JP3487186B2 - Network remote control system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION [0001] 1. Field of the Invention [0002] The present invention relates to a computer-based control system for an industrial robot, a monitoring camera, and the like. The present invention relates to a network remote control system that combines wired and wireless communication. 2. Description of the Related Art At present, it is effective to centrally manage a plurality of devices, such as industrial robots in factories and monitoring cameras in amusement arcades, using a computer as a form of controlling a plurality of devices. According to this embodiment, it is possible to reduce the number of operators and to detect a malfunctioning device at an early stage. In addition, network computing has been developed in the premises, and data can be transmitted at high speed over long distances. For example, transmission of real-time video and immediate change of operation specifications by software download can be performed. A conventional example of a robot control system in a production line in a factory will be described below. FIG. 9 is a configuration diagram of a conventional system. The host computer 52 is a control terminal that manages control of the robot 53, and a terminal management unit 4 that manages a control schedule and an operation state of the robot 53.
6, an operation unit 44 for the operator to input a control schedule of the robot 53 or to select a robot whose operation status is to be checked, a display unit 45 for displaying the control schedule and the operation status of the robot 53, A LAN protocol control unit 47 for performing data framing and negotiation for communication of control data;
A LAN interface 48 for outputting to the AN 54 and receiving data from the LAN 54. A robot 53 is a controlled terminal that performs actual work such as assembling parts.
Protocol control unit 50 for performing data framing and negotiation for communicating control data with the LAN, a LAN interface unit 49 for outputting transmission data to the LAN 54 and inputting reception data from the LAN 54, and a command from the host computer 52. And a terminal control unit 51 for controlling the operation based on. [0005] The LAN 54 is a transmission path for the host computer 52 and the robot 53 to perform data communication.
For example, a twisted pair cable, a coaxial cable, an optical fiber, and the like can be given. First, an operator operates the host computer 5.
The control schedule of the robot 53 is input using the second operation unit 44 and the display unit 45. The terminal management unit 46 passes the terminal address and control data assigned to each robot to the LAN protocol control unit 47 based on the input robot control schedule. The LAN protocol control unit 47 generates a frame as transmission data to the robot address to which the control data has been passed, and passes the frame to the LAN interface unit 48. The LAN interface unit 48 converts the passed frame into a LAN standard (such as IEEE802.3).
Is converted into an electric signal based on the above and is sent to the LAN 54. On the other hand, each robot always receives a frame on the LAN 54 and responds to a data frame in which its own address is described. In the robot 53 corresponding to the address of the frame transmitted as described above, the LAN interface unit 49 frames the electric signal,
It is passed to the protocol control unit 50. The LAN protocol control unit 50 extracts the frame, extracts control data, and passes the control data to the terminal control unit 51. The terminal control unit 51 controls terminal functions such as arm operation based on the passed control data. Conversely, the data transmission such as status from the robot 53 to the host computer 52 follows the reverse of the above procedure. Note that negotiation in data transmission on the LAN 54 is performed between the host computer 52 and the LAN protocol control units 47 and 50 of the robot 53.
As the method, TCP / IP and the like can be mentioned. As described above, the host computer 52 communicates with the robot 53 using the LAN 54, and can remotely control the robot 53 according to a control schedule. However, in the above-mentioned system, if the controlled terminal is a self-propelled type, the routing of the LAN cable becomes complicated and it is not possible to move a long distance. Also, there is a problem that the cable may be worn or corroded in a severe environment such as a nuclear reactor. [0011] The present invention solves the above-mentioned problems.
To solve the problem, the method comprises the following means. That is, in a network remote control system in which a control terminal, a controlled terminal controlled by the control terminal, and a connection terminal for connecting the respective terminals are connected on a LAN, the control terminal includes the controlled terminal. Terminal management means for managing the control schedule and operation status of the control terminal, and an operation means for an operator to perform a selection operation to input a control schedule of the controlled terminal and to confirm a desired operation status of the controlled terminal; and Display means for displaying the control schedule and operation status of the controlled terminal, wireless protocol control means for performing data framing and negotiation for performing communication of the control data with the controlled terminal, and the control terminal and the connection terminal Terminal connection control means for managing a connection relationship; and a data buffer for communicating control data with the connection terminal. And LAN interface means for inputting / outputting transmission / reception data to / from the LAN, wherein the connection terminal comprises: LAN interface means for inputting / outputting transmission / reception data to / from the LAN; LAN protocol control means for performing data framing and negotiation for data communication, controlled terminal connection control means for registering connection information of the controlled terminal to be wirelessly connected, and data for wireless communication with the controlled terminal And wireless interface means for performing physical conversion of wireless communication, wherein the controlled terminal is a wireless protocol control means for performing data framing or negotiation for communicating control data with the control terminal; and Wireless interface means for performing physical conversion between data for communication and radio waves Wireless connection terminal connection control means for registering connection information of the connection terminal to be wirelessly connected, and terminal control means for controlling operation based on a command of the control terminal, wherein the control terminal is connected to the connection terminal by a LAN protocol. Network remote control, wherein the control terminal and the controlled terminal communicate via a wireless protocol via the connection terminal, whereby the control terminal remotely controls the controlled terminal. system. According to the present invention, control data is communicated between the control terminal and the connection terminal using a wired communication path, and between the connection terminal and the controllable terminal, control data is communicated using a wireless transmission path. However, in the wired section, data communication is performed by the LAN protocol, and negotiation is performed between the control terminal and the connection terminal. In the wireless section, data communication is performed by a wireless protocol. Negotiation is performed between the control terminal and the controlled terminal, and the connection terminal performs only physical conversion between radio waves and computer data. Preferred embodiments of the present invention will be described below with reference to preferred embodiments. First, a description will be given of a first embodiment of a network remote control system according to the present invention. FIG.
Is a configuration diagram of a network remote control system in a component assembly line according to the first embodiment, FIG. 2 is a configuration diagram of a communication frame, and FIG. 3 is a diagram showing a communication flow between terminals. The host computer 16 includes a robot 18
A terminal management unit 3 that is a control terminal that manages control of the robot 18 and manages a control schedule and an operation state of the robot 18;
An operation unit 1 for an operator to input a control schedule of the robot 18 or select a robot whose operation status is to be checked; a display unit 2 for displaying the control schedule and operation status of the robot 18; A wireless protocol control unit 4 for performing data framing and negotiation for communication, a robot 18 and a wireless connection terminal 1
7, a LAN protocol control unit 6 that performs data framing and negotiation for communicating control data with the wireless connection terminal 17, and outputs and receives transmission data to the LAN 19. LAN data
And a LAN interface unit 7 to be inputted from the interface 19. The wireless connection terminal 17 is a terminal that performs wired / wireless conversion of a transmission path in communication between the host computer 16 and the robot 18. The wireless connection terminal 17 outputs transmission data to the LAN 19 and receives reception data from the LAN 19.
An N interface unit 8, a LAN protocol control unit 9 for performing data framing and negotiation for communicating control data with a host computer 16, a controlled terminal connection control unit 10 for registering connection information of a robot 18 for wireless connection, And a wireless interface unit 11 for performing wireless physical conversion with data for wireless communication with the robot 18. The robot 18 is a controlled terminal that performs actual work such as assembling parts, a wireless protocol control unit 14 that performs data framing and negotiation for communicating control data with the host computer 16, and a wireless connection terminal 1.
A wireless interface unit 12 for performing physical conversion of data and wireless waves for wireless communication with the wireless communication device 8, a wireless connection terminal connection control unit 13 for registering connection information of a wireless connection terminal 17 for wireless connection, It is composed of a terminal control unit 15 for controlling the operation based on this. The LAN 19 is a transmission path through which the host computer 16 and the wireless connection terminal 17 perform data communication. For example, a twisted pair cable, a coaxial cable, an optical fiber, and the like can be given. First, each robot always searches for a wireless connection terminal having the best radio wave condition for wireless communication, and registers itself as a slave of the wireless connection terminal. The procedure is P
HS standard (ARIB STANDARD "RCR
The location registration sequence in STD-28 ") may be used. The registration information is held in the controlled terminal connection control unit 10 of the wireless connection terminal 17 and the wireless connection terminal connection control unit 13 of the robot 18, respectively. Further, the host computer 16 communicates with each wireless connection terminal, always keeps the dependency relationship between each robot and each wireless connection terminal, and manages it in the terminal connection control unit 5. For that purpose, I
D (extension number, etc.), address (IP
Address). Next, the operator uses the operation unit 1 and the display unit 2 of the host computer 16 to input and execute the control schedule data of the robot 18. Terminal management unit 3
Transfers the control data to the wireless protocol control unit 4 and the ID of the robot 18 to be controlled to the terminal connection control unit 5 based on the input schedule data. Wireless protocol control unit 4
Is a frame A as shown in FIG. 2 from the passed control data.
(Such as a PIAFS packet) and passes it to the terminal connection controller 5. The terminal connection control unit 5 includes the frame A and the robot I
A frame B is generated from D, and passed to the LAN protocol control unit 6 together with the address of the wireless connection terminal 17 that is the master unit of the robot 18. The LAN protocol control unit 6 further frames the frame B as a frame C (TCP / IP packet or the like) serving as transmission data to the passed wireless connection terminal address, and passes the frame B to the LAN interface unit 7. The LAN interface unit 7 converts the received frame C into an electric signal based on the LAN regulations (such as IEEE802.3) and transmits the electric signal to the LAN 19. On the other hand, each wireless connection terminal 17
It always receives the above frame and responds only to the frame with its own address. In the wireless connection terminal 17 corresponding to the address of the frame C transmitted as described above, L
The AN interface unit 8 frames the electric signal and passes the completed frame C to the LAN protocol control unit 9. The LAN protocol control unit 9 deciphers the passed frame C, extracts the frame B, and passes it to the controlled terminal connection control unit 10. The controlled terminal connection control unit 10 extracts the frame B, extracts the frame A and the robot ID, passes the frame A to the wireless interface unit 11, and communicates with the robot 18 corresponding to the extracted robot ID. The channel is specified to the wireless interface unit 11. The wireless interface unit 11 receives the frame A
Is converted into a radio signal on the designated radio channel and transmitted in the air. The PHS standard (A
RIB STANDARD "RCR STD-28")
May be used. On the other hand, each robot receives a radio signal from the air, and responds only to a signal from the radio connection terminal and a signal of the radio channel assigned to itself from information of the radio connection terminal connection control unit. In the robot 18 corresponding to the signal transmitted as described above, the wireless interface unit 1
2 receives and frames the signal of the wireless channel specified by the wireless connection terminal connection control unit 13, and transfers the completed frame A to the wireless protocol control unit 14. The wireless protocol control unit 14 extracts the transferred frame A, extracts control data, and transfers the control data to the terminal control unit 15. Terminal control unit 15
Controls terminal functions such as arm operation based on the passed control data. Conversely, the data transmission such as the status from the robot 18 to the host computer 16 follows the above procedure in reverse. The negotiation in data transmission on the LAN 19 is performed by the host computer 16 and the wireless connection
Is performed between the LAN protocol control units 6 and 9 in the
As the method, TCP / IP and the like can be mentioned. Also,
Negotiation in wireless data transmission is performed between the host computer 16 and the wireless protocol control units 4 and 14 in the robot 18 with the above-described LAN protocol interposed therebetween. As described above, the host computer 16
Communicates with the robot 18 via the wireless connection terminal 17,
The robot 18 can be remotely controlled according to the control schedule. Reference Example 1 Next, Reference Example 1 will be described. FIG.
FIG. 5 is a configuration diagram of a network remote control system in a component assembly line according to Reference Example 1 , FIG. 5 is a configuration diagram of a communication frame, and FIG. 6 is a diagram showing a communication flow between terminals. The host computer 35 has a robot 37
The terminal management unit 22 is a control terminal that manages the control of the robot 37, and manages the control schedule and operation status of the robot 37.
And an operation unit 20 for the operator to input a control schedule of the robot 37 and select a robot whose operation status is to be checked, a display unit 21 for displaying the control schedule and the operation status of the robot 37, and a wireless communication with the robot 37. Terminal connection control unit 23 that manages the connection relationship of connection terminals 36
And a LAN protocol control unit 24 for performing data framing and negotiation for communicating control data with the wireless connection terminal 36, and a LAN interface unit 25 for outputting transmission data to the LAN 38 and inputting reception data from the LAN 38. Be composed. The wireless connection terminal 36 is a terminal for performing wired / wireless conversion of a transmission path in communication between the host computer 35 and the robot 37, and is an LA for outputting transmission data to the LAN 38 and inputting reception data from the LAN 38.
N interface unit 26 and host computer 35
A LAN protocol control unit 27 for performing data framing and negotiation for communicating control data with the control terminal, a controlled terminal connection control unit 28 for registering connection information of a robot 37 for wireless connection, and a communication between the robot 37 and control data. It comprises a wireless protocol control unit 29 for performing data framing and negotiation to perform, and a wireless interface unit 30 for performing physical conversion of data and wireless for wireless communication with the robot 37. The robot 37 is a controlled terminal that performs actual work such as assembling parts. The robot 37 performs a data protocol framing or negotiation for communicating control data with the wireless connection terminal 36, and a wireless connection terminal 33. A wireless interface unit 31 for performing physical conversion of data and radio waves for wireless communication with the wireless communication unit 36; and a wireless connection terminal connection control unit 32 for registering connection information of a wireless connection terminal 37 for wireless connection.
And a terminal control unit 34 for controlling operation based on a command from the host computer 35. The LAN 38 is a transmission path through which the host computer 35 and the wireless connection terminal 36 perform data communication. For example, a twisted pair cable, a coaxial cable, an optical fiber, and the like can be given. First, each robot always searches for a wireless connection terminal having the best radio wave condition for wireless communication, and registers itself as a slave unit of the wireless connection terminal. The procedure is P
HS standard (ARIB STANDARD "RCR
The location registration sequence in STD-28 ") may be used. The registration information is held in the controlled terminal connection control unit 28 of the wireless connection terminal 36 and the wireless connection terminal connection control unit 32 of the robot 37, respectively. Further, the host computer 35 communicates with each wireless connection terminal, always keeps the dependency between each robot and each wireless connection terminal, and manages it in the terminal connection control unit 23. For this purpose, an ID (extension number or the like) is assigned to each robot in advance, and an address (IP address or the like) is assigned to each wireless connection terminal. Next, the operator uses the operation unit 20 and the display unit 21 of the host computer 35 to operate the robot 37.
Input and execute the control schedule data. The terminal management unit 22 controls the terminal connection control unit 23 based on the input schedule data to control the robot 37 with the control data.
Pass the ID of The terminal connection control unit 23 generates a frame A as shown in FIG. 5 from the control data and the robot ID,
The address is passed to the LAN protocol control unit 24 together with the address of the wireless connection terminal 36 that is the master unit of the robot 37. LA
The N protocol control unit 24 converts the frame A into a frame B (T
CP / IP packets, etc.)
The data is passed to the LAN interface unit 25. The LAN interface unit 25 converts the received frame B into a LAN specification (I
EEE802.3) and convert it to an electrical signal based on L
Transmit on AN38. On the other hand, each wireless connection terminal always receives a frame on the LAN 38 and responds only to a frame in which its own address is described. In the wireless connection terminal 36 corresponding to the address of the frame B transmitted as described above,
The interface unit 26 frames the electric signal,
The completed frame B is sent to the LAN protocol controller 27.
Pass to. The LAN protocol control unit 27 deciphers the passed frame B, extracts the frame A, and passes it to the controlled terminal connection control unit 28. The controlled terminal connection controller 28 extracts the frame A, fetches the control data and the robot ID, passes the control data to the wireless protocol controller 29, and uses a wireless interface for communicating with the robot 37 corresponding to the robot ID. Designated in the section 30. Frame from the control data passed wireless protocol controller 29
A wireless communication unit 30 generates a memory C (such as a PIAFS packet) and passes it to the wireless interface unit 30. Wireless interface unit 30
Converts the passed frame C into a radio signal on the designated radio channel and transmits it in the air. The PHS standard (ARIB STANDARD "RC
R STD-28 "). On the other hand, each robot receives a radio signal from the air, and responds only to a signal from the radio connection terminal and a signal of the radio channel assigned to itself from information of the radio connection terminal connection control unit. In the robot 37 corresponding to the signal transmitted above, the wireless interface unit 3
Numeral 1 receives and frames the signal of the wireless channel designated by the wireless connection terminal connection control unit 32, and completes the frame.
Passing over arm C in the radio protocol control unit 33. The wireless protocol control unit 33 extracts the transferred frame C , extracts control data, and transfers the control data to the terminal control unit 34. Terminal control unit 34
Controls terminal functions such as arm operation based on the passed control data. Conversely, the data transmission such as the status from the robot 37 to the host computer 35 follows the above procedure in reverse. The negotiation in data transmission on the LAN 38 is performed by the host computer 35 and the wireless connection terminal 36.
This is performed between the LAN protocol control units 24 and 27, and TCP / IP or the like is used as the method. Further, negotiation in wireless data transmission is performed by the wireless connection terminal 3.
6 and the wireless protocol control units 29 and 3 in the robot 37
PIAFS or the like is performed between the two. As described above, the host computer 35
Communicates with the robot 37 via the wireless connection terminal 36,
The robot 37 can be remotely controlled according to the control schedule. Next, a second embodiment will be described. FIG.
FIG. 8 is a configuration diagram of a network remote control system in a parts assembly line according to the third embodiment.
FIG. 4 is a diagram showing a communication flow between terminals. The internal structures of the host computer 39, the wireless connection terminals 40 and 41, and the robot 42 are the same as in the second embodiment, respectively.
It is assumed that the communication work is in operation based on this. The robot 42 is a robot for carrying out a part to be assembled from a storage and setting the part in an assembling apparatus. First, it is assumed that the robot 42 is working in the area A and is connected to the wireless connection terminal 41. The terminal connection control unit of the host computer 39 has dependency information of the robot 42 and the wireless connection terminal 41, and the controlled terminal connection control unit of the wireless connection terminal 41 is
The wireless connection terminal connection control unit of the robot 42 has information for communication connection with the wireless connection terminal 41. Next, based on a command from the host computer 39, the robot 42 moves to the area B in order to carry out the parts from the parts store located in the area B to replenish the parts. As the robot 42 approaches the area B, the radio wave intensity for communication with the wireless connection terminal 41 decreases, and conversely, the radio wave intensity for communication with the wireless connection terminal 40 increases. Then, the robot 42 performs an operation of switching the communication partner to the wireless connection terminal 40, but during the switching operation, the data communication is interrupted, so that the robot 42 transmits to the host computer 39 via the wireless connection terminal 41 immediately before the switching operation. Requests communication suspension. When the host computer 39 responds to this request, the switching operation is started, and the PHS standard (ARIB STANDA) is used as the procedure.
The channel switching sequence during communication in RD “RCR STD-28”) may be used. After the completion of the switching operation, the terminal connection control unit of the host computer 39 has the dependency information of the robot 42 and the wireless connection terminal 40, and the controlled terminal connection control unit of the wireless connection terminal 40 establishes a communication connection with the robot 42. The wireless connection terminal connection control unit of the robot 42 has communication connection information with the wireless connection terminal 40. Naturally, the controlled terminal connection control unit of the wireless connection terminal 41 deletes information for communication connection with the robot 42. Then, the robot 42 requests the host computer 39 via the wireless connection terminal 40 to resume communication. When the host computer 39 responds to this request, communication, that is, remote control is resumed. Conversely, when the robot 42 returns from the area B to the area A, the above procedure is reversed. As described above, the host computer 39
Can remotely control the robot 42 that travels a long distance via the wireless connection terminals 10 and 41. In each of the above embodiments, the controlled terminal has been described as a robot, but it is a matter of course that a monitoring camera may be used. According to the present invention, even if the controlled terminal moves during operation, no special equipment is required, and it is possible to construct using the existing network equipment. Furthermore, even if the controlled terminal operates in a harsh environment, communication becomes possible, which leads to a reduction in the frequency of failures.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram of a network remote control system according to an embodiment of the present application . FIG. 2 is a diagram showing a communication frame configuration of the system according to the embodiment of the present application . FIG. 3 is a diagram showing a communication flow of the system according to the embodiment of the present application . FIG. 4 is a configuration diagram of a network remote control system according to Reference Example 1 . FIG. 5 is a diagram showing a communication frame configuration of the system according to Reference Example 1 . FIG. 6 is a diagram showing a communication flow of the system according to Reference Example 1 . FIG. 7 is a configuration diagram of a network remote control system according to a reference example 2 . FIG. 8 is a diagram showing a communication flow of the system according to the reference example 2 . FIG. 9 is a system block diagram according to a conventional example. [Description of Signs] 1,20,44 Operation unit 2,21,45 Display unit 3,22,46 Terminal management unit 4,14,29,33 Wireless protocol control unit 11,12,30,31 Wireless interface unit 6, 9, 24, 27, 47, 50 LAN protocol control units 7, 8, 25, 26, 48, 49 LAN interface units 5, 23 Terminal connection control units 10, 28 Controlled terminal connection control units 13, 32 Wireless connection terminal connection Controllers 15, 34, 51 Terminal controllers 16, 35, 39, 52 Host computers 17, 36, 40, 41 Wireless connection terminals 18, 37, 42, 53 Robots 19, 38, 43, 54 LAN FIG. 1 is a configuration diagram of a network remote control system according to a first embodiment. FIG. 2 is a diagram illustrating a communication frame configuration of the system according to the first embodiment. FIG. 3 is a diagram showing a communication flow of the system according to the first embodiment. FIG. 4 is a configuration diagram of a network remote control system according to a second embodiment. FIG. 5 is a diagram illustrating a communication frame configuration of a system according to a second embodiment. FIG. 6 is a diagram showing a communication flow of the system according to the second embodiment. FIG. 7 is a configuration diagram of a network remote control system according to a third embodiment. FIG. 8 is a diagram illustrating a communication flow of the system according to the third embodiment. FIG. 9 is a system block diagram according to a conventional example. [Description of Signs] 1,20,44 Operation unit 2,21,45 Display unit 3,22,46 Terminal management unit 4,14,29,33 Wireless protocol control unit 11,12,30,31 Wireless interface unit 6, 9, 24, 27, 47, 50 LAN protocol control units 7, 8, 25, 26, 48, 49 LAN interface units 5, 23 Terminal connection control units 10, 28 Controlled terminal connection control units 13, 32 Wireless connection terminal connection Controllers 15, 34, 51 Terminal controllers 16, 35, 39, 52 Host computers 17, 36, 40, 41 Wireless connection terminals 18, 37, 42, 53 Robots 19, 38, 43, 54 LAN

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) H04L 12/28 H04B 7/26 H04Q 9/00 301

Claims (1)

(57) Claims 1. A network remote control in which a control terminal, a controlled terminal controlled by the control terminal, and a connection terminal for connecting each terminal are connected on a LAN. In the system, the control terminal, a terminal management means for managing a control schedule and an operation state of the controlled terminal, and an operator to input a control schedule of the controlled terminal and to confirm a desired operation state of the controlled terminal. Operating means for performing a selection operation, display means for displaying a control schedule and operation status of the controlled terminal, and wireless protocol control for performing data framing and negotiation for communicating control data with the controlled terminal. Means, terminal connection control means for managing a connection relationship between the controlled terminal and the connection terminal, and A LAN protocol control means for performing data framing and negotiation for performing signal, constituted by a LAN interface unit for inputting and outputting reception data to the LAN, the connection terminal, inputs and outputs received data to the LAN L
AN interface means, LAN protocol control means for performing data framing and negotiation for communicating control data with the control terminal, and controlled terminal connection control means for registering connection information of the controlled terminal to be wirelessly connected,
A wireless interface means for performing a physical conversion of data and wireless for wireless communication with the controlled terminal, wherein the controlled terminal is configured to perform data framing or negotiation for communicating control data with the control terminal. Protocol control means; wireless interface means for performing physical conversion of data and radio waves for wireless communication with the connection terminal; wireless connection terminal connection control means for registering connection information of the connection terminal to be wirelessly connected; Terminal control means for controlling operation based on a command of a terminal, wherein the control terminal communicates with the connection terminal by a LAN protocol, and the control terminal and the controlled terminal communicate by a wireless protocol via the connection terminal. And the control terminal remotely controls the controlled terminal. Tsu network remote control system.