and outputting the absolute position signal and the first relative position signal. The second position detection channel is used to detect the second relative position of the object being measured, generating and outputting the second relative position signal. The absolute position signal, the first relative position signal, and the second relative position signal are used to determine whether the position detection component is malfunctioning. In this case, the position detection component can output three position signals, which can monitor each other and reflect the state of the position detection component. Therefore, the three position signals can be combined to determine whether the position detection component is malfunctioning, thereby controlling the movement. Using a method of mutual monitoring of three position signals to identify malfunctions of the position detection component can cover almost all malfunctions of the position detection component, providing extremely high safety and reliability. It can effectively and promptly control and stop movement, greatly improving the timeliness and accuracy of motion control and avoiding danger.

[0020] The motion control system provided by the present invention includes a position detection component, a drive component, and a safety control component. The position detection component is configured to output an absolute position signal, a first relative position signal, and a second relative position signal. The drive component is configured to acquire the absolute position signal output by the position detection component, determine whether the position detection component is abnormal based on the absolute position signal, and if so, generate a motion stop command. The safety control component is configured to acquire the first relative position signal and the second relative position signal output by the position detection component, determine whether the position detection component is abnormal based on the first relative position signal and the second relative position signal, and if so, generate a motion stop command.

[0021] In this scenario, the position detection component can output three position signals. These three signals can monitor each other, reflecting the component's status. Therefore, by combining these three signals, it's possible to determine if the position detection component is malfunctioning, thereby controlling the movement. This method of mutual monitoring of three position signals to identify position detection component anomalies covers almost all possible scenarios, ensuring extremely high safety and reliability. It enables timely and effective control to stop movement, significantly improving the timeliness and accuracy of motion control and preventing hazards. Furthermore, the drive component analyzes the absolute position signal to determine if the position detection component is malfunctioning, and the safety control component analyzes the first relative position signal to determine if the position detection component is malfunctioning. The three position signals output by the position detection component are not reused, preventing identical or similar anomalies from causing both sets of output components to malfunction. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a position detection component provided in an embodiment of the present invention;

[0023] Figure 2 This is a flowchart of a position detection method provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of a motion control system provided in an embodiment of the present invention;

[0025] Figure 4 This is a flowchart of a motion control method provided in an embodiment of the present invention;

[0026] Figure 5 This is a flowchart of another motion control method provided in an embodiment of the present invention;

[0027] Figure 6 This is a structural block diagram of a safety controller provided in an embodiment of the present invention;

[0028] Figure 7 This is a structural block diagram of a robot provided in an embodiment of the present invention. Detailed Implementation

[0029] Numerous specific details are set forth in the following description to provide a full understanding of the invention. However, the invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0030] The terminology used in one or more embodiments of the present invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The singular forms “a,” “the,” and “the” used in one or more embodiments of the invention and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of the invention refers to and includes any or all possible combinations of one or more associated listed items.

[0031] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of the present invention, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of the present invention, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0032] First, the terminology used in one or more embodiments of the present invention will be explained.

[0033] Servo control: To achieve a certain purpose, generating motion and controlling the motion of objects are important activities. Servo control is the effective control of changes in the position, speed and acceleration of an object.

[0034] An encoder is a device that encodes and converts signals (such as bitstreams) or data into a signal form that can be used for communication, transmission, and storage. Encoders convert angular or linear displacement into electrical signals; the former is called a code disk, and the latter a code scale. According to the readout method, encoders can be divided into contact and non-contact types; according to their working principle, they can be divided into incremental and absolute types. Incremental encoders convert displacement into periodic electrical signals, and then convert these electrical signals into counting pulses, using the number of pulses to represent the magnitude of the displacement. Each position of an absolute encoder corresponds to a specific digital code; therefore, its reading depends only on the starting and ending positions of the measurement, and is independent of the intermediate steps.

[0035] Differential signal: A signal that uses a single numerical value to represent the difference between two physical quantities. Differential signal, also known as differential-mode signal, is the opposite of common-mode signal.

[0036] It should be noted that the position detection component is a key component of servo control, widely used in industrial robots, CNC machine tools, automobiles, medical equipment, and other fields. It is used to detect the angular displacement, linear displacement, and other positional information of the object being measured, converting this information into easily processed electrical signals to control motor operation. Since the position detection component is the position feedback element of the motor equipment, its working state directly affects the motor output. Errors in the position detection component's output can lead to abnormal motor operation or even runaway, causing harm to equipment and personnel. Therefore, it is essential that the fault status of the position detection component be detected promptly so that measures such as stopping the machine can be taken.

[0037] In the existing technology, traditional position detection components detect internal intermediate variables, such as voltage and magnetic field strength, through internal processing circuits or MCUs (microcontrollers) and output abnormal status bits. However, such position detection components can only detect abnormal intermediate variables, and cannot reliably detect abnormal position outputs. The number of abnormal states that can be detected is limited, so the safety and reliability are limited. They cannot control the motor to stop running in a timely and effective manner, and the timeliness and accuracy of motion control are poor, which can easily lead to danger.

[0038] Therefore, in order to solve the above problems, the embodiments of the present invention adopt a non-similarity redundancy architecture. Each set of position detection components has redundant position detection components inside, and the redundant components are electrically and physically isolated from the original components to avoid fault propagation. The redundant components and the original components are incremental and absolute differential outputs, respectively, to avoid the same or similar faults causing both sets of position output components to fail, thus having high reliability and safety.

[0039] In this invention, a position detection component and method, a motion control system and method, a safety controller, a computer-readable storage medium, and a robot are provided, which will be described in detail in the following embodiments.

[0040] This invention provides a schematic diagram of the structure of a position detection component, as shown below. Figure 1 As shown, the position detection component includes a first position detection channel 1 and a second position detection channel 2;

[0041] The first position detection channel 1 is used to detect the absolute position and the first relative position of the object being measured, and to generate and output the absolute position signal and the first relative position signal.

[0042] The second position detection channel 2 is used to detect the second relative position of the object being measured, and to generate and output the second relative position signal; wherein, the absolute position signal, the first relative position signal and the second relative position signal are used to determine whether the position detection component is abnormal.

[0043] Specifically, a position detection component refers to a component used to detect the position of a measured object. This position detection component can be an encoder, which is divided into absolute encoders and incremental encoders, which output absolute position signals and relative position signals respectively. The internal signal conversion principles and output methods of the two types of encoders are different.

[0044] In practical applications, the position detection component is equipped with two position detection channels. The first position detection channel provides both absolute and incremental position detection methods, capable of detecting the absolute position and the first relative position of the measured object, outputting two position outputs: an absolute position signal and a first relative position signal. The second position detection channel provides incremental detection, detecting the second relative position of the measured object, and outputting a second relative position signal. In other words, the first and second position detection channels are arranged in parallel, outputting three position signals.

[0045] Absolute position requires defining a mechanical origin, and positioning calculations are performed based on this mechanical origin, which is the absolute position detection method; relative position uses the object being measured itself as the origin, that is, it is calculated based on the current position, without needing to return to the mechanical origin, which is the incremental position detection method.

[0046] In one possible implementation, the first position detection channel and the second position detection channel can be designed with a common ground in the circuit. It should be noted that the first position detection channel and the second position detection channel can be designed with a common ground or not. Using a common ground design can simplify the power supply design, thereby simplifying the circuit.

[0047] In addition to the absolute position of the measured object, the absolute position signal can also include position status information generated based on intermediate variables. The position status information is a digital quantity, such as hexadecimal 0x00 indicating no abnormality, 0x01 indicating an abnormality in the least significant bit, and 0xFF indicating an abnormality in all bits. The specific abnormality needs to be parsed according to the protocol, which can be set by yourself or by referring to the settings of relevant products.

[0048] It should be noted that the position detection component features two position detection channels, each with a different internal structure and output. This means the position detection component employs a non-similar redundancy architecture. The two position detection channels are electrically and physically isolated, ensuring that a faulty channel does not affect the operation of the normal channel. Furthermore, the second position detection channel uses incremental position detection and output, while the first position detection channel uses both incremental and absolute position detection and output methods. This prevents identical or similar faults from causing malfunctions in both position output components.

[0049] In one optional implementation of this embodiment, such as Figure 1 As shown, the first position detection channel 1 includes a first position detection unit 11, a conversion unit 12, and a first differential unit 13; the first position detection unit 11 is communicatively connected to the conversion unit 12 and the first differential unit 13, respectively.

[0050] The first position detection unit 11 is used to detect the absolute position of the object being measured and transmit the absolute position to the conversion unit 12; the conversion unit 12 is used to perform level conversion on the absolute position to obtain an absolute position signal.

[0051] The first position detection unit 11 is also used to detect the first relative position of the object being measured and transmit the first relative position to the first differential unit 13; the first differential unit 13 is used to perform differential conversion on the first relative position to obtain the first relative position signal.

[0052] Specifically, the first position detection unit can detect the position of the object being measured and provide two digital signal outputs (absolute position and first relative position). The absolute position needs to be converted by the conversion unit for level conversion and communication with the outside world. The first relative position needs to be converted by the first differential unit for differential conversion and communication with the outside world.

[0053] In practical applications, the absolute position output by the first position detection unit is an absolute digital signal, and the first relative position output is an incremental digital signal. The conversion unit can perform level conversion on the absolute digital signal, converting the absolute position into a signal conforming to the corresponding communication specifications to obtain the absolute position signal for communication with the outside world. For example, this conversion unit can be a level conversion unit. In addition, since the absolute position signal can be used to supply the drive component for anomaly detection, and the drive component is a high-power and high-interference component, it can also provide digital signal isolation function. After isolating the absolute position output by the first position detection unit, it is converted into a signal conforming to the corresponding communication specifications to obtain the absolute position signal for communication with the outside world. That is, this conversion unit can be an isolation and level conversion unit. The isolation design can improve the stability of the position detection component.

[0054] The first differential unit can convert incremental digital signals into differential signals, that is, convert the first relative position output by the first position detection unit into a pair of differential signals to obtain the first relative position signal for communication with the outside world. For example, the first differential unit can be a single-ended to differential unit. The single-ended to differential unit is equipped with a dedicated chip to realize differential signal conversion, converting incremental digital signals into differential signals, which can improve the anti-interference capability of communication.

[0055] It should be noted that the position detection component includes two position detection channels and three position signal outputs. The first position detection channel outputs an absolute position signal and a first relative position signal. The absolute position signal is transmitted via RS485 communication, and the first relative position signal is transmitted via ABZ differential signal transmission. In this way, the two position detection channels can output three position signals through different communication methods, providing them to their respective components. This avoids the possibility of both position output components malfunctioning due to the same or similar faults. Furthermore, outputting the relative position of the measured object via differential signals improves the anti-interference capability of the position detection.

[0056] In one optional implementation of this embodiment, such as Figure 1 As shown, the first position detection unit 11 includes a first power supply 111, a first position detection sensor 112, and a microcontroller unit 113. The first power supply 111, the first position detection sensor 112, and the microcontroller unit 113 are interconnected. The first power supply 111 is used to power the first position detection sensor 112 and the microcontroller unit 113. The microcontroller unit 113 is used to read the absolute position from the first position detection sensor 112. The first position detection sensor 112 is used to detect the absolute position and the first relative position of the object being measured.

[0057] In practical applications, the first power supply is preferably a step-down regulator circuit, providing power to the microcontroller unit (MCU) and the first position detection sensor that meets specific voltage and ripple requirements. The MCU is preferably a low-power ARM processor, which can communicate with the first position detection sensor via a digital interface to read the absolute position and internal position state information of the sensor; alternatively, it can read the analog signal converted by the first position detection sensor via an analog interface, calculate the absolute position and internal position state information, and then transmit the acquired absolute position and internal position state information to the conversion unit for isolation conversion and output of the absolute position signal.

[0058] In addition, the first position detection sensor can convert the intensity signal into a voltage signal. After processing by the internal conditioning and calculation circuit, the conversion result is transmitted to the MCU through an analog interface or a digital interface. The first position detection sensor can be a magnetic sensor, or other types of sensors, such as photoelectric, capacitive, and inductive sensors.

[0059] Furthermore, such as Figure 1 As shown, the first position detection channel 1 may further include a first power supply circuit 14, which supplies power to the first power supply 111. That is, the first position detection channel 1 may consist of a first power supply 111, a microcontroller unit (MCU) 113, a first position detection sensor 112, a conversion unit 12, a first differential unit 13, and the first power supply circuit 14. The first differential unit 13 can convert the incremental encoder ABZ digital signal into a differential signal, which can originate from either the first position detection sensor 112 or the microcontroller unit (MCU) 113.

[0060] It should be noted that the position detection component includes two position detection channels and three position signal outputs, including one absolute position signal and two relative position signals. Through the two position detection channels and different communication methods, three position signals are output and provided to the corresponding components respectively. This avoids the situation where the same or similar faults cause both sets of position output components to malfunction. Furthermore, the relative position of the measured object is output through differential signals, which improves the anti-interference capability of position detection and makes it extremely safe and reliable.

[0061] In one optional implementation of this embodiment, such as Figure 1 As shown, the second position detection channel 2 includes a second position detection unit 21 and a second differential unit 22, and the second position detection unit 21 and the second differential unit 22 are communicatively connected.

[0062] The second position detection unit 21 is used to detect the second relative position of the object being measured and transmit the second relative position to the second differential unit 22; the second differential unit 22 is used to perform differential conversion on the second relative position to obtain the second relative position signal.

[0063] In one optional implementation of this embodiment, such as Figure 1 As shown, the second position detection unit 21 includes a second power supply 211 and a second position detection sensor 212. The second power supply 211 is connected to the second position detection sensor 212. The second power supply 211 is used to power the second position detection sensor 212. The second position detection sensor 212 is used to detect the second relative position of the object being measured.

[0064] Specifically, the second power supply, the second position detection sensor, and the second differential unit have the same structure and function as the first power supply, the first position detection sensor, and the first differential unit, and will not be described again in this embodiment.

[0065] In addition, such as Figure 1 As shown, the second position detection channel 2 may also include a second power supply circuit 23, which supplies power to the second power supply 211. That is, the second position detection channel 2 may be composed of a second power supply 211, a second position detection sensor 212, a second differential unit 22, and a second power supply circuit 23. The functions of each component of the second position detection channel 2 are the same as those of the corresponding parts of the first position detection channel 1.

[0066] The position detection component provided in this embodiment of the invention includes two position detection channels and three position signal outputs, including one absolute position signal and two relative position signals. Through the two position detection channels and different communication methods, the three position signals are output and provided to their respective components. These three position signals can monitor each other, reflecting the status of the position detection component. Therefore, the three position signals can be combined to determine whether the position detection component is malfunctioning, thereby controlling the movement. The method of mutual monitoring of the three position signals to identify malfunctions in the position detection component can cover almost all malfunctions, providing extremely high safety and reliability. It can effectively and promptly control and stop movement, greatly improving the timeliness and accuracy of motion control, avoiding danger, and preventing the same or similar faults from causing malfunctions in both sets of position output components.

[0067] This invention provides a flowchart of a position detection method, as follows: Figure 2 As shown, this position detection method is applied to a position detection component, which includes a first position detection channel and a second position detection channel. The method includes the following steps:

[0068] Step 202: The first position detection channel detects the absolute position and the first relative position of the object under test, and generates and outputs the absolute position signal and the first relative position signal.

[0069] Step 204: The second position detection channel detects the second relative position of the object under test, generates and outputs the second relative position signal.

[0070] Among them, the absolute position signal, the first relative position signal, and the second relative position signal are used to determine whether the position detection component is abnormal.

[0071] It should be noted that the execution order of steps 202-204 in this embodiment of the invention is not limited. They can be executed sequentially, randomly, or simultaneously.

[0072] The position detection method provided in this embodiment of the invention includes a position detection component comprising two position detection channels and three position signal outputs, including one absolute position signal and two relative position signals. Through the two position detection channels and different communication methods, the three position signals are output and provided to their respective components. These three position signals can monitor each other, reflecting the state of the position detection component. Therefore, the three position signals can be combined to determine whether the position detection component is malfunctioning, thereby controlling the movement. The method of using three position signals to monitor each other to identify malfunctions in the position detection component can cover almost all malfunctions, providing extremely high safety and reliability. It can effectively and promptly control and stop movement, greatly improving the timeliness and accuracy of motion control, avoiding danger, and preventing the same or similar faults from causing malfunctions in both sets of position output components.

[0073] The above is an illustrative scheme of a position detection method according to this embodiment. It should be noted that the technical solution of this position detection method and the technical solution of the position detection component described above belong to the same concept. For details not described in detail in the technical solution of the position detection method, please refer to the description of the technical solution of the position detection component described above.

[0074] This invention provides a schematic diagram of the structure of a motion control system, as shown below. Figure 3 As shown, the motion control system includes a position detection component 302, a drive component 304, and a safety control component 306;

[0075] The position detection component 302 is configured to output an absolute position signal, a first relative position signal, and a second relative position signal;

[0076] The drive component 304 is configured to acquire the absolute position signal output by the position detection component 302, determine whether the position detection component 302 is abnormal based on the absolute position signal, and generate a motion stop command if so.

[0077] Safety control component 306 is configured to acquire a first relative position signal and a second relative position signal output by position detection component 302, and determine whether position detection component 302 is abnormal based on the first relative position signal and the second relative position signal. If so, a motion stop command is generated.

[0078] Specifically, the RS485 interface of the drive component can be connected to the RS485 interface of the position detection component to achieve communication; the safety control component can be connected to the position detection component through the differential incremental encoder signal interface to achieve communication. Any device with this differential incremental encoder signal interface can be used as a safety control component, connected to the position detection component, to achieve incremental relative position detection.

[0079] The location detection component is as described above. Figure 1 The provided position detection component can be driven by a drive component that can acquire the absolute position signal provided by the position detection component and determine whether the position detection component is abnormal based on the absolute position signal. If abnormal, a motion stop command is generated. The safety control component can acquire the first relative position signal and the second relative position signal provided by the position detection component and determine whether the position detection component is abnormal based on the first relative position signal and the second relative position signal. If abnormal, a motion stop command is generated.

[0080] It should be noted that this motion stop command can control a moving component to stop moving. This moving component can refer to a motor or other components that enable movement, such as a motor or brake. When the drive component detects an abnormality in the position detection component, it can generate a motion stop command and send it to the moving component (e.g., the motor). Upon receiving the motion stop command, the moving component stops moving. Similarly, when the safety control component detects an abnormality in the position detection component, it can generate a motion stop command and send it to the drive component, which then forwards it to the moving component (e.g., the motor). Upon receiving the motion stop command, the moving component stops moving.

[0081] In other words, when the driver component receives a motion stop command, it can control the motion component to stop moving. Specifically, this means that the driver component detects a motion stop command it generated itself, and / or receives a motion stop command sent by the safety control component. Upon detecting this abnormal control command, it determines that it has received the command and can control the motion component to stop moving. That is, when the driver component receives a motion stop command generated by itself and / or sent by the safety control component, it sends the command to the motion component to control it to stop moving.

[0082] Of course, in practical applications, in addition to controlling the motion component to stop moving through the drive component, the safety control component can also directly send the motion stop command to the motion component after determining that the position detection component is abnormal and generating a motion stop command, so as to control the movement of the motion component. This invention does not limit this.

[0083] In addition, under normal conditions, the absolute position signal can also serve as position feedback for the drive component, controlling the movement of the motion component to achieve closed-loop control. That is, if the position detection component is determined to be normal based on the absolute position signal, the motion component can be controlled based on the absolute position information in the absolute position signal. Specifically, the drive component can use the absolute position information to calculate the rotor angle of the motion component, thereby achieving rotor magnetic field orientation control.

[0084] In this embodiment of the invention, the position detection component can output three position signals. These three position signals can monitor each other and reflect the state of the position detection component. Therefore, the overall status of the position detection component can be determined by combining these three position signals, thereby controlling the movement. Using a method of mutual monitoring of three position signals to identify anomalies in the position detection component can cover almost all abnormal situations, resulting in extremely high safety and reliability. It can effectively and promptly control and stop movement, greatly improving the timeliness and accuracy of motion control and preventing danger. Furthermore, the drive component analyzes the absolute position signal to determine if the position detection component is abnormal, and the safety control component analyzes the first relative position signal to determine if the position detection component is abnormal. The three position signals output by the position detection component are not reused, avoiding the situation where the same or similar anomalies cause both sets of abnormal output components to output abnormalities.

[0085] In one optional implementation of this embodiment, the absolute position signal includes absolute position information and position status information; the driving component is further configured as follows:

[0086] If position status information is obtained by parsing the absolute position signal, determine whether the position status information is abnormal. If so, determine that the position detection component is abnormal; and / or, if absolute position information is not obtained by parsing the absolute position signal, determine that the position detection component is abnormal.

[0087] In practical applications, absolute position information refers to the information related to the absolute position of the measured object. Position state information is an anomaly identifier determined by the first detection channel based on internal intermediate variables. In other words, position state information is an anomaly code that can identify whether the position detection component is malfunctioning. Based on this position state information, it is possible to identify position detection component malfunctions caused by abnormal intermediate variables. Therefore, the absolute position signal can be analyzed to obtain position state information, and it can be determined whether the position state information indicates an anomaly in the position detection component. If so, the position detection component is determined to be malfunctioning.

[0088] In addition, if the position detection component is in normal condition, it will continuously transmit relative position information to the drive component for the drive component to control the movement. If the absolute position signal cannot be parsed and absolute position information cannot be obtained, it indicates that a transmission interruption has occurred and the position detection component may be malfunctioning.

[0089] In this embodiment of the invention, the driving component can read the absolute position information and position status information in the absolute position signal output by the position detection component. If the position status information is abnormal or the transmission is interrupted, it can be determined that an abnormality related to the position detection component has occurred. Through the absolute position signal provided by the position detection component, the abnormality of the position detection component caused by the abnormality of the intermediate variable can be detected, and the movement can be stopped in a timely and effective manner to avoid causing damage.

[0090] In an optional implementation of this embodiment, the driving component is further configured as follows:

[0091] After obtaining absolute position information by analyzing the absolute position signal, the velocity information is determined based on the absolute position information.

[0092] The amplitude velocity is determined from the velocity information. If the amplitude velocity exceeds the first velocity threshold, the position detection component is determined to be abnormal.

[0093] Among them, amplitude velocity refers to the maximum and / or minimum velocity among the various target velocities included in the velocity information; the first velocity threshold refers to the maximum velocity or the minimum speed that the measured object can reach in the actual system, which can be set in advance based on experience or needs, and is used to determine whether the current velocity is too high or too low.

[0094] It should be noted that if absolute position information can be obtained by parsing the absolute position signal, it means that the position transmission has not been interrupted. At this time, the transmitted absolute position information can be analyzed to further determine whether the position detection component is malfunctioning.

[0095] In practice, differential operations can be performed on each absolute position in the output absolute position information to obtain the corresponding target speed. The target speeds together constitute the speed information. Usually, the target speeds obtained by differential operations need to be appropriately low-pass filtered to remove high-frequency noise and interference. Then, the amplitude speed is determined from the target speeds included in the speed information for judgment. If it exceeds the maximum speed that the actual system can achieve or the minimum speed limit, the driving component determines that the speed is abnormal. This abnormality may be caused by a system speed abnormality or by a position detection component abnormality.

[0096] In this embodiment of the invention, the corresponding speed information can be determined based on the absolute position information. Based on the speed information, it can be determined whether the current speed is abnormal. Through the absolute position signal provided by the position detection component, the abnormality caused by the output position can be detected based on the speed abnormality. The safety and reliability are extremely high, and the movement can be controlled and stopped in a timely and effective manner to avoid causing injury.

[0097] In an optional implementation of this embodiment, the security control component is further configured as follows:

[0098] A first velocity is determined based on a first relative position signal, and a second velocity is determined based on a second relative position signal;

[0099] Determine the first speed difference between the first speed and the second speed. If the first speed difference is greater than the first difference threshold, determine that the position detection component is abnormal.

[0100] Specifically, the first difference threshold is a pre-set value used to determine whether the speed difference calculated based on the relative positions between different channels is too large, such as 10, 20, etc.

[0101] In practical applications, differential operations can be performed on the first relative position signal of the first position detection channel to obtain the first speed, and differential operations can be performed on the second relative position signal of the second position detection channel to obtain the second speed. The two speeds obtained by the relative position signals provided by the two position detection channels are compared. If the speed difference exceeds the set first difference threshold, it indicates that the relative position difference detected by different channels is too large. At this time, the safety control component determines that an anomaly related to the position detection component has occurred.

[0102] In addition, in practical applications, speed can be disregarded, and a relative position comparison can be made between the first relative position information in the first relative position signal and the second relative position in the second relative position signal to determine whether the difference in relative position is too large.

[0103] In this embodiment of the invention, the safety control component can read the two relative positions output by the position detection component, calculate the speed information based on the two relative positions, compare the speed difference between the two channels, and if it exceeds the first difference threshold, it is determined that an abnormality related to the position detection component has occurred. Through the two relative position signals provided by the position detection component, the abnormality caused by the output position can be detected based on the speed difference or position difference. The safety and reliability are extremely high, and the movement can be stopped in a timely and effective manner to avoid injury.

[0104] In an optional implementation of this embodiment, the driving component is further configured as follows:

[0105] Determine a second speed difference between the target speed and the first speed, and a third speed difference between the target speed and the second speed, wherein the target speed is determined by the drive component based on an absolute position signal, the first speed is determined by the safety control component based on a first relative position signal, and the second speed is determined by the safety control component based on a second relative position signal;

[0106] If either the second or third speed difference exceeds the second difference threshold, the position detection component is determined to be malfunctioning.

[0107] Specifically, the second difference threshold is a pre-set value used to determine whether the difference between the speed calculated based on the absolute position and the speed calculated based on the relative position between different channels is too large, such as 10, 20, etc. The second difference threshold can be the same as or different from the first difference threshold.

[0108] It should be noted that, based on the absolute position signal output by the first detection channel, the target speed corresponding to the absolute position can be determined; based on the first relative position signal output by the first detection channel, the first speed can be determined; and based on the second relative position signal output by the second detection channel, the second speed can be determined. By comparing the target speed, the first speed, and the second speed, it can be determined whether the position detection component is abnormal.

[0109] In practical applications, if neither the drive component nor the safety control component detects any abnormality based on the position signals they acquire, the speed information calculated by the drive component and the two speeds calculated by the safety control component can be compared separately. If either difference in the two comparison results exceeds the set second difference threshold, it indicates that the difference between the detected absolute position and the two relative positions detected by different channels is too large. At this time, the position abnormality can be determined, and the relevant abnormality of the position detection component can be identified.

[0110] In practice, there is bidirectional communication between the drive component and the safety control component. The safety control component can determine the corresponding two speeds based on the two relative position signals it has acquired, namely the first speed and the second speed, and then the drive component compares the differences between the target speeds it has determined and the first and second speeds to determine whether the position detection component has malfunctioned.

[0111] In addition, the safety control component can also determine the corresponding first speed and second speed based on the acquired first relative position signal and second relative position signal, and judge whether the first speed and second speed are abnormal. If there is no abnormality, that is, the two speeds are consistent, then either speed is transmitted to the drive component so that the drive component can compare the target speed determined by itself based on the absolute position signal and the speed determined by the received relative position signal to determine whether the position detection component is abnormal.

[0112] In this embodiment of the invention, if neither the driving component nor the safety control component detects any abnormality based on the position signals they have collected, they can further integrate the three position signals output by the position detection component to determine whether the position detection component has malfunctioned. This not only utilizes intermediate variables but also judges abnormalities based on the output position, which can cover almost all abnormal situations and has extremely high safety and reliability.

[0113] In one optional embodiment of this example, the position detection component includes a first position detection channel and a second position detection channel. The first position detection channel is used to output an absolute position signal and a first relative position signal, and the second position detection channel is used to output a second relative position signal.

[0114] The driving component is further configured to acquire the absolute position signal output by the first position detection channel;

[0115] The safety control component is further configured to acquire a first relative position signal output from a first position detection channel and a second relative position signal output from a second position detection channel.

[0116] It should be noted that the position detection component features two position detection channels, each with a different internal structure and output. This means the position detection component employs a non-similar redundancy architecture. The two position detection channels are electrically and physically isolated, ensuring that a faulty channel does not affect the operation of the normal channel. Furthermore, the second position detection channel uses incremental position detection and output, while the first position detection channel uses both incremental and absolute position detection and output methods. This prevents identical or similar faults from causing malfunctions in both position output components.

[0117] The motion control system provided by this invention features a position detection component that outputs three position signals. These three signals can monitor each other, reflecting the state of the position detection component. Therefore, by comprehensively analyzing these three position signals, it is possible to determine whether the position detection component is malfunctioning, thereby controlling the motion. This method of mutual monitoring of the three position signals to identify position detection component malfunctions covers almost all possible abnormal situations, resulting in extremely high safety and reliability. It can promptly and effectively control and stop motion, greatly improving the timeliness and accuracy of motion control and preventing danger. Furthermore, the drive component analyzes the absolute position signal to determine if the position detection component is malfunctioning, and the safety control component analyzes the first relative position signal to determine if the position detection component is malfunctioning. The three position signals output by the position detection component are not reused, avoiding the situation where identical or similar malfunctions cause both sets of malfunction output components to output malfunctions.

[0118] This invention provides a flowchart of a motion control method, such as... Figure 4As shown, this method is applied to a motion control system, which includes a position detection component, a drive component, and a safety control component. The method includes the following steps:

[0119] Step 402: The position detection component outputs an absolute position signal, a first relative position signal, and a second relative position signal.

[0120] Step 404: The driving component obtains the absolute position signal output by the position detection component, determines whether the position detection component is abnormal based on the absolute position signal, and generates a motion stop command if so.

[0121] Step 406: The safety control component acquires the first relative position signal and the second relative position signal output by the position detection component. Based on the first relative position signal and the second relative position signal, it determines whether the position detection component is abnormal. If so, it generates a motion stop command.

[0122] It should be noted that the execution order of steps 404-4066 in this embodiment of the invention is not limited. They can be executed sequentially, randomly, or simultaneously.

[0123] The motion control method provided by this invention allows a position detection component to output three position signals. These three signals can monitor each other, reflecting the state of the position detection component. Therefore, by comprehensively analyzing these three position signals, it is possible to determine whether the position detection component is malfunctioning, thereby controlling the motion. This method of mutual monitoring of the three position signals to identify position detection component malfunctions can cover almost all abnormal situations, resulting in extremely high safety and reliability. It can effectively and promptly control and stop motion, greatly improving the timeliness and accuracy of motion control and preventing danger. Furthermore, the drive component analyzes the absolute position signal to determine whether the position detection component is malfunctioning, and the safety control component analyzes the first relative position signal to determine whether the position detection component is malfunctioning. The three position signals output by the position detection component are not reused, avoiding the situation where the same or similar malfunctions cause both sets of malfunction output components to output malfunctions.

[0124] This invention provides a flowchart of another motion control method, such as... Figure 5 As shown, this method is applied to a motion control system, which includes a position detection component, a drive component, and a safety control component. The method includes the following steps:

[0125] Step 502: The position detection component outputs a first relative position signal and a second relative position signal.

[0126] Step 504: The safety control component acquires the first relative position signal and the second relative position signal output by the position detection component. Based on the first relative position signal and the second relative position signal, it determines whether the position detection component is abnormal. If so, it generates a motion stop command.

[0127] The motion control system provided by this invention has a position detection component that can output two relative position signals. These two relative position signals can monitor each other and reflect the status of the position detection component. The safety control component can combine these two relative position signals to determine whether the position detection component has malfunctioned. If an malfunction is detected, a motion stop command is generated to control the movement to stop. By using the method of mutual monitoring of two relative position signals to identify malfunctions of the position detection component, it can cover almost all malfunctions of the position detection component, resulting in extremely high safety and reliability. It can control the movement to stop in a timely and effective manner, greatly improving the timeliness and accuracy of motion control and avoiding danger.

[0128] The above is an illustrative scheme of a motion control method according to this embodiment. It should be noted that the technical solution of this motion control method and the technical solution of the motion control system described above belong to the same concept. For details not described in detail in the technical solution of the motion control method, please refer to the description of the technical solution of the motion control system described above.

[0129] Figure 6 A structural block diagram of a security controller 600 according to an embodiment of the present invention is shown. The components of the security controller 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is connected to the memory 610 via a bus 630, and a database 650 is used to store data.

[0130] The security controller 600 also includes an access device 640, which enables the security controller 600 to communicate via one or more networks 660. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. The access device 640 may include one or more of any type of wired or wireless network interface (e.g., a Network Interface Controller (NIC)), such as an IEEE 802.11 Wireless Local Area Networks (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0131] In one embodiment of the present invention, the above-mentioned components of the security controller 600 and Figure 6 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that... Figure 6 The safety controller block diagram shown is for illustrative purposes only and is not intended to limit the scope of the invention. Those skilled in the art can add or replace other components as needed.

[0132] Security controller 600 can be any type of stationary or mobile security controller, including mobile computers or mobile security controllers (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable security controllers (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary security controllers such as desktop computers or PCs. Security controller 600 can also be a mobile or stationary server.

[0133] The processor 620 is configured to execute the following computer-executable instructions to acquire the first relative position signal and the second relative position signal output by the position detection component, and based on the first relative position signal and the second relative position signal, determine whether the position detection component is abnormal. If so, a motion stop instruction is generated.

[0134] The above is an illustrative scheme of a safety controller according to this embodiment. It should be noted that the technical solution of this safety controller belongs to the same concept as the technical solution of the position detection component or motion control system described above. For details not described in detail in the technical solution of the computing device, please refer to the description of the technical solution of the position detection component or motion control system described above.

[0135] Figure 7 A structural block diagram of a robot according to an embodiment of the present invention is shown, as follows: Figure 7 As shown, the robot includes a motion control system 702 and a motor 704. The motion control system 702 includes a position detection component 7022, a motor drive component 7024, and a safety control component 7026.

[0136] The position detection component 7022 is configured to output an absolute position signal, a first relative position signal, and a second relative position signal;

[0137] The motor drive component 7024 is configured to acquire the absolute position signal output by the position detection component 7022, determine whether the position detection component 7022 is abnormal based on the absolute position signal, and if so, trigger a motion stop command.

[0138] The safety control component 7026 is configured to acquire a first relative position signal and a second relative position signal output by the position detection component 7022, and determine whether the position detection component 7022 is abnormal based on the first relative position signal and the second relative position signal. If so, it sends a motion stop command to the motor drive component 7024.

[0139] The motor drive assembly 7024 is further configured to control the motor 704 to stop operating based on a motion stop command.

[0140] The robot provided by this invention includes a position detection component, a motor drive component, a safety control component, and a motor. The position detection component can output three position signals, which can monitor each other and reflect the status of the position detection component. Therefore, the abnormality of the position detection component can be determined by combining the three position signals, thereby controlling the motor operation. The method of mutual monitoring of the three position signals to identify abnormalities of the position detection component can cover almost all abnormal situations of the position detection component, with extremely high safety and reliability. It can control the motor to stop running in a timely and effective manner, greatly improving the timeliness and accuracy of motion control and avoiding danger. In addition, the motor drive component analyzes the absolute position signal to determine whether the position detection component is abnormal, and the safety control component analyzes the first relative position signal to determine whether the position detection component is abnormal. The three position signals output by the position detection component are not reused, avoiding the situation where the same or similar abnormalities cause both sets of abnormal output components to output abnormalities.

[0141] The foregoing has described specific embodiments of the invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0142] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0143] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0144] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0145] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of the present invention. These embodiments have been selected and specifically described to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A position detection assembly, characterized by, The position detection assembly comprises a first position detection channel and a second position detection channel; The first position detection channel is used for detecting absolute position and first relative position of the measured object, generating and outputting absolute position signal and first relative position signal, wherein the first position detection channel adopts absolute type and incremental type two position detection and output modes; The second position detection channel is used for detecting second relative position of the measured object, generating and outputting second relative position signal, wherein the second position detection channel adopts incremental type position detection and output mode; The absolute position signal, the first relative position signal and the second relative position signal are used for judging whether the position detection assembly is abnormal; the absolute position signal is used for the driving assembly to determine whether the position detection assembly is abnormal, and to control the motion assembly to stop motion in the case of abnormality; the first relative position signal and the second relative position signal are used for the safety control assembly to calculate the difference value of two-way speed, and to determine whether the position detection assembly is abnormal based on the difference value.

2. The position detection assembly of claim 1, wherein, The first position detection channel comprises a first position detection unit, a conversion unit and a first difference unit; the first position detection unit is in communication connection with the conversion unit and the first difference unit respectively; The first position detection unit is used for detecting absolute position of the measured object, and transmitting the absolute position to the conversion unit; the conversion unit is used for performing level conversion on the absolute position to obtain absolute position signal; The first position detection unit is also used for detecting first relative position of the measured object, and transmitting the first relative position to the first difference unit; The first difference unit is used for performing difference conversion on the first relative position to obtain first relative position signal.

3. The position detection assembly of claim 2, wherein, The first position detection unit comprises a first power supply, a first position detection sensor and a micro control unit, which are connected with each other; the first power supply is used for supplying power to the first position detection sensor and the micro control unit; the micro control unit is used for reading absolute position from the first position detection sensor; and the first position detection sensor is used for detecting absolute position and first relative position of the measured object.

4. The position detection assembly of claim 1, wherein, The second position detection channel comprises a second position detection unit and a second difference unit; the second position detection unit is in communication connection with the second difference unit; The second position detection unit is used for detecting second relative position of the measured object, and transmitting the second relative position to the second difference unit; The second difference unit is used for performing difference conversion on the second relative position to obtain second relative position signal.

5. The position detection assembly of claim 4, wherein, The second position detection unit comprises a second power supply and a second position detection sensor; the second power supply is connected with the second position detection sensor; the second power supply is used for supplying power to the second position detection sensor; and the second position detection sensor is used for detecting second relative position of the measured object.

6. A motion control system characterized by, The motion control system comprises a position detection assembly, a driving assembly and a safety control assembly; The position detection component is configured to output an absolute position signal, a first relative position signal and a second relative position signal, wherein the position detection component comprises a first position detection channel and a second position detection channel; the absolute position signal and the first relative position signal are generated by the first position detection channel, and the second relative position signal is generated by the second position detection channel; the first position detection channel adopts both absolute and incremental position detection and output modes, and the second position detection channel adopts an incremental position detection and output mode; The drive component is configured to acquire the absolute position signal output by the position detection component, determine whether the position detection component is abnormal based on the absolute position signal, and if so, generate a motion stop instruction; The safety control component is configured to acquire the first relative position signal and the second relative position signal output by the position detection component, calculate a difference value of two speeds based on the first relative position signal and the second relative position signal, and determine whether the position detection component is abnormal based on the difference value, and if so, generate a motion stop instruction.

7. The motion control system of claim 6, wherein, The absolute position signal comprises absolute position information and position state information; the drive component is further configured to: In a case where the absolute position signal is analyzed to obtain the position state information, determine whether the position state information is abnormal, and if so, determine that the position detection component is abnormal; and / or, In a case where the absolute position signal is analyzed and absolute position information is not obtained, determine that the position detection component is abnormal.

8. A motion control system according to claim 6 or 7, characterised in that, The drive component is further configured to: In a case where the absolute position signal is analyzed to obtain absolute position information, determine speed information according to the absolute position information; determine a magnitude speed from the speed information, and in a case where the magnitude speed exceeds a first speed threshold, determine that the position detection component is abnormal.

9. The motion control system of claim 6, wherein, The safety control component is further configured to: determine a first speed according to the first relative position signal, and determine a second speed according to the second relative position signal; determine a first speed difference value between the first speed and the second speed, and in a case where the first speed difference value is greater than a first difference threshold, determine that the position detection component is abnormal.

10. The motion control system of claim 6, wherein, The drive component is further configured to: determine a second speed difference value between a target speed and the first speed, and a third speed difference value between the target speed and a second speed, wherein the target speed is determined by the drive component based on the absolute position signal, the first speed is determined by the safety control component based on the first relative position signal, and the second speed is determined by the safety control component based on the second relative position signal; in a case where any of the second speed difference value and the third speed difference value exceeds a second difference threshold, determine that the position detection component is abnormal.

11. A robot, characterized in that comprise: a motion control system and a motor, wherein the motion control system comprises a position detection component, a motor drive component and a safety control component; The position detection component is configured to output an absolute position signal, a first relative position signal and a second relative position signal, wherein the position detection component comprises a first position detection channel and a second position detection channel; the absolute position signal and the first relative position signal are generated by the first position detection channel, and the second relative position signal is generated by the second position detection channel; the first position detection channel adopts both absolute and incremental position detection and output modes, and the second position detection channel adopts an incremental position detection and output mode; The motor driving component is configured to acquire the absolute position signal output by the position detection component, determine whether the position detection component is abnormal based on the absolute position signal, and if so, trigger a motion stop instruction, wherein the motion stop instruction is used to control the motion component to stop moving; The safety control component is configured to acquire the first relative position signal and the second relative position signal output by the position detection component, calculate a difference value of two speeds based on the first relative position signal and the second relative position signal, determine whether the position detection component is abnormal based on the difference value, and if so, send a motion stop instruction to the motor driving component; The motor driving component is further configured to control the motor to stop running based on the motion stop instruction.

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