CN112995001A - Industrial communication network system - Google Patents
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- CN112995001A CN112995001A CN202110165077.4A CN202110165077A CN112995001A CN 112995001 A CN112995001 A CN 112995001A CN 202110165077 A CN202110165077 A CN 202110165077A CN 112995001 A CN112995001 A CN 112995001A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/42—Loop networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40221—Profibus
Abstract
The invention relates to an industrial communication network system based on OPC UA over TSN, comprising: the system comprises a control layer, an information interaction layer and an information management layer, wherein an OPC UA over TSN communication protocol is adopted among the layers for data transmission, so that the requirements of safety, openness, reliability, real-time property, interoperability, economy, high performance and the like of data transmission are met, a high-performance, safe, real-time and unified industrial communication protocol network architecture is constructed, an industrial internet with the integration of a control equipment layer, the information interaction layer and the information management layer IT and OT is realized, and the interconnection and the high-efficiency transmission efficiency of information safety between the control equipment layer and the information interaction layer and between the information interaction layer and the information management layer are realized.
Description
Technical Field
The invention relates to the technical field of industrial communication network systems, in particular to an industrial communication network system based on OPC UA over TSN.
Background
With the continuous acceleration of digitization and informatization processes, the scale and application range of enterprise networks are increasingly expanded, and traditional manufacturing enterprises are meeting the opportunity and challenge of enterprise upgrading transformation. The manufacturing industry is changed to intelligent manufacturing, which is not only a necessary means for the transformation of the traditional manufacturing industry, but also can realize the personalized requirements of product users while the labor capacity is reduced through automation, digitalization and networking, greatly shortens the delivery time, enables the traditional pyramid management system to be replaced by a flat management system, and meets the market demands more quickly. Therefore, there is a need for an industrial network system that can implement interconnection and interoperation of industrial devices and control systems of different manufacturers on an industrial site, and can meet the requirements of real-time data transmission and large-capacity data load transmission.
Disclosure of Invention
The invention aims to provide an industrial communication network system based on OPC UA over TSN, which can meet the design requirements of an intelligent manufacturing factory on interoperability, visualization, distribution, real-time capability and performance and modularization and is a basis for building the intelligent factory to realize information interaction, sharing and safety. In addition, the requirements of safety, openness, reliability, real-time property, interoperability, economy, high performance and the like of data transmission in the system are ensured by combining the OPC UA over TSN communication protocol.
In order to achieve the purpose, the invention provides the following scheme:
an industrial communication network system based on OPC UA over TSN comprises a control device layer, an information interaction layer and an information management layer;
the control equipment layer comprises at least one production process section and at least one industrial looped network, and is marked as an industrial looped network H1, and each production process section comprises control equipment and an operating mechanism controlled by the control equipment; each industrial ring network H1 at least comprises two first TSN switches; all the first TSN switches are sequentially connected along the ring network direction; the first TSN switch is connected with the control device;
the information interaction layer at least comprises two industrial looped networks H2; the industrial ring network H2 at least comprises two second TSN switches; all the second TSN switches are sequentially connected along the ring network direction; two adjacent industrial ring networks H2 are connected through the second TSN switch; at least one second TSN switch in at least one industrial looped network H2 is connected with the first TSN switch of the control equipment layer through an OPC UA over TSN communication protocol;
the information management layer comprises an industrial ring network H3, the industrial ring network H3 comprises a plurality of ten-gigabit switches, and the ten-gigabit switches are sequentially connected along the ring network direction; at least one said ten-gigabit switch and one said second TSN switch of the said information interaction layer pass OPC UA over TSN communication protocol connection.
Optionally, the control device includes a controller and an I/O module; the controller is connected with the first TSN switch; the I/O module is connected with the operating mechanism.
Optionally, the operating mechanism includes an execution robot, a smart meter device, and a sensor device; the execution robot and the sensor equipment are connected with the I/O module; the smart meter device is connected with the controller or the I/O module.
Optionally, a network security device is connected between the controller and the first TSN switch.
Optionally, at least one of the second TSN switches of the industrial ring network H2 is connected to a computer and/or a server.
Optionally, network security devices are connected between two second TSN switches connected to two adjacent industrial ring networks H2 and between the second TSN switch and the gigabit switch connected to the second TSN switch.
Optionally, the first TSN switches of the industrial ring network H1 and the second TSN switches of the industrial ring network H2 are connected by an OPC UA over TSN communication protocol.
Optionally, at least one of the industrial ring network H3 is connected to a status monitoring server or a remote connection server.
Optionally, the system further includes a non-industrial field layer, and the non-industrial field layer is connected to the information management layer through one gigabit switch; the non-industrial site layer includes at least one cloud data center.
Optionally, the state monitoring server and the remote connection server are disposed in the cloud data center.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to an industrial communication network system based on OPC UA over TSN, comprising: the system comprises a control layer, an information interaction layer and an information management layer, wherein an OPC UA over TSN communication protocol is adopted among the layers for data transmission, so that the requirements of safety, openness, reliability, real-time property, interoperability, economy, high performance and the like of data transmission are met, a high-performance, safe, real-time and unified industrial communication protocol network architecture is constructed, an industrial internet with the integration of a control equipment layer, the information interaction layer and the information management layer IT and OT is realized, and the information safety interconnection and the high-efficiency transmission efficiency between the control equipment layer and the information interaction layer and between the information interaction layer and the information management layer are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a block diagram of an industrial communication network system based on OPC UA over TSN according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control device layer provided by an embodiment of the present invention;
FIG. 3 is a block diagram of an information interaction layer according to an embodiment of the present invention;
FIG. 4 is a block diagram of an information management layer according to an embodiment of the present invention;
fig. 5 is a diagram of an information transmission method of an industrial communication network system based on OPC UA over TSN according to an embodiment of the present invention.
Description of the symbols:
1: a control device layer; 2: an information interaction layer; 3: an information management layer; 4: a control device; 41: a controller; 42: an IO module; 5: an operating mechanism; 51: executing the robot; 52: an intelligent meter device; 53: a sensor device; 6: a first TSN switch; 7: a network security device; 8: a second TSN switch; 9: a computer; 10: a server; 11: a human-machine interface device; 12: a ten thousand million switches; 13; a non-industrial field layer; l1: and (5) a production process section.
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.
The invention aims to provide an industrial communication network system based on OPC UA over TSN, which can meet the design requirements of an intelligent manufacturing factory on interoperability, visualization, distribution, real-time capability and performance and modularization and is a basis for building the intelligent factory to realize information interaction, sharing and safety. In addition, the requirements of safety, openness, reliability, real-time property, interoperability, economy, high performance and the like of data transmission in the system are ensured by combining the OPC UA over TSN communication protocol.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The fourth industrial revolution described in the industry 4.0 landscape is essentially the creation Of a "smart manufacturing" model based on Cyber-Physical Systems (CPS), Internet Of Things (IoT), Internet Of Things (Things), data and services networking. In general, the core of the industry 4.0 is to realize real-time communication, project interconnection and effective communication of people, equipment and products through a CPS system network, thereby constructing a highly flexible personalized and digitized intelligent manufacturing mode.
In an intelligent manufacturing ecosystem, the network is no doubt the infrastructure that connects the various intelligent devices, data acquisition and control systems, big data analysis systems, and cloud computing/cloud analysis service information systems. The design of industrial 4.0-oriented network architecture needs to implement the fusion of it (information technology) and ot (operation technology) network technologies. The industrial network and the security architecture thereof are the foundation for realizing industrial 4.0, and the requirements of future intelligent factories on interoperability, mobility, expandability, flexibility, integrity, confidentiality and availability need to be met when designing the network architecture meeting the requirements of industrial 4.0. The detailed contents of the industrial communication network system based on OPC UA over TSN are described in detail below.
Examples
As shown in fig. 1, the embodiment provides an industrial communication network system based on OPC UA over TSN, which includes a control device layer 1, an information interaction layer 2 and an information management layer 3;
fig. 2 shows a specific structure of the control device layer 1. The control equipment layer 1 comprises at least one production process section L1 and at least one industrial ring network, which is marked as an industrial ring network H1, and each production process section L1 comprises control equipment 4 and an operating mechanism 5 controlled by the control equipment; each industrial ring network H1 at least comprises two first TSN switches 6; all the first TSN switches 6 are sequentially connected along the ring network direction; the first TSN switch 6 is connected to the control device 4.
The first TSN switch 6 of the industrial ring network H1 is connected through an OPC UA over TSN communication protocol.
Further, the control device 4 in the control device layer 1 may include a controller 41 and an I/O module 42; the controller 41 is connected to the first TSN switch 6; the I/O module 42 is connected to the operating mechanism 5.
In order to ensure the security of information transmission, a network security device 7 is connected between the controller 41 and the first TSN switch 6.
The operating mechanism 5 comprises an execution robot 51, a smart meter device 52 and a sensor device 53; the execution robot 51 and the sensor device 53 are connected with the I/O module 42; the smart meter device 52 is connected to the controller 41 or the I/O module 42.
The sensor device 53 and the execution robot 51 may be connected to the IO module 42 by using a hardware line according to the device condition, and the IO module 42 communicates with the controller 41 through an OPC UA over TSN communication bus to control the operation of the execution robot 51. The IO modules 42 of different manufacturers in the control device layer 1 may communicate with another manufacturer controller 41 through the OPC UA over TSN, and the controller 41 and the IO module 42 of the same manufacturer are directly connected through the OPC UA over TSN. Part of the smart meters 52 with communication control function can directly communicate with the controller 41, or can be connected with the controller 41 through the IO module 42. The controller 41 is accessed to the industrial ring network formed by the first TSN switch 6 through an OPC UA over TSN communication bus, thereby implementing information interaction with the information interaction layer 2, i.e. implementing information interaction with the human-computer interface device of the control system. The controllers 41 of different manufacturers adopt the communication protocol of OPC UA over TSN, so that communication protocol conversion equipment does not need to be added for communication, and the communication efficiency is high.
In addition, the operating mechanisms 5 of the execution robot 51, the smart meter apparatus 52, the sensor apparatus 53, and the like may be respectively provided to different production process stages L1 according to production requirements. Network safety equipment 7 can be arranged between the production process sections L1, and when a network safety threat appears in a certain production process section L1, the sudden network safety threat can be isolated in the production process section L1 as much as possible without influencing the production of other production process sections L1.
The information interaction layer 2 at least comprises two industrial looped networks H2; the industrial ring network H2 at least comprises two second TSN switches 8; all the second TSN switches 8 are sequentially connected along the ring network direction; two adjacent industrial ring networks H2 are connected through the second TSN switch 8; at least one second TSN switch 8 in at least one industrial looped network H2 is connected with the first TSN switch 6 of the control device layer 1 through an OPC UA over TSN communication protocol; the detailed structure of the information interaction layer 2 and its connection relationship can be seen in fig. 3.
And the second TSN switch 8 in the industrial ring network H2 is connected through an OPC UA over TSN communication protocol.
In addition, at least one second TSN switch 8 of the industrial ring network H2 is connected with a computer 9 and/or a server 10.
The information interaction layer 2 is an information gathering layer of each workshop, and the terminal equipment of the layer is mainly an upper system and comprises at least one of a server 10, Human Machine Interface equipment 11 (HMI) and a computer 9.
And a network security device 7 is connected between the two second TSN switches 8 connected with the two adjacent industrial ring networks H2. Network safety equipment 7 is arranged between the industrial ring networks in the information interaction layer 2, so that the independent operation of each industrial ring network can be ensured, and the influence of the working states of other industrial ring networks is avoided.
The information management layer 3 comprises an industrial ring network H3, the industrial ring network H3 comprises a plurality of gigabit switches 12, and the plurality of gigabit switches 12 are sequentially connected along the ring network direction; at least one said gigabit switch 12 is connected to one said second TSN switch 8 of said information interaction layer 2 via OPC UA over TSN communication protocol. The specific structure of the information management layer 3 and its connection relationship can be seen in fig. 4.
And a network security device 7 is also arranged between the second TSN switch 8 and the gigabit switch 12 which are connected, so that the information communication security of the information interaction layer 2 and the information management layer 3 is ensured.
At least one of the industrial ring network H3 is connected to a status monitoring server or a remote connection server.
The state monitoring server or the remote connection server belongs to the remote server. The state monitoring server is used for reading the monitoring state of the equipment of the control equipment layer through monitoring software or remote software; and the remote connection server is used for being connected to the control equipment layer 1 or the information interaction layer 2 through a virtual private network channel to carry out diagnosis and/or service.
The information management layer 3 is a boundary between the OT layer and the IT layer. The layer comprises at least one server 10, the server 10 of the information management layer 3 is mainly used for production, sales, logistics, human resources, financial management and the like of a factory, and the general information management layer 3 comprises a typical production, manufacturing, execution and management system MES, an enterprise resource management system ERP and the like. The information management layer 3 and the information interaction layer 2 perform factory production actual information interaction, so that all-around factory production informatization management and control are achieved, the information interaction between the information management layer and the information interaction layer has the characteristics of large flow, aperiodicity and the like, and the information management layer belongs to a typical IT (Internet technology) network. The information interaction layer 2 is accessed to the information management layer 3 through an OPC UA over TSN communication protocol, and interconnection and intercommunication between the information management layer 3 and the information interaction layer 2 are realized. The network architecture based on the OPC UA over TSN communication protocol not only comprises the characteristics of the OPC UA in the aspects of information interoperation, safety, openness and expansibility, but also comprises the characteristics of the TSN in high performance of real-time data transmission and non-real-time data transmission, so that the network architecture provides very good convenience for the fusion of an IT network and an OT network.
The information interconnection and intercommunication between the control equipment layer 1 and the information interaction layer 2 and between the information interaction layer 2 and the information management layer 3 are realized through an OPC UA over TSN communication protocol. Then, the information interaction layer 2 can obtain various information generated by the control device layer 1, and the control device layer 1 can also obtain various information generated by the information interaction layer 2 or obtained from other layers. Bidirectional information transmission is also possible between the information interaction layer 2 and the information management layer 3.
The industrial communication protocol architecture based on OPC UA over TSN reserves the compatibility of the access network of the protocol communication system from the traditional bus protocol such as PROFIBUS-DP to the industrial Ethernet protocol such as PROFINET, PROFI-safe, etc., and the equipment based on the traditional industrial Ethernet protocol can still be accessed into the industrial ring network formed by TSN interaction. The OPC UA over TSN communication protocol can ensure real-time communication required by the control equipment layer 1 and ensure a large amount of non-real-time communication requirements but high bandwidth requirements between the information interaction layer 2 and the information management layer 3, is also seamlessly compatible with the traditional industrial Ethernet communication protocol and the Ethernet communication protocol, and can realize the integration of IT and OT network unified network architecture.
In the industrial communication network architecture, a unified communication network architecture is adopted among the control equipment layer 1, the information interaction layer 2 and the information management layer 3, conversion of a communication protocol is not considered, and all communication is carried out by adopting an OPC UA over TSN unified standard. Therefore, the communication between the layers is provided with interoperability no matter in a physical layer or a software layer, and the system information interaction between the layers in the horizontal direction and the information interaction between different information management levels between the layers in the vertical direction are carried out based on a unified standard. The OPC UA over TSN not only ensures the real-time communication performance, safety and reliability required by OT network communication, but also meets the requirement of large-amount information interaction aperiodic high-bandwidth communication of an IT network.
The control equipment layer 1, the information interaction layer 2 and the information management layer 3 belong to an industrial field layer, and the industrial communication network system not only comprises an industrial field layer, but also comprises a non-industrial field layer 13.
Wherein, the non-industrial field layer 13 is connected with the information management layer 3 through one said tera switch 12; the non-industrial site layer 13 includes at least one cloud data center C. The state monitoring server and the remote connection server are arranged in the cloud data center C.
The data center comprises a server 10, a computer 9 and an industrial ring network formed by at least two switches. Even a plurality of data centers can be physically far apart, and if a large amount of data exchange exists between the data centers outside the condition that various data of respective production plant areas are summarized, the data exchange in different regions can borrow a private network opened by an operator for an enterprise on a network level. Enterprise clouds can be established on the layer, large enterprises or group enterprises currently have a large number of software and hardware resources, in order to fully utilize the resources, own special clouds can be established, and services exceeding the computing capacity of the special clouds can be provided by public clouds; the informatization degree of medium and small enterprises is not high, the software and hardware resources are few, the capital investment is saved for realizing informatization management, and daily productive application can be moved to the cloud environment at lower cost. The network structure of the network is characterized in that the hardware of the terminal is redundant, and the safety protection means is complex.
As shown in fig. 5, the industrial communication network system based on OPC UA over TSN can implement an industrial internet, which includes information interconnection and intercommunication among a control device layer 1, an information exchange layer 2, and an information management layer 3, and is implemented by only one communication protocol standard connection. Meanwhile, the communication protocol architecture also realizes information interconnection and intercommunication from the control equipment layer 1 to the information management layer 3 or the non-industrial field layer 13 for intelligent internet of things equipment (operating mechanisms 5) such as the execution robot 51 and the intelligent instrument 52, and the transmission performance requirement of real-time control data of the internet of things is ensured. For the non-industrial field layer 13 of the enterprise, a plurality of information management demands exist in a large number of communication services of the field control layer 1, the information interaction layer 2 and the information management layer 3, and integrated information such as material resource management (logistics), human resource management (people flow), financial resource management (financial flow), information resource management (information flow) and the like is summarized at the layer.
In this embodiment, with the introduction of service-oriented architecture manufacturing systems, new challenges are faced in terms of security and data modeling. These requirements can be met by the OPC UA over TSN specification, which enables direct interaction between assets via the OPC UA standard. The control device layer 1, the information interaction layer 2 and the information management layer 3 can query each other to find out what kind of service, interface and function they provide respectively, so that they can interact more effectively and autonomously. The TSN (time sensitive network) standard can be used to solve the problems of real-time performance, low latency, traffic shaping, etc. of data in an ethernet network, and can also ensure compatibility with the ethernet network. OPC UA provides a standardized way of data construction. It can add semantics to any kind of asset and use it in a secure way. TSN is the infrastructure over which OPC UA is allowed to travel in a deterministic manner. The OPC UA over TSN extends the semantic self-description of the OPC UA information model to a field layer, provides interoperability among different manufacturer systems in an industrial internet architecture, and can realize interference-free fusion access of the original industrial Ethernet architecture. The industrial network system architecture based on the OPC UA over TSN is extensible and future-oriented.
The network architecture adopts the concept of one-to-one network-to-bottom, and is connected with each other through OPC UA over TSN at each level. The method takes the international standard OPC UA over TSN as the basis of the OT level network, is downward seamlessly compatible with the existing bus, is upward connected with the IT network, meets the requirements of different levels on bandwidth, response time and communication speed, and supports wireless and wired flexible connection modes. As a framework of a communication system, from a physical layer to an application layer, OPC UA ensures seamless interoperability, openness, expansibility and uniformity, TSN provides performance guarantee of high-speed and accurate network communication and high-bandwidth non-real-time transmission, OPC UA over TSN provides direct data transmission application from a sensor to cloud, industrial Ethernet communication protocols such as Modbus, Profibus and EtherCAT of an OT network of an original control equipment layer 1 are transversely compatible, and the function of longitudinal seamless compatibility with the original IT network communication is ensured, so that undisturbed fusion and support including bus type, star type, tree type and ring type network architectures for the existing decentralized industrial network architecture to the industrial internet architecture are ensured, and the guarantee is provided for edge computing and cloud computing on the ground of industrial interconnection. TSNs include standard mechanisms to achieve seamless, real-time redundancy through cable redundancy, ring or mesh topologies.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An industrial communication network system based on OPC UA over TSN is characterized by comprising a control device layer, an information interaction layer and an information management layer;
the control equipment layer comprises at least one production process section and at least one industrial looped network H1, and each production process section comprises control equipment and an operating mechanism controlled by the control equipment; each industrial ring network H1 at least comprises two first TSN switches; all the first TSN switches are sequentially connected along the ring network direction; the first TSN switch is connected with the control device;
the information interaction layer at least comprises two industrial looped networks H2; the industrial ring network H2 at least comprises two second TSN switches; all the second TSN switches are sequentially connected along the ring network direction; two adjacent industrial ring networks H2 are connected through the second TSN switch; at least one second TSN switch in at least one industrial looped network H2 is connected with the first TSN switch of the control equipment layer through an OPC UA over TSN communication protocol;
the information management layer comprises an industrial ring network H3, the industrial ring network H3 comprises a plurality of ten-gigabit switches, and the ten-gigabit switches are sequentially connected along the ring network direction; at least one said ten-gigabit switch and one said second TSN switch of the said information interaction layer pass OPC UA over TSN communication protocol connection.
2. The system of claim 1, wherein the control device comprises a controller and an I/O module; the controller is connected with the first TSN switch; the I/O module is connected with the operating mechanism.
3. The system of claim 2, wherein the operating mechanism comprises an execution robot, a smart meter device, and a sensor device; the execution robot and the sensor equipment are connected with the I/O module; the smart meter device is connected with the controller or the I/O module.
4. The system of claim 2, wherein a network security device is coupled between the controller and the first TSN switch.
5. The system according to claim 1, wherein at least one of said second TSN switches of said industrial ring network H2 is connected with a computer and/or server.
6. The system according to claim 1, wherein a network security device is connected between two second TSN switches connected to two adjacent industrial ring networks H2 and between the second TSN switch and the gigabit switch.
7. The system of claim 1, wherein the first TSN switches of the industrial ring network H1 and the second TSN switches of the industrial ring network H2 are connected via OPC UA over TSN communication protocol.
8. The system according to claim 1, wherein at least one of the gigabit switch connection status monitoring server or remote connection server in the industrial ring network H3.
9. The system of claim 8, further comprising a non-industrial field layer coupled to the information management layer through one of the gigabit switches; the non-industrial site layer includes at least one cloud data center.
10. The system of claim 9, wherein the condition monitoring server and the remote connection server are disposed in the cloud data center.
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| CN115065697B (en) * | 2022-04-06 | 2023-11-14 | 上海交通大学 | OPC UA-based industrial network equipment information integration system and method |
| CN116985149A (en) * | 2023-09-28 | 2023-11-03 | 曜石机器人(上海)有限公司 | Robot edge control system capable of supporting TSN network technology |
| CN116985149B (en) * | 2023-09-28 | 2024-01-02 | 曜石机器人(上海)有限公司 | Robot edge control system capable of supporting TSN network technology |
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