Granted Patent B2

US 12,539,619 · App. 17/691,427 · Granted Feb 3, 2026

Inventors: Tsuyoshi Kogawa (Kawasaki Kanagawa, JP); Toshihisa Nabetani (Kawasaki Kanagawa, JP); Tomoya Tandai (Ota Tokyo, JP)

Assignee: KABUSHIKI KAISHA TOSHIBA

B25J13/006B25J13/08G08C17/02G05B2219/39001

Abstract

Claims (124)

1 . A wireless device comprising:

circuitry configured to:

generate control signals for respective control targets;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals;

transmit a wireless signal corresponding to the control information; and

receive a wireless signal including control periods of the respective control targets,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when the control period of the one of the control targets is shorter than a threshold.

2 . The wireless device according to claim 1 , wherein:

the circuitry is configured to generate respective transfer deadlines of the control signals; and

the control information further includes the transfer deadlines.

3 . The wireless device according to claim 2 , wherein the circuitry is configured to:

measure a ratio of a busy time of the wireless device and an idle time of the wireless device; and

generate one of the transfer deadlines based on the ratio and a number of one of the control targets to which the control information needs to be transferred.

4 . The wireless device according to claim 2 , wherein the circuitry is configured to:

extract state information indicating states of the control targets from a received wireless signal;

generate the control signals based on the state information; and

generate the transfer necessity signals based on the state information.

5 . The wireless device according to claim 3 , wherein:

the circuitry is configured to generate identification information identifying the one of the control targets; and

the control information further includes the identification information.

6 . The wireless device according to claim 3 , wherein the circuitry is configured to:

extract state information indicating states of the control targets from a received wireless signal; and

generate the transfer necessity signals based on respective control target values for the control targets and the state information.

7 . The wireless device according to claim 1 , wherein the circuitry is configured to:

generate plural items of the control information as upper layer data;

add a header of a lower layer to the plural items of the control information; and

transmit the wireless signal corresponding to the header and the plural items of the control information by multicast or broadcast.

8 . A wireless device comprising:

a first control target; and

circuitry configured to:

receive a first wireless signal including a first control signal for the first control target, a second control signal for a second control target, and transfer necessity signals;

control the first control target based on the first control signal; and

transfer a second wireless signal including the second control signal based on the transfer necessity signals,

wherein:

the first wireless signal further includes a transfer deadline,

the circuitry is configured to transfer the second control signal based on the transfer deadline, and

the circuitry is configured to:

receive information from the first control target;

generate a first transmission signal including state information;

generate a second transmission signal including the state information and the second control signal; and

transmit the first transmission signal or the second transmission signal as the second wireless signal based on whether the transfer deadline has passed.

9 . A control system comprising:

a first wireless device; and

a second wireless device connected to a first control target,

wherein:

the first wireless device comprises circuitry configured to:

generate control signals for respective control targets;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals; and

transmit a wireless signal corresponding to the control information, and the second wireless device comprises circuitry configured to:

receive a first wireless signal including a first control signal for the first control target, a second control signal for a second control target, and the transfer necessity signals;

control the first control target based on the first control signal; and

transfer a second wireless signal including the second control signal based on the transfer necessity signals.

10 . A wireless transmission method comprising:

generating control signals for respective control targets;

generating transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generating control information including the control signals and the transfer necessity signals;

transmitting a wireless signal corresponding to the control information; and

receiving a wireless signal including control periods of the respective control targets,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when the control period of the one of the control targets is shorter than a threshold.

11 . A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by a computer, cause the computer to control functions comprising:

generating control signals for respective control targets;

generating transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generating control information including the control signals and the transfer necessity signals;

transmitting a wireless signal corresponding to the control information; and

receiving a wireless signal including control periods of the respective control targets,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when the control period of the one of the control targets is shorter than a threshold.

12 . A wireless device comprising:

circuitry configured to:

generate control signals for respective control targets including motors;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals;

transmit a wireless signal corresponding to the control information; and

receive a wireless signal including detection values of rotation speeds of the motors of the control targets,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when a difference between a target value and the detection value of the rotation speed of the one of the control targets is maximum among the detection values of the rotation speeds of the motors of the control targets.

13 . A wireless device comprising:

circuitry configured to:

generate control signals for respective control targets including motors;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals;

transmit a wireless signal corresponding to the control information; and

receive a wireless signal including detection values of rotation speeds of the motors of the control targets,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when a difference between a target value and the detection value of the rotation speed of the one of the control targets is greater than a threshold.

14 . A wireless device comprising:

circuitry configured to:

generate control signals for respective control targets including motors;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals;

transmit a wireless signal corresponding to the control information;

receive a wireless signal including detection values of rotation speeds of the motors of the control targets; and

calculate accelerations of the motors based on the detection values,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when the calculated acceleration of the one of the control targets is greater than a threshold.

15 . A wireless device comprising:

circuitry configured to:

generate control signals for respective control targets including motors;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals;

transmit a wireless signal corresponding to the control information; and

receive wireless signals from the control targets,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when a reception power of the wireless signal from the one of the control targets is lowest among the wireless signals from the control targets.

16 . A wireless device comprising:

circuitry configured to:

generate control signals for respective control targets including motors;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals;

transmit a wireless signal corresponding to the control information; and

receive wireless signals from the control targets,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when a reception time interval of the wireless signal from the one of the control targets is longest among reception time intervals of the wireless signals from the control targets.

17 . A wireless device comprising:

circuitry configured to:

generate control signals for respective control targets including motors;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals;

transmit a wireless signal corresponding to the control information; and

receive a wireless signal including request reliabilities of the control targets,

wherein the one of the transfer necessity signals for the one of the control targets indicates that transfer of the one of the control signals for the one of the control targets from the another of the control targets to the one of the control targets is necessary when the request reliability of the one of the control targets is highest among the request reliabilities of the control targets.

18 . A wireless device comprising:

circuitry configured to:

generate control signals for respective control targets including motors;

generate transfer necessity signals, one of the transfer necessity signals for one of the control targets indicating whether transfer of the one of the control signals for the one of the control targets from another of the control targets to the one of the control targets is necessary or unnecessary;

generate control information including the control signals and the transfer necessity signals; and

transmit a wireless signal corresponding to the control information,

wherein the transfer necessity signals for all of the control targets indicate that transfer of the control signals is necessary when the circuitry receives an emergency stop message.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (15)