AUTOMATIC MACHINE AND METHOD FOR CONTROLLING THE SAME

• US 20110313570A1
• Filed: 05/05/2011
• Published: 12/22/2011
• Est. Priority Date: 06/18/2010
• Status: Active Grant

• Current Assignee: Compal Electronics Incorporated
• Original Assignee: Compal Electronics Incorporated
• Inventors: Hsu, Fu-Kuan
• Granted Patent: US 8,660,691 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05B 19/19 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
• CPC Class Codes: G05B 2219/35585 Motion command profile
• CPC Class Codes: G05B 2219/42176 Motion profile

Abstract

An automatic machine includes an output unit, a storage unit and a control unit. The storage unit stores a motion pattern corresponding to a command and recording N predetermined motion information and N time tags. The control unit receives the command, reads a current motion information of the output unit, looks the motion pattern up in the storage unit according to the command and the current motion information, determines that the current motion information is between the i-th predetermined motion information and the (i+1)-th predetermined motion information, calculating a time adjusting information by the (i+1)-th predetermined motion information, the (i+1)-th time tag and the current motion information, and controls the output unit to execute the (i+1)-th predetermined motion information according to the current motion information, the first time tag through the i-th time tag, and the time adjusting information.

Claims

1. An automatic machine comprising:

an output unit;

a storage unit for storing a motion pattern, the motion pattern being corresponding to a command and recording N predetermined motion information and N time tags, N being a positive integer larger than one, each of the N predetermined motion information being corresponding to one of the N time tags; and

a control unit electrically connected to the output unit and the storage unit, the control unit receiving the command, reading a current motion information of the output unit, looking the motion pattern up in the storage unit according to the command and the current motion information, determining that the current motion information is between an i-th predetermined motion information and an (i+1)-th predetermined motion information of the N predetermined motion information, calculating a time adjusting information by the (i+1)-th predetermined motion information, an (i+1)-th time tag of the N time tags, which is corresponding to the (i+1)-th predetermined motion information, and the current motion information, and controlling the output unit to execute the (i+1)-th predetermined motion information according to the current motion information, a first time tag through an i-th time tag of the N time tags, and the time adjusting information, i being a positive integer smaller than or equal to N−

1.

2. The automatic machine of claim 1, wherein the output unit is a motor, and each of the N predetermined motion information and the current motion information are a motor angle respectively.

3. The automatic machine of claim 1, wherein each of the N time tags and the time adjusting information are a motion time respectively.

4. The automatic machine of claim 1, wherein the output unit is a motor and the control unit calculates the time adjusting information by an equation as follows:

5. The automatic machine of claim 1, wherein the motion pattern comprises a header and N motion frames, the header records a number of the motion frames, and each of the N motion frames records one of the N predetermined motion information and one of the N time tags.

6. The automatic machine of claim 5, wherein the output unit is a motor, the header further records a motion trend, the motion trend represents a rotational direction of the motor, the control unit determines that the current motion information is between the i-th predetermined motion information and the (i+1)-th predetermined motion information according to the motion trend.

7. A method for controlling an automatic machine, the automatic machine comprising an output unit and a storage unit, the method comprising:

receiving a command;

reading a current motion information of the output unit;

looking a motion pattern up in the storage unit according to the command and the current motion information, the motion pattern recording N predetermined motion information and N time tags, N being a positive integer larger than one, each of the N predetermined motion information being corresponding to one of the N time tags;

determining that the current motion information is between an i-th predetermined motion information and an (i+1)-th predetermined motion information of the N predetermined motion information, i being a positive integer smaller than or equal to N−

1;

calculating a time adjusting information by the (i+1)-th predetermined motion information, an (i+1)-th time tag of the N time tags, which is corresponding to the (i+1)-th predetermined motion information, and the current motion information; and

controlling the output unit to execute the (i+1)-th predetermined motion information according to the current motion information, a first time tag through an i-th time tag of the N time tags, and the time adjusting information.

8. The method of claim 7, wherein the output unit is a motor, and each of the N predetermined motion information and the current motion information are a motor angle respectively.

9. The method of claim 7, wherein each of the N time tags and the time adjusting information are a motion time respectively.

10. The method of claim 7, wherein the output unit is a motor and the method further comprising:

calculating the time adjusting information by an equation as follows;

11. The method of claim 7, wherein the motion pattern comprises a header and N motion frames, the header records a number of the motion frames, and each of the N motion frames records one of the N predetermined motion information and one of the N time tags.

12. The method of claim 11, wherein the output unit is a motor, the header further records a motion trend, the motion trend represents a rotational direction of the motor, the method further comprising:

determining that the current motion information is between the i-th predetermined motion information and the (i+1)-th predetermined motion information according to the motion trend.