AUTOMATION EQUIPMENT CONTROL SYSTEM

• US 20130282176A1
• Filed: 06/18/2013
• Published: 10/24/2013
• Est. Priority Date: 12/28/2000
• Status: Active Grant

• Current Assignee: Intellectual Ventures II LLC (Intellectual Ventures LLC)
• Original Assignee: Chi Development Mgmt Ltd XXIV LLC (Intellectual Ventures LLC)
• Inventors: Lapham, John R.
• Granted Patent: US 8,761,932 B2
• Time in Patent Office: Days
• US Class Current: 700/249
• CPC Class Codes: A61B 1/00158 using magnetic field
• CPC Class Codes: A61B 1/0055 Constructional details of insertion parts, e.g. vertebral elements
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/33242 Watchdog for datacommunication, on error switch off supply to bus modules
• CPC Class Codes: G05B 2219/34047 Dsp digital signal processor
• CPC Class Codes: G05B 2219/34261 Windows, microsoft windows
• CPC Class Codes: G05B 2219/39001 Robot, manipulator control
• CPC Class Codes: G06F 30/00 Computer-aided design [CAD]
• CPC Class Codes: Y10S 901/41 Tool
• CPC Class Codes: Y10S 901/42 Welding
• CPC Class Codes: Y10S 901/46 Sensing device
• CPC Class Codes: Y10S 901/47 Optical
• CPC Class Codes: Y10S 901/48 Counterbalance

Abstract

A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.

Claims

1-9. -9. (canceled)

10. A control system suitable for controlling automation equipment of different electromechanical configurations, the control system comprising:

an automation equipment-independent computer unit comprising a first digital processor for running an operator interface module, the automation equipment-independent computer unit configured to create a move command; and

an equipment-specific controller unit operably linked to an automation equipment component, the equipment-specific controller unit comprising a move module configured to translate the move command for the automation equipment component,

wherein the equipment-specific controller unit is in communication with the automation equipment-independent computer unit.

11. The control system of claim 10 wherein the automation equipment component comprises a mechanical joint and a sensor, and wherein the equipment-specific controller unit translates the move command by receiving a position signal from the sensor and calculates a different position corresponding to the move command.

12. The control system of claim 10 wherein the sensor of the automation equipment component is a position feedback detector.

13. The control system of claim 10 wherein the sensor of the automation equipment component is a digital camera.

14. The control system of claim 10 wherein the automation equipment component further comprises a servo motor and wherein the equipment-specific controller unit translates the move command by calculating an actuation signal for the servo motor.

15. The control system of claim 10 wherein the automation equipment-independent computer unit generates the move command with a program running under a general purpose operating system.

16. The control system of claim 10 further comprising a display connected to the automation equipment-independent computer unit, the display configured to present data to a user entering move commands.

17. The control system of claim 10 further comprising a move command data buffer configured to receive a plurality of move commands, including the move command, from the automation equipment-independent computer unit and pass the plurality of move commands in sequential order to the equipment-specific controller unit.

18. A method for controlling, automation equipment of different electromechanical configurations, the method comprising:

receiving, from an automation equipment-independent computer unit comprising a digital processor, a move command, wherein the move command originated from an operator interface of the automation equipment-independent computer unit; and

translating the move command into an automation equipment command;

transmitting, from an equipment-specific controller unit to an automation equipment component via a communications channel, the automation equipment command.

19. The method of claim 18 wherein the automation equipment component comprises a mechanical joint and a sensor, the method further comprising:

receiving a position signal from the sensor; and

calculating a different position corresponding to the move command.

20. The method of claim 19 wherein the sensor of the automation equipment component is a position feedback detector.

21. The method of claim 19 wherein the sensor of the automation equipment component is a digital camera.

22. The method of claim 18 wherein the automation equipment component further comprises a servo motor, the method further comprising calculating, by the equipment-specific controller unit, an actuation signal for the servo motor.

23. The method of claim 18 wherein the automation equipment-independent computer unit further comprises a display, the display configured to present data to a user entering move commands.

24. The method of claim 18 wherein the receiving is performed by a move command data buffer configured to receive a plurality of move commands, including the move command, from the automation equipment-independent computer unit, the method further comprising passing the plurality of move commands in sequential order to the equipment-specific controller unit.

25. A computer readable storage medium storing instructions configured to, when executed by a computing device, cause the computing device to perform operations for controlling automation equipment of different electromechanical configurations, the operations comprising:

receiving, from an automation equipment-independent computer unit comprising a digital processor, a move command, wherein the move command originated from an operator interface of the automation equipment-independent computer unit;

translating the move command into an automation equipment command; and

transmitting, from an equipment-specific controller unit to an automation equipment component via a communications channel, the automation equipment command.

26. The computer readable storage medium of claim 25 wherein the automation equipment component comprises a mechanical joint and a sensor, the operations further comprising:

receiving a position signal from the sensor; and

calculating a different position corresponding to the move command.

27. The computer readable storage medium of claim 26 wherein the sensor of the automation equipment component is a digital camera.

28. The computer readable storage medium of claim 25 wherein the automation equipment component further comprises a servo motor, the operations further comprising calculating, by the equipment-specific controller unit, an actuation signal for the servo motor.

29. The computer readable storage medium of claim 25 wherein the receiving is performed by a move command data buffer configured to receive a plurality of move commands, including the move command, from the automation equipment-independent computer unit, the method further comprising passing the plurality of move commands in sequential order to the equipment-specific controller unit.