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US 12,120,211 B2Granted
Time synchronization of local device
OwnerTatsuo Soeda, Kazutoshi Kobayashiinventors
Life of this patent
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Abstract
A controller includes circuitry configured to: receive global time data indicating a global time associated with an external global clock; synchronize an internal controller clock of the controller with the global clock based on the global time; set a controller time based on the synchronized controller clock; and transmit controller time data indicating the controller time to at least one local device through periodic communication.
Claims20
A controller comprising circuitry configured to:
- receive global time data indicating a global time associated with an external global clock;
- determine a time difference between the global clock and an internal controller clock of the controller based on the global time data;
- compare an amount of time change corresponding to the time difference to a given threshold;
- divide the amount of time change over a plurality of communication cycles of periodic communication to set an amount of correction, in response to determining that the amount of time change exceeds the given threshold;
- correct the internal controller clock based on the amount of correction;
- synchronize the corrected controller clock of the controller with the global clock based on the global time;
- set a controller time based on the synchronized controller clock;
- and
- transmit controller time data indicating the controller time to at least one robot through the periodic communication.
6 more elements
A controller comprising circuitry configured to:
- receive global time data indicating a global time associated with an external global clock;
- determine a time difference between the global clock and an internal controller clock of the controller based on the global time data;
- compare an amount of time change corresponding to the time difference to a given threshold;
- divide the amount of time change over a plurality of communication cycles of periodic communication to set an amount of correction, in response to determining that the amount of time change exceeds the given threshold;
- correct the controller clock based on the amount of correction;
- synchronize the corrected controller clock with the global clock;
- and
- transmit controller time data indicating a controller time based on the synchronized controller clock to at least one local device through the periodic communication.
5 more elements
A method of synchronization comprising:
- receiving global time data indicating a global time associated with an external global clock;
- determining a time difference between the global clock and an internal controller clock of a controller based on the global time data;
- comparing an amount of time change corresponding to the time difference to a given threshold;
- dividing the amount of time change over a plurality of communication cycles of periodic communication to set an amount of correction, in response to determining that the amount of time change exceeds the given threshold;
- correcting the controller clock based on the amount of correction;
- synchronizing the corrected controller clock of the controller with the global clock based on the global time;
- setting a controller time based on the synchronized controller clock;
- and
- transmitting controller time data indicating the controller time to at least one local device through the periodic communication.
6 more elements
Dependencies are inferred from the claim text.