CN104334322A - Robot control device - Google Patents
Robot control device Download PDFInfo
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- CN104334322A CN104334322A CN201280073747.9A CN201280073747A CN104334322A CN 104334322 A CN104334322 A CN 104334322A CN 201280073747 A CN201280073747 A CN 201280073747A CN 104334322 A CN104334322 A CN 104334322A
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- premium features
- robot controller
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- 230000006870 function Effects 0.000 claims abstract description 57
- 230000015654 memory Effects 0.000 claims abstract description 47
- 230000005039 memory span Effects 0.000 claims description 14
- 230000010355 oscillation Effects 0.000 claims description 4
- 238000004321 preservation Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 12
- 239000000872 buffer Substances 0.000 description 9
- 230000001143 conditioned effect Effects 0.000 description 8
- 230000006399 behavior Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000010453 quartz Substances 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 4
- 230000000052 comparative effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/10—Protecting distributed programs or content, e.g. vending or licensing of copyrighted material ; Digital rights management [DRM]
- G06F21/12—Protecting executable software
- G06F21/121—Restricting unauthorised execution of programs
- G06F21/123—Restricting unauthorised execution of programs by using dedicated hardware, e.g. dongles, smart cards, cryptographic processors, global positioning systems [GPS] devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24154—Password with time limited access to system, protect protocol
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34436—Interface circuit build into connector, dongle
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- Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Computer Security & Cryptography (AREA)
- General Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Technology Law (AREA)
- General Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Remote Sensing (AREA)
- Artificial Intelligence (AREA)
- Radar, Positioning & Navigation (AREA)
- Evolutionary Computation (AREA)
- Computer Hardware Design (AREA)
- Mathematical Physics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Programmable Controllers (AREA)
- Stored Programmes (AREA)
Abstract
The robot control device has: a memory (10), which is a software-storing unit in which software comprising basic functions for controlling the robot and advanced functions that can be added to the basic functions and are for improving a robot-controlling function or performance is stored; a CPU (11), which is a processing unit for reading from the software-storing unit a function that meets a request and executing same; and a clock (13), which is a basic capability-conferring unit for conferring a hardware capability for an action resulting from a basic function to the processing unit. When setting an advanced function to be usable, a hardware dongle (2-1 to 2-3) is mounted. The hardware dongle has a clock (15-1 to 15-3), which is an additional capability-conferring unit for conferring a hardware capability for an action resulting from an advanced function to the processing unit.
Description
Technical field
The present invention relates to a kind of robot controller.
Background technology
Current, known a kind of robot controller, it relative to the basic function for control, can carry out adding of Premium Features as option (option).Here, Premium Features refer to, for the optional function making the function of robot controller, performance improves, such as, can enumerate as collision checking function, in the course of action of robot, the collision of robot controller to robot and periphery object detects, and as far as possible promptly makes the function that robot stops.Robot controller is configured to, and except coming except additional Premium Features by the installation of additional software, sometimes preserving the software comprising Premium Features in advance, adding Premium Features according to the setting that could use.
Robot controller adds Premium Features in order to the setting by the software on memory sometimes, with the signal wiring for carrying out permitting (license) certification being called cyberdog (dongle).This hardware electronic dog, from the software being pre-stored within memory, identifies the Premium Features of the object as Licensing Authority, allows the access (for example, referring to patent document 1) to these Premium Features.The supplier of robot controller is using the part of functions of robot controlling as option, and user hope being realized to this function carries out certification license, and carries out the charge corresponding with provided function.The supplier of robot controller according to the demand of each user, can provide the Premium Features that surcharge is high.
Patent document 1: Japanese Unexamined Patent Publication 2006-277527 publication
Summary of the invention
In robot controller, in order to the improper leakage of the Premium Features that suppress surcharge high, as long as expect not obtain Licensing Authority normally, just strictly stop the use of Premium Features.But, as long as such as derive the corresponding relation between the Premium Features for identifying in the identification id of Premium Features and software, just can by carrying out the easier method such as the rewriting of the setting in the manufacture of the Counterfeit Item of hardware (HW) cyberdog, memory, the improper utilization, the improper of program that cause realizing Premium Features are copied.
The present invention proposes in view of the foregoing, its object is to obtain a kind of robot controller, this robot controller for the Premium Features added by setting, can suppress the improper utilization under the situation of not carrying out proper setting behavior effectively.
In order to solve above-mentioned problem, realize object, the invention is characterized in, have: software storage part, it stores software, and this software kit is containing basic function and Premium Features, and this basic function is used for control, these Premium Features can add relative to described basic function, improve for function, the performance making to control described robot; Operational part, the function corresponding with request reads from described software storage part, performs by it; And key property assigning unit, the hardware performance of the action be used under described basic function is imparted to described operational part by it, be provided for described Premium Features can setting in, hardware electronic dog is installed, described hardware electronic dog has additional performance assigning unit, the hardware performance of action that this additional performance assigning unit will be used under described Premium Features, is imparted to described operational part.
The effect of invention
Robot controller involved in the present invention, when additional Premium Features, not only needs the setting of the software on software storage part, also will improve hardware performance by the additional performance assigning unit in hardware electronic dog.Even if the setting in the identification id of Premium Features, software is decrypted, as long as do not install hardware electronic dog, then hardware performance is inadequate for enabling Premium Features, therefore, it is possible to stop the action under Premium Features.Thus, robot controller has the effect of the improper utilization of the Premium Features that can effectively suppress under the situation of not carrying out proper setting behavior.
Accompanying drawing explanation
Fig. 1 is the block diagram of the schematic configuration of the robot controller represented involved by embodiments of the present invention 1.
Fig. 2 is the figure of the connection of the clock illustrated when not installing any HW cyberdog.
Fig. 3 is the figure of the connection of the clock illustrated when being provided with HW cyberdog.
Fig. 4 is the block diagram of the schematic configuration of the robot controller involved by comparative example representing embodiment 1.
Fig. 5 is the block diagram of the schematic configuration of the robot controller represented involved by embodiments of the present invention 2.
Fig. 6 is the figure of the connection of the EEPROM illustrated when not installing any HW cyberdog.
Fig. 7 is the figure of the connection of the EEPROM illustrated when being provided with HW cyberdog.
Fig. 8 is the block diagram of the schematic configuration of the robot controller represented involved by embodiments of the present invention 3.
Detailed description of the invention
Below, the embodiment of robot controller involved in the present invention is described in detail based on accompanying drawing.In addition, the present invention is not limited to this embodiment.
Embodiment 1.
Fig. 1 is the block diagram of the schematic configuration of the robot controller represented involved by embodiments of the present invention 1.The driving of robot controller 1 to the robot (omitting diagram) as controlled device controls.Robot controller 1 has memory 10, CPU (Central Processing Unit) 11, selector 12, clock 13 and condition circuit 14.
Memory 10 stores software, this software kit containing for control basic function and can carry out relative to basic function the Premium Features that add.Memory 10 works as software storage part.Basic function is such as the standard feature being set as effectively implementing from the dispatching from the factory of robot controller 1.The optional function that Premium Features are functions for making to control robot, performance improves.Premium Features are set as, such as, accepted the Licensing Authority undertaken by the supplier of robot controller 1 by user, thus can implement individually.Below, software (SW) Premium Features are called in robot controller 1 as the Premium Features of the object added.
CPU 11 reads, performs and asks corresponding function from memory 10.CPU 11 works as operational part.Clock 13 via selector 12 to CPU 11 tranmitting data register signal.Clock 13 is fundamental oscillation devices, and this fundamental oscillation device vibrates with the driving frequency of the action being applicable to the CPU 11 under basic function, generated clock signal.
Synchronization timing (timing) under the driving frequency of regulation, in order to realize the hardware performance for the action under basic function, is imparted to CPU 11 by clock 13.Clock 13 works as key property assigning unit.As clock 13, such as, use quartz (controlled) oscillator.Built-in quartz vibrator and oscillating circuit in quartz (controlled) oscillator.
Selector 12 selects the clock signal of self-clock 13 and some from the clock signal of clock 15-1,15-2 and 15-3 described later, exports to CPU 11.When some in hardware described later (HW) cyberdog 2-1,2-2 or 2-3 of condition circuit 14 is installed on installation portion, to selector 12 output condition signal 17.
Robot controller 1 has installation portion (omitting diagram), and this installation portion is for installing HW cyberdog 2-1,2-2 and 2-3.Be provided for SW Premium Features can setting in, HW cyberdog 2-1,2-2 and 2-3 are installed on the installation portion of robot controller 1.The purposes of HW cyberdog 2-1,2-2 and 2-3 identifies SW Premium Features, to add SW Premium Features to robot controller 1.The supplier of robot controller 1 realizes the part of functions of robot controlling and the user of SW Premium Features for hope, as Licensing Authority, provides HW cyberdog 2-1,2-2 and 2-3 corresponding with these SW Premium Features.
In addition, the number that robot controller 1 is not limited to installable HW cyberdog is the situation of 3, any amount.Robot controller 1 can according to the quantity of the SW Premium Features that can add, the suitably number of the installable HW cyberdog of setting.
HW cyberdog 2-1,2-2 and 2-3 have clock 15-1,15-2 and 15-3 respectively.Clock 15-1,15-2 and 15-3 via selector 12 to CPU 11 tranmitting data register signal.Clock 15-1,15-2 and 15-3 are additional oscillators, that is, vibrate with the driving frequency of the action being applicable to the CPU 11 under SW Premium Features, generated clock signal.
Clock 15-1,15-2 and 15-3 using the hardware performance of the synchronization timing under regulation driving frequency as the action be used under SW Premium Features, and are imparted to CPU 11.Clock 15-1,15-2 and 15-3 work as additional performance assigning unit.As clock 15-1,15-2 and 15-3, such as, use quartz (controlled) oscillator.
Clock 15-1,15-2 and 15-3 driving frequency of vibrating suitably sets according to the movement content under corresponding SW Premium Features respectively.Further, the vibrate driving frequency that of clock 15-1,15-2 and 15-3 is all high than the vibrate driving frequency that of clock 13.
HW cyberdog 2-1,2-2 and 2-3 preserve condition 16-1,16-2 and 16-3 for identifying corresponding SW Premium Features respectively.If HW cyberdog 2-1,2-2 and 2-3 are installed on installation portion, then to condition circuit 14 output condition 16-1,16-2 or 16-3.Condition circuit 14 exports the conditioned signal 17 corresponding with inputted condition 16-1,16-2 or 16-3.
Fig. 2 is the figure of the connection of the clock illustrated when not installing any HW cyberdog.In all uninstalled situation of HW cyberdog 2-1,2-2 and 2-3, selector 12 selects the clock signal of self-clock 13 namely to input, such as option " 1 ".CPU 11 uses the clock signal of self-clock 13, performs the action under basic function.
Fig. 3 is the figure of the connection of the clock illustrated when being provided with HW cyberdog.Such as, when being provided with HW cyberdog 2-1, condition 16-1 exports to condition circuit 14 by HW cyberdog 2-1.Condition circuit 14 exports the conditioned signal 17 corresponding with inputted condition 16-1.
Conditioned signal 17 as selection input control signal, selects the clock signal of self-clock 15-1 namely to input, such as option " 2 " by selector 12.The SW Premium Features corresponding with HW cyberdog 2-1 read from memory 10 by CPU 11.CPU 11 uses the clock signal of self-clock 15-1, performs the action under the SW Premium Features corresponding with HW cyberdog 2-1.
When to be provided with in HW cyberdog 2-1,2-2 or 2-3 some, selector 12 is using the conditioned signal 17 from condition circuit 14 as selection control inputs signal, and that selects in the clock signal of self-clock 15-1,15-2 or 15-3 is some.The SW Premium Features corresponding with installed HW cyberdog read from memory 10 by CPU 11.CPU 11 uses the clock signal selected by selector 12, performs the action under the SW Premium Features corresponding with this HW cyberdog.
Fig. 4 is the block diagram of the schematic configuration of the robot controller involved by comparative example representing embodiment 1.Robot controller 3 involved by comparative example has memory 10, CPU 11, buffer 18 and clock 19.HW cyberdog 4-1,4-2 and 4-3 have identification id 5-1,5-2 and 5-3 for identifying SW Premium Features.Buffer 18 reads identification id 5-1,5-2 or 5-3 from installed HW cyberdog 4-1,4-2 or 4-3.
If that has installed in HW cyberdog 4-1,4-2 or 4-3 is some, and reads identification id by buffer 18, then the SW Premium Features corresponding with the identification id inputted from buffer 18 read from memory 10 by CPU 11.Clock 19 vibrates with the driving frequency corresponding with the action under read-out SW Premium Features, to CPU 11 clock signal.When not installing HW cyberdog 4-1,4-2 and 4-3, clock 19 vibrates with the driving frequency corresponding with the action under basic function, to CPU 11 clock signal.
Clock 15-1,15-2 and 15-3 that the robot controller 1 involved by embodiment 1 shown in Fig. 1 can carry out with the frequency higher than clock 13 vibrating are equipped on HW cyberdog 2-1,2-2 and 2-3 respectively.The higher driving frequency generated by the clock in installed HW cyberdog, by the installation of HW cyberdog 2-1,2-2 and 2-3, is applied to CPU 11 by robot controller 1.About robot controller 1, compared with the situation of the action under its basic function, in the action under SW Premium Features, the handling property (hardware performance) of CPU 11 can be improved.In this case, such as, in above-mentioned collision checking function, in order to detect with the collision of surrounding in course of action robot, and robot be stopped as far as possible rapidly, need the control carrying out the sensitivity improving collision detection.Therefore, in order to realize this function, need the handling property of the CPU 11 making robot controller 1 to improve.
Robot controller 1 is when additional SW Premium Features, not only need the setting of the software on memory 10, also need the handling property being improved CPU 11 by clock 15-1,15-2 or the 15-3 in HW cyberdog 2-1,2-2 or 2-3.Even if the setting in the identification id of Premium Features, software is decrypted, if but the Licensing Authority issued as the supplier by robot controller 1 is not installed and HW cyberdog 2-1,2-2 or 2-3 of providing, the handling property of CPU 11 is inadequate for giving full play to for SW Premium Features.Its result, such as, in above-mentioned collision checking function, the sensitivity of collision detection is not enough, lacks the ability processed Premium Features such as collision functions.
Thus, robot controller 1, when not installing HW cyberdog 2-1,2-2 or 2-3, stops the access to SW Premium Features.Robot controller 1 strictly can prevent the improper utilization of the SW Premium Features do not carried out under the situation of proper setting behavior.Robot controller 1 passes through using SW Premium Features as option, thus can provide the SW Premium Features corresponding with the hope of each user.With just load the situation of whole SW Premium Features from dispatching from the factory compared with, robot controller 1 can realize the simplification of simplifying of basic structure and production process.
Embodiment 2.
Fig. 5 is the block diagram of the schematic configuration of the robot controller represented involved by embodiments of the present invention 2.Mark identical label to the part identical with embodiment 1, suitably the repetitive description thereof will be omitted.
Robot controller 20 involved by embodiment 2 has memory 10, CPU 11, selector 12, condition circuit 14, EEPROM (Electrically Erasable and Programmable Read Only Memory) 21 and clock 22.
Clock 22 vibrates, to CPU 11 clock signal with the driving frequency of regulation.EEPROM 21 is for setting the pattern of the CPU 11 in basic function.EEPROM21 is nonvolatile memory, as the hardware performance of the action be used under basic function in EEPROM 21, preserves the setting item (pattern) being applicable to the action of CPU 11.EEPROM 21 works as the structure (key property assigning unit) of the key property of giving robot controller 20.
It is some that selector 12 is selected in each pattern being set in EEPROM 21, EEPROM 24-1,24-2 and 24-3 described later, and export to CPU 11.In addition, in robot controller 20, as the nonvolatile memory of the pattern of preservation CPU 11, the structure except EEPROM 21 can also be applied.
Robot controller 20 has the installation portion (omitting diagram) for installing HW cyberdog 23-1,23-2 and 23-3.Be provided for SW Premium Features can setting in, HW cyberdog 23-1,23-2 and 23-3 are installed on the installation portion of robot controller 20.
The purposes of HW cyberdog 23-1,23-2 and 23-3 identifies SW Premium Features, to add SW Premium Features to robot controller 20.The supplier of robot controller 20 realizes the part of functions of robot controlling and the user of SW Premium Features for hope, as Licensing Authority, provides HW cyberdog 23-1,23-2 or 23-3 corresponding with these SW Premium Features.
In addition, the number that robot controller 20 is not limited to installable HW cyberdog is the situation of 3, any amount.Robot controller 20 can according to the quantity of the SW Premium Features that can add, the suitably number of the installable HW cyberdog of setting.
HW cyberdog 23-1,23-2 and 23-3 have EEPROM 24-1,24-2 or 24-3 respectively.EEPROM 24-1,24-2 and 24-3 via selector 12 to CPU 11 sending action pattern.EEPROM 24-1,24-2 and 24-3 are the additional nonvolatile memories of SW Premium Features of the setting item of the action of preserving the CPU 11 be applicable under SW Premium Features.
Compulsory exercise pattern is imparted to CPU 11 as the hardware performance of the action be used under SW Premium Features by EEPROM 24-1,24-2 and 24-3.EEPROM 24-1,24-2 and 24-3 work as additional performance assigning unit.
The pattern that EEPROM 24-1,24-2 and 24-3 preserve suitably sets according to the movement content under corresponding SW Premium Features respectively.Further, the action under the pattern of EEPROM 24-1,24-2 and 24-3, all than the quick action under the pattern of EEPROM 21.CPU 11 for the clock signal of the clock 22 from CPU 11 outside, apply according to EEPROM 21,23-1,23-2 and 23-3 and make the operating frequency of CPU 11 inside variable bootmode (boot mode) setting.
HW cyberdog 23-1,23-2 and 23-3 preserve condition 16-1,16-2 or 16-3 for identifying corresponding SW Premium Features respectively.If HW cyberdog 23-1,23-2 and 23-3 are installed on installation portion, then respectively to condition circuit 14 output condition 16-1,16-2 or 16-3.In addition, as the nonvolatile memory of the pattern of preservation CPU 11 in HW cyberdog 23-1,23-2 and 23-3, the structure except EEPROM 24-1,24-2 and 24-3 can also be applied.
Fig. 6 is the figure of the connection of the EEPROM illustrated when not installing any HW cyberdog.In all uninstalled situation of HW cyberdog 23-1,23-2 and 23-3, the pattern inputted from EEPROM 21 selected by selector 12, such as option " 1 ".CPU 11 uses the pattern from EEPROM 21, performs the action under basic function.
Fig. 7 is the figure of the connection of the EEPROM illustrated when being provided with HW cyberdog.Such as, when being provided with HW cyberdog 23-1, condition 16-1 exports to condition circuit 14 by HW cyberdog 23-1.Condition circuit 14 exports the conditioned signal 17 corresponding with inputted condition 16-1.
Selector 12, using conditioned signal 17 as selection input control signal, selects the pattern inputted from EEPROM 24-1, such as option " 2 ".The SW Premium Features corresponding with HW cyberdog 23-1 read from memory 10 by CPU 11.CPU 11 uses the pattern from EEPROM 24-1, performs the action under the SW Premium Features corresponding with HW cyberdog 23-1.
Selector 12 is when to be provided with in HW cyberdog 23-1,23-2 or 23-3 some, using the conditioned signal 17 from condition circuit 14 as selection control inputs signal, that selects from the pattern of EEPROM 24-1,24-2 or 24-3 is some.The SW Premium Features corresponding with installed HW cyberdog read from memory 10 by CPU 11.CPU 11 uses the pattern selected by selector 12, performs the action under the SW Premium Features corresponding with this HW cyberdog.
Compared with the pattern in EEPROM 21, action faster pattern is set in EEPROM 24-1,24-2 and 24-3 respectively, and EEPROM 24-1,24-2 and 24-3 are equipped on HW cyberdog 23-1,23-2 and 23-3 respectively.The pattern of the high speed in installed HW cyberdog, by the installation of HW cyberdog 23-1,23-2 or 23-3, is applied to CPU 11 by the robot controller 20 involved by embodiment 2.Compared with the situation of the action under basic function, robot controller 20 can utilize SW Premium Features, improves the handling property (hardware performance) of CPU 11.
Robot controller 20 is when additional SW Premium Features, not only need the setting of the software on memory 10, also need the handling property being improved CPU 11 by EEPROM 24-1,24-2 or the 24-3 in HW cyberdog 23-1,23-2 or 23-3.Even if the setting in the identification id of Premium Features, software is decrypted, if but the Licensing Authority issued as the supplier by robot controller 20 is not installed and HW cyberdog 23-1,23-2 or 23-3 of providing, the handling property of CPU 11 remains inadequate for giving full play to for SW Premium Features.The problem that this result produces is such as identical with the example described in embodiment 1.
Thus, identically with embodiment 1, robot controller 20, when not installing HW cyberdog 23-1,23-2 or 23-3, stops the access to SW Premium Features.Robot controller 20 strictly can prevent the improper utilization of the SW Premium Features under the situation of not carrying out proper setting behavior.Robot controller 20 passes through using SW Premium Features as option, thus can provide the SW Premium Features corresponding with the hope of each user.Compared with situation about just being loaded by whole SW Premium Features from dispatching from the factory, robot controller 20 can realize the simplification of simplifying of basic structure and production process.
Embodiment 3.
Fig. 8 is the block diagram of the schematic configuration of the robot controller represented involved by embodiments of the present invention 3.Mark identical label to the part identical with embodiment 1 and 2, suitably the repetitive description thereof will be omitted.
Robot controller 30 involved by embodiment 3 has memory 10, CPU 11, clock 22 and buffer 31.Robot controller 30 has installation portion (omitting diagram), and this installation portion is for installing HW cyberdog 32-1,32-2 and 32-3.Be provided for SW Premium Features can setting in, HW cyberdog 32-1,32-2 and 32-3 are installed on the installation portion of robot controller 30.
The purposes of HW cyberdog 32-1,32-2 and 32-3 identifies SW Premium Features, to add SW Premium Features to robot controller 30.The supplier of robot controller 30 realizes the part of functions of robot controlling and the user of SW Premium Features for hope, as Licensing Authority, provides HW cyberdog 32-1,32-2 and 32-3 corresponding with these SW Premium Features.
In addition, the number that robot controller 30 is not limited to installable HW cyberdog is the situation of 3, any amount.Robot controller 30 can according to the quantity of the SW Premium Features that can add, the suitably number of the installable HW cyberdog of setting.
HW cyberdog 32-1,32-2 and 32-3 can be connected with buffer 31 from installation portion via bus respectively.Buffer 31, relative to HW cyberdog 32-1,32-2 and 32-3, suitably switches the bus connected.
Memory 10 can make the memory span needed for action of the CPU 11 in basic function sufficient.Memory 10 has the memory span corresponding with the action of basic function, and the structure (key property assigning unit) as the key property of giving robot controller 30 works.
HW cyberdog 32-1,32-2 and 32-3 have memory 33-1,33-2 or 33-3 respectively.Memory 33-1,33-2 and 33-3 are the expansion memories of extended menory capacity in the action of CPU 11 under SW Premium Features.The purposes of memory 33-1,33-2 and 33-3 is, in order to make robot controller 30 can carry out action by SW Premium Features, adding the memory span of regulation, and drive CPU 11 relative to memory 10.Memory 33-1,33-2 and 33-3 work as giving the structure (adding performance assigning unit) adding performance to robot controller 30.
Robot controller 30 is configured to, and memory span required in each action of SW Premium Features is larger than memory span required in the action of basic function.About the memory span of memory 33-1,33-2 and 33-3, fully ensure that the memory span needed for action under making robot controller 30 carry out corresponding SW Premium Features respectively.
Bus between itself and the HW cyberdog installed, when to be provided with in HW cyberdog 32-1,32-2 or 32-3 some, is set to connection status by buffer 31.The SW Premium Features corresponding with installed HW cyberdog read from memory 10 by CPU 11.The memory of HW cyberdog that robot controller 30 uses memory 10 and installs, performs the action under the SW Premium Features corresponding with this HW cyberdog.
Robot controller 30 involved by embodiment 3 can add the memory span of memory 33-1,33-2 or 33-3 relative to the memory span of memory 10, described memory 33-1,33-2,33-3 are equipped on HW cyberdog 32-1,32-2,32-3 respectively.The memory span that installation by HW cyberdog 32-1,32-2 or 32-3 increases by robot controller 30 is applied to the process of CPU 11.Compared with the situation of the action under basic function, robot controller 30 in the action under SW Premium Features, can improve the handling property (hardware performance) of CPU 11.
Robot controller 30, when additional SW Premium Features, not only needs the setting of the software on memory 10, and the memory span of the entirety of robot controller 30 also will be made to increase.Even if the setting in the identification id of Premium Features, software is decrypted, if but the Licensing Authority issued as the supplier by robot controller 30 is not installed and HW cyberdog 32-1,32-2 or 32-3 of providing, memory span performs for SW Premium Features for robot controller 30 and remains inadequate.
Thus, identically with embodiment 1 and 2, robot controller 30, when not installing HW cyberdog 32-1,32-2 or 32-3, stops the access to SW Premium Features.Robot controller 30 strictly can prevent the improper utilization of the SW Premium Features under the situation of not carrying out proper setting behavior.Robot controller 30 can pass through using SW Premium Features as option, thus provides the SW Premium Features corresponding with the hope of each user.Compared with situation about just being loaded by whole SW Premium Features from dispatching from the factory, robot controller 30 can realize the simplification of simplifying of basic structure and production process.
The explanation of label
1,20,30 robot controllers
2-1 ~ 2-3,23-1 ~ 23-3,32-1 ~ 32-3HW cyberdog
10 memories
11 CPU
12 selectors
13,22 clocks
14 condition circuit
15-1 ~ 15-3 clock
16-1 ~ 16-3 condition
17 conditioned signals
21 EEPROM
23－1～23－3 EEPROM
31 buffers
33-1 ~ 33-3 memory
Claims (4)
1. a robot controller, is characterized in that, has:
Software storage part, it stores software, and this software kit is containing basic function and Premium Features, and this basic function is used for control, these Premium Features can add relative to described basic function, improve for function, the performance making to control described robot;
Operational part, the function corresponding with request reads from described software storage part, performs by it; And
Key property assigning unit, the hardware performance of the action be used under described basic function is imparted to described operational part by it,
Be provided for described Premium Features can setting in, hardware electronic dog is installed,
Described hardware electronic dog has additional performance assigning unit, the hardware performance of action that this additional performance assigning unit will be used under described Premium Features, is imparted to described operational part.
2. robot controller according to claim 1, is characterized in that,
Described key property assigning unit is fundamental oscillation device, and this fundamental oscillation device vibrates with the driving frequency of the action being applicable to the described operational part under described basic function,
Described additional performance assigning unit is additional oscillator, and this additional oscillator vibrates with the driving frequency of the action being applicable to the described operational part under described Premium Features.
3. robot controller according to claim 1, is characterized in that,
Described key property assigning unit is nonvolatile memory, and the preservation of this nonvolatile memory is applicable to the setting item of the action of the described operational part under described basic function,
Described additional performance assigning unit is additional nonvolatile memory, and this adds the setting item of the action of preserving the described operational part be applicable under described Premium Features with nonvolatile memory.
4. robot controller according to claim 1, is characterized in that,
Described software storage part works as described key property assigning unit, has the memory span corresponding with the action of described basic function,
Described additional performance assigning unit is expansion memory, and described expansion memory makes memory span expand in the action of described Premium Features.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2012/064714 WO2013183149A1 (en) | 2012-06-07 | 2012-06-07 | Robot control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
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| JP (1) | JP5745695B2 (en) |
| KR (1) | KR101631007B1 (en) |
| CN (1) | CN104334322B (en) |
| TW (1) | TWI480759B (en) |
| WO (1) | WO2013183149A1 (en) |
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| WO2018120079A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳前海达闼云端智能科技有限公司 | Robot control device, method, system and computer program product |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102015120347A1 (en) | 2015-11-24 | 2017-05-24 | Pilz Gmbh & Co. Kg | Safety control device and method for changing a functional scope of a safety control device |
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- 2012-06-07 CN CN201280073747.9A patent/CN104334322B/en active Active
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- 2012-06-07 JP JP2014519769A patent/JP5745695B2/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2013183149A1 (en) | 2016-01-21 |
| WO2013183149A1 (en) | 2013-12-12 |
| JP5745695B2 (en) | 2015-07-08 |
| KR20150006483A (en) | 2015-01-16 |
| TWI480759B (en) | 2015-04-11 |
| TW201351179A (en) | 2013-12-16 |
| CN104334322B (en) | 2016-05-04 |
| KR101631007B1 (en) | 2016-06-15 |
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