Motor control system, motor control method, and non-transitory storage medium
AssigneeToyota Jidosha Kabushiki Kaisha
InventorAkihito Goto
Life of this patent
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Abstract
A motor control system includes: an inverter circuit that includes switching elements; an inverter drive circuit configured to switch the switching elements between an on state and an off state; and a power source configured to supply power to the inverter drive circuit. The power source is switched from a first power source to a second power source that is different from the first power source when short-circuit braking is applied to a motor, the first power source being configured to supply power to the inverter circuit.
Claims10
A motor control system comprising:
- an inverter circuit that includes switching elements;
- an inverter drive circuit configured to switch the switching elements between an on state and an off state;
- a power source configured to supply power to the inverter drive circuit;
- and
- a machine learning model trained to determine whether a robot arm driven by a motor contacts or approaches a human or an object based on an image in which surroundings of the robot arm is captured or information from a contact sensor mounted on the robot arm, wherein
- the power source is switched from a first power source to a second power source that is different from the first power source when short-circuit braking is applied to the motor, the first power source being configured to supply power to the inverter circuit,
- power supply from the first power source to the inverter circuit and the inverter drive circuit is cut off when short-circuit braking is applied to the motor, and
- the power supply from the first power source to the inverter circuit and the inverter drive circuit is cut off when a result of a determination made by the machine learning model is positive.
A motor control method comprising
- switching, by a control unit, a power source configured to supply power to an inverter drive circuit from a first power source to a second power source that is different from the first power source when short-circuit braking is applied to a motor, wherein
- the inverter drive circuit being configured to switch switching elements between an on state and an off state, and
- the first power source being configured to supply power to an inverter circuit that includes the switching elements,
- cutting off power supply from the first power source to the inverter circuit and the inverter drive circuit when short-circuit braking is applied to the motor,
- determining, by a machine learning model stored in the control unit, whether a robot arm driven by the motor contacts or approaches a human or an object based on a captured image of surroundings of the robot arm or information from a contact sensor mounted on the robot arm, and
- cutting off the power supply from the first power source to the inverter circuit and the Inverter drive circuit when a result of a determination made by the machine learning model is positive.
A non-transitory storage medium that stores instructions that are executable by one or more processors of a computer and that cause the one or more processors to execute functions comprising
- switching a power source configured to supply power to an inverter drive circuit from a first power source to a second power source that is different from the first power source when short-circuit braking is applied to a motor, wherein
- the inverter drive circuit being configured to switch switching elements between an on state and an off state, and
- the first power source being configured to supply power to an inverter circuit that includes the switching elements
- cutting off power supply from the first power source to the inverter circuit and the inverter drive circuit when short-circuit braking is applied to the motor,
- determining whether a robot am driven by the motor contacts or approaches a human or an object based on a captured image of surroundings of the robot arm or information from a contact sensor mounted on the robot arm,
- cutting off the power supply from the first power source to the inverter circuit and the inverter drive circuit when a result of a determination is positive.
Dependencies are inferred from the claim text.