公开(公告)号：US20180196404A1

公开(公告)日：2018-07-12

申请号：US15599248

申请日：2017-05-18

申请人： Stilwell Technology and Robotics, LLC

发明人： Wayne Stilwell ,  Dillon Dunn ,  Nicholas Reeves

IPC分类号： G05B19/042 ,  B25J9/16 ,  B25J9/00

CPC分类号： B25J9/0084 ,  B25J9/162 ,  B25J9/1682 ,  G05B2219/25347 ,  G05B2219/39146 ,  G05D1/0295

摘要： A method of robotic collaboration comprises designating a first robot a lead robot and assigning a first task in a task area to the lead robot. Broadcasting a work query in the task area seeks the presence of subordinate robots configured to perform tasks. Receiving a work confirmation signal from a subordinate robot in the task area answers the work query with an affirmation that the subordinate robot is in the task area to perform tasks. Transmitting a task command to the subordinate robot in response to the work confirmation signal comprises a directive to perform the first task. Receiving a task confirmation signal informs the lead robot of the subordinate robot electronic characteristics comprising processing capabilities, transmit signal profile, receive signal profile, and storage device capabilities. Processing confirms whether the subordinate robot can collaborate with the lead robot to do the first task.

公开(公告)号：US07086054B2

公开(公告)日：2006-08-01

申请号：US10034546

申请日：2001-12-28

申请人： Gabriel Wetzel ,  Jens Fiedler ,  Matthieu Falcucci

发明人： Gabriel Wetzel ,  Jens Fiedler ,  Matthieu Falcucci

IPC分类号： G06F9/46

CPC分类号： G05B19/042 ,  G05B2219/23271 ,  G05B2219/23452 ,  G05B2219/25265 ,  G05B2219/25343 ,  G05B2219/25347

摘要： A method and a device for reconstructing the sequence of processes of a control program executed by a computing device, in particular a microprocessor, from the contents of a first table and a second table. The control program is subdivided into a plurality of tasks, and each task has at least one process. During execution of the control program, for each completed task, an identifier for a process last executed before the start of the completed task is stored in the first table. The order of the respective completed tasks is stored in the second table. To reliably reconstruct the process sequence, the method and device involve the following. At first, from the contents of the first table and the second table, a third table is generated which contains, for each new task, the identifier for a process last executed before the start of the new task, and the complete process sequence of the control program is then reconstructed from the third table with the knowledge of the process sequence of the individual tasks.

公开(公告)号：US08457766B2

公开(公告)日：2013-06-04

申请号：US13498829

申请日：2011-01-31

申请人： Tetsuya Taira ,  Hiroshi Bitoh

发明人： Tetsuya Taira ,  Hiroshi Bitoh

IPC分类号： G05B9/02 ,  G06F9/46

CPC分类号： B25J9/1674 ,  B25J9/1656 ,  G05B19/0426 ,  G05B19/0428 ,  G05B2219/24211 ,  G05B2219/25343 ,  G05B2219/25347 ,  G05B2219/34382 ,  G05B2219/34383 ,  G06F9/4887

摘要： Time partitions which need not be executed can be skipped. An OS partially includes a partition scheduler which selects and decides a time partition to be subsequently scheduled in accordance with a scheduling pattern including TP1 in which an execution time is allocated to a safety monitoring program, TP2 in which the execution time is allocated to a normal control program, and TP 3 in which the execution time is allocated to a safety control program. A processor executes the OS to cause the partition scheduler to periodically operate. The partition scheduler skips a TP including a program which need not be executed among TPs included in the scheduling pattern, in response to a notification of an execution result from a program executed in at least one of the time partitions TP1 to TP3.

摘要翻译： 可以跳过不需要执行的时间分区。 OS部分地包括分区调度器，其根据包括将执行时间分配给安全监控程序的TP1的调度模式选择并决定随后调度的时间分区，其中执行时间被分配给正常 控制程序和TP 3，其中执行时间被分配给安全控制程序。 处理器执行OS以使分区调度器周期性地操作。 响应于来自在至少一个时间分区TP1至TP3中执行的程序的执行结果的通知，分区调度器跳过包括不需要在包括在调度模式中的TP之间执行的程序的TP。

公开(公告)号：US20120291036A1

公开(公告)日：2012-11-15

申请号：US13522875

申请日：2011-01-31

申请人： Tetsuya Taira ,  Hiroshi Bitoh

发明人： Tetsuya Taira ,  Hiroshi Bitoh

IPC分类号： G06F9/46

CPC分类号： B25J9/1674 ,  B25J9/1656 ,  G05B19/0426 ,  G05B19/0428 ,  G05B2219/25343 ,  G05B2219/25347 ,  G05B2219/34069 ,  G05B2219/34372 ,  G05B2219/34382 ,  G05B2219/34383 ,  G06F9/4887

摘要： Upon occurrence of an abnormality, a safety control can be executed more rapidly. An OS partially includes a partition scheduler that selects and decides a time partition to be subsequently scheduled according to a scheduling pattern including TP1 in which an execution time is allocated to a safety monitoring program, TP2 in which the execution time is allocated to a normal control program, and TP3 in which the execution time is allocated to a safety control program. A processor executes the OS to cause the partition scheduler to periodically operate. The partition scheduler is activated upon detection of an abnormality by one of the safety monitoring program executed in TP1 and the normal control program executed in TP2, and switches the time partition from TP1 or TP2 to TP3.

摘要翻译： 发生异常时，可以更快地执行安全控制。 OS部分地包括分区调度器，其根据包括将执行时间分配给安全监视程序的TP1的调度模式来选择并决定随后调度的时间分区，其中执行时间被分配给正常控制 程序和TP3，其中执行时间被分配给安全控制程序。 处理器执行OS以使分区调度器周期性地操作。 通过在TP1中执行的安全监视程序和在TP2中执行的正常控制程序中的一个检测到异常，分区调度器被激活，并且将时间分区从TP1或TP2切换到TP3。

公开(公告)号：US20120197416A1

公开(公告)日：2012-08-02

申请号：US13259839

申请日：2011-01-31

申请人： Tetsuya Taira ,  Hiroshi Bitoh

发明人： Tetsuya Taira ,  Hiroshi Bitoh

IPC分类号： G05B15/02

CPC分类号： G05B9/02 ,  G05B19/414 ,  G05B2219/25343 ,  G05B2219/25347 ,  G05B2219/33095 ,  G05B2219/34217 ,  G05B2219/34382 ,  G05B2219/34383

摘要： To perform control in synchronization with a control cycle of a control target while maintaining safety. A safety controller includes: a processor; a system program for controlling allocation of an execution time of the processor to tasks; a signal generation unit that generates a periodic carrier signal; a control unit that updates a control content for the control target with a control content instructed by instruction information output from the processor, every first predetermined cycle of the carrier signal, and performs PWM control for the control target; and an interrupt signal generation unit that outputs an interrupt signal to the processor every second predetermined cycle of the carried signal. The processor executes the system program to schedule the tasks in accordance with scheduling information on a safety-related time partition and a normal control time partition, switches the time partitions according to an output of the interrupt signal, and outputs the instruction information to the control unit by a normal control task or a safety-related task.

摘要翻译： 与控制目标的控制周期同步进行控制，同时保持安全。 安全控制器包括：处理器; 用于控制所述处理器执行时间到任务的分配的系统程序; 产生周期性载波信号的信号产生单元; 控制单元，利用由处理器输出的指令信息指示的控制内容，在载波信号的每第一预定周期，更新控制目标的控制内容，并对控制目标进行PWM控制; 以及一个中断信号产生单元，每个载送信号的每个第二预定周期向处理器输出一个中断信号。 处理器执行系统程序以根据关于安全相关时间分区和正常控制时间分区的调度信息调度任务，根据中断信号的输出切换时间分区，并将指令信息输出到控制 单位由正常的控制任务或安全相关的任务。

公开(公告)号：US20180029230A1

公开(公告)日：2018-02-01

申请号：US15631556

申请日：2017-06-23

申请人： Fanuc Corporation

发明人： Yuuki TAKAHASHI

IPC分类号： B25J9/16 ,  G06F9/48 ,  G05B19/042

CPC分类号： B25J9/1656 ,  B25J9/1674 ,  B25J9/1676 ,  G05B19/0426 ,  G05B19/0428 ,  G05B2219/24211 ,  G05B2219/25343 ,  G05B2219/25347 ,  G05B2219/34382 ,  G05B2219/34383 ,  G05B2219/40203 ,  G06F9/4887

摘要： A safety management method sets a third space that both a worker and a robot can enter between a first space in which the worker is present and a second space in which the robot is disposed; sets, between the first space and the third space and between the second space and the third space, respectively, boundaries for monitoring crossing thereof; monitors the presence/absence of the robot or the worker in the third space; when a state of crossing of one boundary and a state of the worker or the robot in the third space are simultaneously switched to “detection”, restricts the operation of the robot, when crossing of another boundary is detected; and not restricts the operation of the robot when the state of crossing of the one boundary and the state of the worker or the robot in the third space are simultaneously switched to “non-detection”.

公开(公告)号：US20120245709A1

公开(公告)日：2012-09-27

申请号：US13498829

申请日：2011-01-31

申请人： Tetsuya Taira ,  Hiroshi Bitoh

发明人： Tetsuya Taira ,  Hiroshi Bitoh

IPC分类号： G05B19/18

CPC分类号： B25J9/1674 ,  B25J9/1656 ,  G05B19/0426 ,  G05B19/0428 ,  G05B2219/24211 ,  G05B2219/25343 ,  G05B2219/25347 ,  G05B2219/34382 ,  G05B2219/34383 ,  G06F9/4887

摘要： Time partitions which need not be executed can be skipped. An OS partially includes a partition scheduler which selects and decides a time partition to be subsequently scheduled in accordance with a scheduling pattern including TP1 in which an execution time is allocated to a safety monitoring program, TP2 in which the execution time is allocated to a normal control program, and TP 3 in which the execution time is allocated to a safety control program. A processor executes the OS to cause the partition scheduler to periodically operate. The partition scheduler skips a TP including a program which need not be executed among TPs included in the scheduling pattern, in response to a notification of an execution result from a program executed in at least one of the time partitions TP1 to TP3.

摘要翻译： 可以跳过不需要执行的时间分区。 OS部分地包括分区调度器，其根据包括将执行时间分配给安全监控程序的TP1的调度模式选择并决定随后调度的时间分区，其中执行时间被分配给正常 控制程序和TP 3，其中执行时间被分配给安全控制程序。 处理器执行OS以使分区调度器周期性地操作。 响应于来自在至少一个时间分区TP1至TP3中执行的程序的执行结果的通知，分区调度器跳过包括不需要在包括在调度模式中的TP之间执行的程序的TP。

公开(公告)号：US06240358B1

公开(公告)日：2001-05-29

申请号：US09349116

申请日：1999-07-08

申请人： Mitsuhiro Kawai

发明人： Mitsuhiro Kawai

IPC分类号： F02D4304

CPC分类号： F02D41/263 ,  G05B19/042 ,  G05B2219/25343 ,  G05B2219/25347 ,  G05B2219/25411 ,  G05B2219/25416

摘要： Task control via a multi-task or real time operating system that reduces the size of a RAM in which a stack region for processing the tasks, as well as an interrupt processing function, is set. An interrupt for interrupting any of a plurality of individual tasks having set priorities at a higher priority than the set priorities of the individual tasks is set. Thereafter, a stack region is set for processing the individual tasks and the interrupt in a writable and readable memory. The size of the stack region is then set to a size necessary for processing the individual tasks and in accordance with a task number, while a separate stack region is set for the interrupt.

摘要翻译： 通过多任务或实时操作系统进行任务控制，该操作系统减小用于处理任务的堆栈区域以及中断处理功能的RAM的大小。 设置用于中断具有优先级高于各个任务的设置优先级的优先级设置的多个单独任务中的任一个的中断。 此后，设置堆栈区域来处理可写入和可读存储器中的各个任务和中断。 然后将栈区域的大小设置为处理各个任务所需的大小，并根据任务号码设置，同时为中断设置单独的堆栈区域。

公开(公告)号：US5636124A

公开(公告)日：1997-06-03

申请号：US399074

申请日：1995-03-08

申请人： Charles M. Rischar ,  David R. Rohn ,  David A. Johnston ,  Raymond Husted

发明人： Charles M. Rischar ,  David R. Rohn ,  David A. Johnston ,  Raymond Husted

IPC分类号： G05B19/042 ,  G06F19/00 ,  G06F7/64 ,  G06F7/66 ,  G06G7/64 ,  G06G7/66

CPC分类号： G05B19/042 ,  G05B2219/24125 ,  G05B2219/25342 ,  G05B2219/25347 ,  G05B2219/25367

摘要： A multitasking industrial controller for real-time control of machinery and the like permits the use of both periodic and event driven tasks by establishing a hierarchy of both task types in the form of priorities that resolve conflicts between events of the same and different types. The unpredictability of the event driven tasks on scheduling of tasks is addressed by watchdog time values assigned to each task which confirm timely execution of the task in practice despite the risk of preemption by other tasks. Flexible software definition of event driven tasks is made possible by delegating the detection of the events to input/output modules executing independently of the processor executing the operating system.

摘要翻译： 用于机械等的实时控制的多任务工业控制器允许通过以解决相同和不同类型的事件之间的冲突的优先级的形式来建立两种任务类型的层次结构来允许周期性和事件驱动的任务的使用。 事件驱动任务对任务调度的不可预测性是通过分配给每个任务的看门狗时间值来解决的，这确保了在实践中及时执行任务，尽管其他任务具有抢占的风险。 通过将事件的检测委托给独立于执行操作系统的处理器执行的输入/输出模块，可以实现对事件驱动任务的灵活的软件定义。

公开(公告)号：US5555177A

公开(公告)日：1996-09-10

申请号：US250278

申请日：1994-05-27

申请人： Mark A. Simmons

发明人： Mark A. Simmons

IPC分类号： G05B19/042 ,  G06F19/00

CPC分类号： G05B19/042 ,  G05B2219/25347 ,  G05B2219/25375 ,  G05B2219/2602 ,  Y10S134/902

摘要： A method and apparatus for resetting a process in a control system. The steps in this method involve identifying a process for a portion of a double-sided wafer scrubber. Then, the process is reset.

摘要翻译： 一种用于重置控制系统中的过程的方法和装置。 该方法中的步骤包括识别双面晶圆洗涤器的一部分的工艺。 然后，该过程被重置。