Multi-Axis Acceleration Monitoring with Dual Sampling Limits
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Solution Overview
Problem
The existing methods for monitoring acceleration in multi-axis kinematics, such as in industrial robots, face challenges with discretization errors and response time, leading to incorrect triggering of safety mechanisms and unwanted shutdowns due to the interaction between sampling intervals and discretization errors.
Innovation Solution
The method involves simultaneously monitoring acceleration using two different acceleration limit values with distinct sampling intervals, allowing for precise acceleration monitoring that avoids unwanted shutdowns while ensuring a sufficient response time to detect impermissible accelerations, by using a first and second acceleration limit value with corresponding sampling intervals and reaction times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the sampling interval is shortened to improve response time, then the response time of the SLA function is reduced, but the discretization error influence increases leading to significant overestimation of acceleration and incorrect triggering of safety mechanisms
Solution Approach 1:
The patent divides the single acceleration monitoring task into two separate monitoring systems: a first SLA function with a first sampling interval for general monitoring, and a second SLA function with a second sampling interval (shorter than the first) for critical acceleration peaks. This segmentation allows each monitoring function to operate with optimized parameters for its specific purpose, resolving the contradiction between response time and measurement precision.
Solution Approach 2:
The patent changes the sampling interval parameter differently for two parallel monitoring functions. The first SLA function uses a longer sampling interval to minimize discretization errors, while the second SLA function uses a shorter sampling interval to capture rapid acceleration changes. By adjusting this key parameter for different monitoring purposes, the system achieves both fast response and accurate measurement.
2Measurement precision
If the sampling interval is lengthened to reduce discretization error influence, then the measurement precision improves, but the response time of the SLA function increases
Solution Approach 1:
The patent segments the monitoring responsibility between two SLA functions with different sampling intervals. The first function handles general monitoring with optimized precision, while the second function handles critical cases with optimized response time. This segmentation allows both long and short sampling intervals to coexist in the overall monitoring system.
Solution Approach 2:
The second SLA function with the shorter sampling interval performs partial monitoring specifically for detecting rapid acceleration peaks. Rather than using the short sampling interval for all monitoring (which would cause excessive false alarms), the system applies it partially only when needed for critical detection, balancing precision and response time requirements.
Data Source
Figure 1~2
AI summary
A method for monitoring the acceleration of a number A of axes of a multi-axis kinematic system is proposed using at least one sampling with a first sampling interval.The procedure comprises the following steps: a) Determining a first acceleration limit value assigned to the first sampling interval and a different second acceleration limit value for the acceleration of the axis, where the second acceleration limit value is assigned a second time interval; b) Determining a plurality N of position values of the axis by sampling with the first sampling interval; c) Calculating at least one current acceleration using the determined N position values; and d) Monitoring the calculated current acceleration using a first monitoring process that uses the first acceleration limit value and the assigned first sampling interval, and simultaneously using a second monitoring process that uses the second acceleration limit value and the assigned second time interval. In this way, the current acceleration of at least one axis is monitored simultaneously using at least two acceleration limits.