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1.发明公开公开(公告)号：US20240192669A1
公开(公告)日：2024-06-13
申请号：US18079254
申请日：2022-12-12
发明人： Yuhong Huang , Robert H. Schmidt
IPC分类号： G05B19/418
CPC分类号： G05B19/4189 , G05B19/4185
摘要： A system includes one or more movers configured to move along a track of an industrial automation system and a computing device. The computing device receives data associated with the movers as the movers move around the track. The data includes a first amount of time for at least one of the movers to move between two stations disposed along the track, a second amount of time for the at least one mover to settle at a station, a third amount of time for a respective robot at the station to prepare to perform a process, and a fourth amount of time for the respective robot to perform the process. The computing device identifies throughput degradation based on the first amount of time, the second amount of time, the third amount of time, or the fourth amount of time, or any combination thereof.
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2.发明授权公开(公告)号：US12005941B2
公开(公告)日：2024-06-11
申请号：US17730703
申请日：2022-04-27
发明人： Yuhong Huang
CPC分类号： B61L23/34 , B61L23/26 , B61L25/021
摘要： A motion control system for an independent cart system provides for an improved system for controlling operation of movers in areas of high traffic. A controller monitors operation of the movers to detect heavy traffic. In heavy traffic, the controller may bring a mover to a stop to avoid collisions. Once a mover is stopped, the segment controller will look at the present location of the mover and determine whether it is at the desired position set in the motion command. If the mover is not at the desired position, the stop was a result of heavy traffic. After detecting heavy traffic, the controller commands the mover to resume travel using a modified motion command. The modified motion command will command the first mover to its desired position but will command the move at a reduced rate or using a reduced response in the controller.
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公开(公告)号：US20240059327A1
公开(公告)日：2024-02-22
申请号：US17889069
申请日：2022-08-16
摘要： A system for controlling movers in a linear drive system includes a plurality of movers and a track providing segments along which the movers may travel and holding driver coils and a segment controller controlling the driver coils. Some of the segments having switches forming branches between segments. A central controller communicates operates with the segment controllers to route the movers along the track by distributing routing decisions for a given mover to a segment controller for a track on which a given mover is currently traveling.
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公开(公告)号：US11780333B2
公开(公告)日：2023-10-10
申请号：US17401544
申请日：2021-08-13
发明人： Yuhong Huang , Brian M. Perreault
CPC分类号： B60L3/0015 , B60L15/005 , B60L15/38 , B60L13/03
摘要： An improved system for preventing collisions between movers while improving throughput in a linear drive system utilizes a continually variable vehicle length for each mover. A vehicle length is assigned to each mover, where the vehicle length is a minimum track length required by the vehicle to avoid physically contacting a neighboring vehicle along the track. The vehicle length for each mover is then determined for each location along the track based on both the track geometry and the mover geometry. The vehicle length is continually variable along the length of the track allowing movers to be positioned as close together as possible for each location along the track based on both the track geometry and the mover geometry. The continually variable vehicle length provides collision prevention between movers while increasing throughput of movers along segments of the track that do not require the largest spacing between movers.
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公开(公告)号：US10432117B1
公开(公告)日：2019-10-01
申请号：US16015699
申请日：2018-06-22
IPC分类号： H02P7/025 , H02K41/035 , H02K11/21 , B65G23/00 , B65G51/03 , B65G43/00 , H02K11/35 , H04L29/08
摘要： An improved system and method for monitoring operation of movers in an independent cart system reduces the required communication bandwidth for monitoring operation of movers in a system where control is distributed among multiple controllers spaced along the track. As the mover is travelling along the track segment, each distributed controller monitors at least one operating characteristic of the mover. As a mover travels along the track, each distributed controller transmits the operating characteristic to a successive distributed controller, such the monitored operating characteristic is transmitted along the track as the mover travels along the track. At a reduced rate or upon request from a central controller, each distributed controller may transmit the status of a mover present on the corresponding track segment controlled by that distributed controller to the central controller.
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公开(公告)号：US20240359325A1
公开(公告)日：2024-10-31
申请号：US18306352
申请日：2023-04-25
CPC分类号： B25J9/1664 , B25J5/02 , B65G54/02 , B65G2203/0283
摘要： Motion is coordinated between a robot and a mover in an independent cart system. Positions for a mover along a track for the independent cart system and for each axis of motion of the robot mounted on the mover are received at the motion controller. The axis position corresponds to either an angular position of the motor or a mechanical position of a corresponding axis on which the motor is mounted. The motion controller receives a robot motion command corresponding to a desired operation of the robot and generates a mover motion command for the mover and an axis motion command for each axis of the robot. The mover motion command and the axis motion commands are generated as a function of the robot motion command, the position of the mover along the track, and the position of the motor or of the axis for each axis of the robot.
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7.发明公开公开(公告)号：US20240286657A1
公开(公告)日：2024-08-29
申请号：US18659504
申请日：2024-05-09
发明人： Yuhong Huang
CPC分类号： B61L23/34 , B61L23/26 , B61L25/021
摘要： A motion control system for an independent cart system provides for an improved system for controlling operation of movers in areas of high traffic. A controller monitors operation of the movers to detect heavy traffic. In heavy traffic, the controller may bring a mover to a stop to avoid collisions. Once a mover is stopped, the segment controller will look at the present location of the mover and determine whether it is at the desired position set in the motion command. If the mover is not at the desired position, the stop was a result of heavy traffic. After detecting heavy traffic, the controller commands the mover to resume travel using a modified motion command. The modified motion command will command the first mover to its desired position but will command the move at a reduced rate or using a reduced response in the controller.
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8.发明公开公开(公告)号：US20230382650A1
公开(公告)日：2023-11-30
申请号：US17828737
申请日：2022-05-31
发明人： Yuhong Huang
CPC分类号： B65G43/00 , B65G35/06 , B65G54/02 , B65G2203/0283 , B65G2203/0291
摘要： A controller for a linear drive system includes compensation of a reference signal as the mover approaches a commanded position along a track. The compensation value is added once as the vehicle approaches the commanded position, adjusting the reference signal. This compensation allows the controller to resolve to a zero reference signal at the same time the vehicle reaches the commanded position. The amount of compensation required may be automatically determined for a particular vehicle to reduce or eliminate overshoot as the vehicle approaches a station. Initially, no compensation is provided and the controller monitors settling error as the vehicle approaches a station. The compensation value is then incremented and the controller again monitors settling error as the vehicle approaches a station. The controller compares the new settling error to the prior settling error and adjusts the compensation value accordingly.
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9.发明授权公开(公告)号：US11829158B2
公开(公告)日：2023-11-28
申请号：US17411791
申请日：2021-08-25
IPC分类号： G05D1/02
CPC分类号： G05D1/0293 , G05D1/0223 , G05D1/0276 , G05D1/0295
摘要： Synchronization of multiple vehicles in an independent cart system to reduce spacing and increase throughput designates one of the movers as a leader and at least one additional mover as a follower, defining a chain of vehicles. A motion command for the chain is provided to a controller for the leader, and the controller generates a motion profile. The controller passes this motion profile to a controller for each of the follower movers. If the follower is unable to maintain the motion profile for the leader, the controller for the follower generates a message to the controller for the leader indicating a modification to the motion profile is required. The controller for the leader modifies the motion profile and forwards the modified motion profile to controllers for each follower. If all movers are following the modified profile, the controller for the leader may return to the original motion profile.
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10.发明申请公开(公告)号：US20230068768A1
公开(公告)日：2023-03-02
申请号：US17411791
申请日：2021-08-25
IPC分类号： G05D1/02
摘要： Synchronization of multiple vehicles in an independent cart system to reduce spacing and increase throughput designates one of the movers as a leader and at least one additional mover as a follower, defining a chain of vehicles. A motion command for the chain is provided to a controller for the leader, and the controller generates a motion profile. The controller passes this motion profile to a controller for each of the follower movers. If the follower is unable to maintain the motion profile for the leader, the controller for the follower generates a message to the controller for the leader indicating a modification to the motion profile is required. The controller for the leader modifies the motion profile and forwards the modified motion profile to controllers for each follower. If all movers are following the modified profile, the controller for the leader may return to the original motion profile.
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