CN109408078B - Machine updating method and device - Google Patents
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- CN109408078B CN109408078B CN201811294875.1A CN201811294875A CN109408078B CN 109408078 B CN109408078 B CN 109408078B CN 201811294875 A CN201811294875 A CN 201811294875A CN 109408078 B CN109408078 B CN 109408078B
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Abstract
The invention discloses a machine updating method and device, which are used for solving the problems of poor machine flexibility and low production efficiency caused by complex configuration in the existing industrial machine updating process. The method comprises the following steps: receiving an update request message sent by an application program, wherein the update request message carries an update parameter; modifying a first description file of a machine according to the updating parameters to obtain a second description file of the machine; analyzing the second description file, and generating a configuration file corresponding to the machine from the second description file; and configuring the machine according to the configuration file, and sending an update result corresponding to the update request message to the application program after the machine is determined to be configured.
Description
Technical Field
The invention relates to the technical field of industrial manufacturing, in particular to a machine updating method and device.
Background
The industrial machine integrates calculation, control and communication, and is a typical Cyber Physical System (CPS). At present, because the software and hardware of the industrial machine are tightly coupled, the function of the industrial machine needs to be updated, and one method is to replace part or all hardware of the machine so as to meet the production requirement; in the other method, the working personnel manually change and adjust the parameters of the machine according to the production requirements so as to meet the production requirements. With the pursuit of the user for personalized goods, the production line needs to be flexibly and quickly adjusted according to the user requirement, and the function adjusting mode of the existing industrial machine is difficult to meet the requirement.
The existing methods are all manual adjustment methods, and have the following disadvantages: 1) the machine has poor flexibility and adaptability. The machine is only suitable for specific application, and the functions of the machine need to be updated again when the application scene is changed; 2) different machines have different hardware structures, different functions required by production and different configuration modes, so that the complexity of machine configuration management is increased; 3) it takes a long time to update the functions of the machine,
the downtime is long, resulting in low production efficiency.
In summary, the existing industrial machine function updating has the problems of poor machine flexibility, complex configuration and low production efficiency.
Disclosure of Invention
The embodiment of the invention provides a machine updating method and device, which are used for solving the problems of poor machine flexibility and low production efficiency caused by complex configuration existing in the conventional industrial machine updating function.
The embodiment of the invention provides a machine updating method, which comprises the following steps:
receiving an update request message sent by an application program, wherein the update request message carries an update parameter;
modifying a first description file of a machine according to the updating parameters to obtain a second description file of the machine;
analyzing the second description file, and generating a configuration file corresponding to the machine from the second description file;
and configuring the machine according to the configuration file, and sending an update result corresponding to the update request message to the application program after the machine is determined to be configured.
Preferably, before receiving the update request message sent by the application program, the method further includes:
constructing the first description file corresponding to the machine configurability, wherein the first description file comprises an ID (identity), an IP (Internet protocol) address of the machine, a device of the machine, a sensor when the machine starts, an actuator at the end of the machine and a communication mode of the machine.
Preferably, when receiving an update request message sent by an application program, the method specifically includes:
and the application program sends the update request message to the machine through a REST interface, wherein the update request message is used for modifying one parameter or a plurality of parameters included in the first description file.
Preferably, the configuring the machine according to the configuration file specifically includes:
and reconstructing actuators of the machine according to the configuration file, and configuring starting sensors, end effectors and communication modes of the machine.
An embodiment of the present invention further provides an update apparatus for a machine, including:
the device comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving an updating request message sent by an application program, and the updating request message carries an updating parameter;
the modification unit is used for modifying the first description file of the machine according to the update parameters to obtain a second description file of the machine;
the generating unit is used for analyzing the second description file and generating a configuration file corresponding to the machine from the second description file;
and the configuration unit is used for configuring the machine according to the configuration file, and sending an update result corresponding to the update request message to the application program after the machine is determined to be configured.
Preferably, the receiving unit is further configured to:
constructing the first description file corresponding to the machine configurability, wherein the first description file comprises an ID (identity), an IP (Internet protocol) address of the machine, a device of the machine, a sensor when the machine starts, an actuator at the end of the machine and a communication mode of the machine.
Preferably, the receiving unit has means for:
and the application program sends the update request message to the machine through a REST interface, wherein the update request message is used for modifying one parameter or a plurality of parameters included in the first description file.
Preferably, the configuration unit is specifically configured to:
and reconstructing actuators of the machine according to the configuration file, and configuring starting sensors, end effectors and communication modes of the machine.
The embodiment of the invention provides a machine updating method and a device, wherein the method comprises the following steps: receiving an update request message sent by an application program, wherein the update request message carries an update parameter; modifying a first description file of a machine according to the updating parameters to obtain a second description file of the machine; analyzing the second description file, and generating a configuration file corresponding to the machine from the second description file; and configuring the machine according to the configuration file, and sending an update result corresponding to the update request message to the application program after the machine is determined to be configured. According to the method, machine parameters are changed according to application requirements in a software management mode, so that the functions of the machine are updated, and the adaptability and the flexibility of the machine are enhanced; by decoupling software and hardware, the dependence of machine functions on bottom hardware is reduced, the cost for replacing the hardware is reduced, and the fund is saved; a uniform mode for describing industrial intelligent machines is provided, and differences of bottom layer hardware of different machines are shielded; based on the unified representation of different machines, a unified mode is provided to update and configure the different machines, and the complexity of updating the functions of the machines is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating a method for updating a machine according to an embodiment of the present invention;
FIG. 2 is a block diagram of an embodiment of an architecture of a software-defined intelligent industrial machine;
FIG. 3 is a schematic diagram of an industrial intelligent machine according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an RDF model of an industrial intelligent machine according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an updating apparatus of a machine according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 schematically illustrates a flowchart of a method for updating a machine according to an embodiment of the present invention, as shown in fig. 1, the method mainly includes the following steps:
step 101, receiving an update request message sent by an application program, wherein the update request message carries an update parameter;
step 102, modifying a first description file of a machine according to the update parameters to obtain a second description file of the machine;
step 103, analyzing the second description file, and generating a configuration file corresponding to the machine from the second description file;
and 104, configuring the machine according to the configuration file, and sending an update result corresponding to the update request message to the application program after the machine is determined to be configured.
In practical applications, the machine provided by the embodiment of the invention can be an industrial intelligent machine, and can also be other similar machines.
Fig. 2 is a schematic structural diagram of a software-defined intelligent industrial machine architecture according to an embodiment of the present invention, and as shown in fig. 2, the intelligent industrial machine architecture mainly includes a physical layer, a control layer, and an application layer. The physical layer mainly comprises an intelligent industrial machine actuator and a sensor; the control layer comprises modules of configurable parameter set, configuration updating, configuration execution, configuration checking and the like; specifically, the control layer is responsible for communicating with the bottom layer equipment downwards, transmitting the machine parameters required to be configured by the application layer, and is responsible for shielding the difference of the bottom layer machine upwards, so as to provide a uniform interface for configuring the machine for the upper layer application; the application layer calls the corresponding API mainly according to specific application requirements, and flexibly updates the machine functions.
Fig. 3 is a schematic structural diagram of an industrial intelligent machine according to an embodiment of the present invention, where the industrial machine must satisfy the structure shown in fig. 3, and the industrial machine satisfies the precondition that the structure shown in fig. 3 is software defined. As shown in fig. 3, the industrial machine includes a mechanical component, a sensing component, a driving component and a control component, and further, the industrial machine opens a programming interface. Specifically, the controller comprises an embedded microprocessor, a network interface, an input/output interface and the like, and is mainly used for processing information; the driving component drives the corresponding execution and sensing element to operate according to the command of the control component; the mechanical component and the sensing component are respectively composed of an actuating element and a sensing element.
In the embodiment of the invention, the abstract representation of the machine is mainly used for extracting the configurable parameter set of the machine, the machine on the production line is described by adopting a Resource description framework RDF (Resource description framework in English, and Resource description framework in Chinese), and each machine is abstracted into one Resource in a Resource pool. The RDF model of the machine is built using XML (Extensible Markup Language, Chinese) syntax and RDF Schema (RDFS).
Specifically, one Machine is composed of a five-tuple, i.e., RDF Machine { URI, Operation, Config, State, CPSProperty }, where one tuple represents one resource description, and the resource description is composed of a resource, an attribute type, and an attribute value.
Wherein the URI represents an address of the machine in the network; state represents the State of the machine, busy, idle, fault; operation represents a series of REST operations, including operations of querying, modifying, updating and the like on a machine; config denotes configurable parts of the machine, including sensors, mechanical parts, communications, operating conditions, etc.
FIG. 4 is a schematic diagram of an RDF model of an industrial intelligent machine according to an embodiment of the present invention, and as shown in FIG. 4, the machine uses an RDF-XML template to represent a description file called a machine. Based on the RDF model of the industrial intelligent machine, an RDF-XML unified template of the machine can be designed, and based on the template, parameters such as the running state and configuration parameters of the machine can be acquired in a unified mode.
Such as:
in the embodiment of the invention, a representation layer State Transfer (REST for short) is adopted, and the lightweight service architecture mode is adopted. The machine described by the RDF can be accessed as a standard Resource through a URI (Uniform Resource Identifier, in english), and the corresponding Resource is acquired, modified, and updated from the specific URI in a manner of the Uniform interface.
Table 1 shows a REST resource operation interface design provided in the embodiment of the present invention, where,/{ MchID } indicates a URI of a specific machine, and POST, DELETE, and GET operations are performed on the URI to create, DELETE, and acquire an RDF-XML description file of the specific machine; /{ MchID }/config/actuatorID denotes a URI of a specific actuator of a certain machine, and all or part of information of the actuator is updated by performing PUT and PATCH operations on the URI, respectively; the interface design is similar to that of an actuator for sensor operation. The software updating of the industrial intelligent machine can realize the operations of updating, deleting and the like of specific software through/{ MchID }/config/softwateiD URI.
TABLE 1 REST resource operation interface design
In step 101, a first description file corresponding to the configurability of the machine is first constructed according to the configurable characteristics of the machine in the machine execution flow, and in the embodiment of the present invention, the first description file is consistent with the above mentioned RDF-XML unified template, that is, the first description file includes ID information of the machine, IP address information of the machine, a device of the machine, a sensor when the machine is started, an actuator at the end of the machine, a communication mode of the machine, and the like.
For example, when a Dobot magic Robot is selected as a hardware object and an ROS (r.f. Robot Operating System) is used as a software platform, an RDF-XML description file corresponding to the Dobot magic Robot needs to be constructed according to the configurability of the Dobot magic Robot. In the RDF-XML description file, the id of the robot Magician robot is 1, the IP address is 192.168.1.3, the state of the robot is free, the sensor started by the robot is a laser sensor, the end effector is a gripper, and the communication mode is WiFi.
The machine execution flow receives an update request message sent by an application program, and in actual application, the update request message carries update parameters.
It should be noted that, in the embodiment of the present invention, the application program needs to send the update request message to the machine through the REST interface, and specifically, the update request message is used to modify one parameter or multiple parameters included in the first description file.
For example, according to the requirement of the application program, the application program uses jersey to realize the REST interface to modify the RDF-XML description file of the Dobot Magician robot. The Jersey framework is an open-source RESTful framework, realizes JAX-RS specifications, expands JAX-RS reference implementation and provides more characteristics and tools.
In step 102, the machine execution flow modifies a first description file of the machine according to the received update parameters, and the modified first description file is referred to as a second description file.
For example, the application program changes the end effector of the robot in the RDF-XML description file of the obot magic robot into a suction cup (tracker) through the REST interface/machine 1/config/manipulator.
It should be noted that, in the embodiment of the present invention, the update parameters carried in the update request message sent by the application program may include one or more update parameters, if one update parameter is carried, one parameter in the first description file needs to be modified, and if a plurality of update parameters are carried, a plurality of parameters in the first description file need to be modified.
In step 103, the machine executes the process to parse the second description file, and generate a configuration file corresponding to the machine from the second description file, where it should be noted that the parsing process is to parse the second description file into a configuration file conforming to the machine operation format. In the embodiment of the present invention, a specific method for parsing the second description file is not limited, and meanwhile, a machine operation format is not limited.
For example, the RDF-XML description file of the dobotMagician robot generates a configuration file that the dobotMagician robot can recognize.
In the embodiment of the invention, the DOM4J technology is adopted to analyze the RDF-XML file of the dobotMagican robot to obtain the configuration parameters of the robot, the sensor is a camera, the end effector is a sucker, and the communication mode adopts WiFi. According to the robot configuration file stated by the analyzed parameters, in the embodiment of the invention, the robot runs based on the ROS robot operating system, so that the configuration file of the robot conforms to the yaml format.
Where, yaml is a data-centric markup language, and for each parameter, colon is used as a partition, the left side is the parameter variable name, and the right side is the variable value. The hierarchical relationships are represented by indented spaces. Thus, the configuration file dobot1_ config.yaml for generating dobotMagician can be as follows:
in step 104, after the configuration file that the machine can recognize is analyzed, the machine is configured according to the configuration file, wherein the starting configuration file is as follows:
the configuration file dobot1_ config.yaml is uploaded to the parameter server through the rossaram load in the file. And when the dobotMagican robot runs, acquiring parameters from the parameter server so as to update the configuration.
Further, after the configuration of the machine is confirmed, the update result corresponding to the update request message needs to be sent to the application program. I.e. checking the update means of the machine and feeding back the update result to the application.
For example, all parameters of the dobot Magician machine can be acquired by executing the rossaram list, and the configuration parameter update node is fed back to the RDF-XML. And acquiring a configuration result of the dobotMagican robot through the REST interface/machine 1/config.
In summary, an embodiment of the present invention provides a method and an apparatus for updating a machine, where the method includes: receiving an update request message sent by an application program, wherein the update request message carries an update parameter; modifying a first description file of a machine according to the updating parameters to obtain a second description file of the machine; analyzing the second description file, and generating a configuration file corresponding to the machine from the second description file; and configuring the machine according to the configuration file, and sending an update result corresponding to the update request message to the application program after the machine is determined to be configured. According to the method, machine parameters are changed according to application requirements in a software management mode, so that the functions of the machine are updated, and the adaptability and the flexibility of the machine are enhanced; by decoupling software and hardware, the dependence of machine functions on bottom hardware is reduced, the cost for replacing the hardware is reduced, and the fund is saved; a uniform mode for describing industrial intelligent machines is provided, and differences of bottom layer hardware of different machines are shielded; based on the unified representation of different machines, a unified mode is provided to update and configure the different machines, and the complexity of updating the functions of the machines is reduced.
Based on the same inventive concept, embodiments of the present invention provide a machine updating apparatus, and since the principle of the apparatus for solving the technical problem is similar to that of a machine updating method, the implementation of the apparatus can refer to the implementation of the method, and repeated details are not repeated.
Fig. 5 is a schematic structural diagram of an updating apparatus of a machine according to an embodiment of the present invention, as shown in fig. 5, the apparatus mainly includes: a receiving unit 501, a modifying unit 502, a generating unit 503 and a configuring unit 504.
A receiving unit 501, configured to receive an update request message sent by an application program, where the update request message carries an update parameter;
a modifying unit 502, configured to modify a first description file of a machine according to the update parameter, so as to obtain a second description file of the machine;
a generating unit 503, configured to parse the second description file, and generate a configuration file corresponding to the machine from the second description file;
a configuration unit 504, configured to configure the machine according to the configuration file, and send an update result corresponding to the update request message to the application program after it is determined that the machine completes configuration.
Preferably, the receiving unit 501 is further configured to:
constructing the first description file corresponding to the machine configurability, wherein the first description file comprises an ID (identity), an IP (Internet protocol) address of the machine, a device of the machine, a sensor when the machine starts, an actuator at the end of the machine and a communication mode of the machine.
Preferably, the receiving unit 501 has a function for:
and the application program sends the update request message to the machine through a REST interface, wherein the update request message is used for modifying one parameter or a plurality of parameters included in the first description file.
Preferably, the configuration unit 504 is specifically configured to:
and reconstructing actuators of the machine according to the configuration file, and configuring starting sensors, end effectors and communication modes of the machine.
It should be understood that the updating apparatus of the above machine includes only the units logically divided according to the functions implemented by the apparatus, and in practical applications, the above units may be stacked or split. The functions implemented by the updating apparatus of a machine according to this embodiment correspond to the updating method of a machine according to the foregoing embodiment one to one, and a more detailed processing flow implemented by the apparatus is described in detail in the foregoing method embodiment one, and is not described in detail here.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. A method of updating a machine, comprising:
receiving an update request message sent by an application program, wherein the update request message carries an update parameter;
modifying a first description file of a machine according to the updating parameters to obtain a second description file of the machine;
analyzing the second description file, and generating a configuration file corresponding to the machine from the second description file;
configuring the machine according to the configuration file, and sending an update result corresponding to the update request message to the application program after the machine is determined to be configured;
before receiving an update request message sent by an application program, the method further includes:
constructing the first description file corresponding to the machine configurability, wherein the first description file comprises an ID (identity), an IP (Internet protocol) address of the machine, a device of the machine, a sensor when the machine starts, an actuator at the end of the machine and a communication mode of the machine;
when receiving an update request message sent by an application program, the method specifically includes:
and the application program sends the update request message to the machine through a REST interface, wherein the update request message is used for modifying one parameter or a plurality of parameters included in the first description file.
2. The method of claim 1, wherein configuring the machine according to the configuration file comprises:
and reconstructing actuators of the machine according to the configuration file, and configuring starting sensors, end effectors and communication modes of the machine.
3. A machine renewal device, comprising:
the device comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving an updating request message sent by an application program, and the updating request message carries an updating parameter;
the modification unit is used for modifying the first description file of the machine according to the update parameters to obtain a second description file of the machine;
the generating unit is used for analyzing the second description file and generating a configuration file corresponding to the machine from the second description file;
a configuration unit, configured to configure the machine according to the configuration file, and send an update result corresponding to the update request message to the application program after determining that the machine completes configuration;
the receiving unit is further configured to:
constructing the first description file corresponding to the machine configurability, wherein the first description file comprises an ID (identity), an IP (Internet protocol) address of the machine, a device of the machine, a sensor when the machine starts, an actuator at the end of the machine and a communication mode of the machine;
the receiving unit has means for:
and the application program sends the update request message to the machine through a REST interface, wherein the update request message is used for modifying one parameter or a plurality of parameters included in the first description file.
4. The apparatus of claim 3, wherein the configuration unit is specifically configured to:
and reconstructing actuators of the machine according to the configuration file, and configuring starting sensors, end effectors and communication modes of the machine.
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