CN113589790A - Servo driver and controller safety access method based on servo driver fingerprint - Google Patents
Servo driver and controller safety access method based on servo driver fingerprint Download PDFInfo
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- CN113589790A CN113589790A CN202110870191.7A CN202110870191A CN113589790A CN 113589790 A CN113589790 A CN 113589790A CN 202110870191 A CN202110870191 A CN 202110870191A CN 113589790 A CN113589790 A CN 113589790A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000013475 authorization Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
- G06F21/31—User authentication
- G06F21/32—User authentication using biometric data, e.g. fingerprints, iris scans or voiceprints
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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- Automation & Control Theory (AREA)
- Computer Hardware Design (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Safety Devices In Control Systems (AREA)
- Numerical Control (AREA)
Abstract
The invention provides a servo driver based on servo driver fingerprint and a controller security access method, wherein a security authorization mechanism based on servo driver fingerprint is established between a controller and a servo driver, and the method is implemented as follows: 1) registering, wherein the step comprises two stages of fingerprint acquisition and fingerprint input; the process records the fingerprint of the servo driver into a fingerprint library module of the controller; startup after the first success may skip the process; 2) the access authentication comprises three stages of fingerprint acquisition, fingerprint matching and empowerment, wherein the process refers to a matching process of comparing the servo driver fingerprint stored in the controller fingerprint library module with the newly acquired servo driver fingerprint; 3) operation: after the access authentication is successful, the servo driver can be accessed to the controller and normally works; the invention realizes the safety authentication between the controller and the servo driver, improves the safety and the stability of communication and industrial systems, and ensures the openness of the industrial systems.
Description
Technical Field
The invention belongs to the technical field of industrial information safety, and particularly relates to a servo driver based on a servo driver fingerprint and a controller safety access method.
Background
In industrial systems, controllers/control systems (hereinafter collectively referred to as controllers) and servo drives are industrial control critical components, such as industrial robot controllers and numerical control systems. At present, a servo driver access controller has no access safety mechanism, and the servo driver or the controller can be replaced at will due to the lack of the access safety mechanism, so that system failure is caused, and even danger is caused.
Therefore, in order to avoid the malfunction and danger caused by random replacement of the servo driver or the controller, a method for ensuring the servo driver to be safely connected to the controller is needed to prevent the improper behavior of random replacement of the servo driver or the controller and avoid the loss.
Disclosure of Invention
In order to solve the safety problem of the prior servo driver access controller, the invention provides a servo driver based on servo driver fingerprints and a controller safety access method, wherein an access safety mechanism based on servo driver fingerprints is established between a controller and a servo driver, and the technical scheme is as follows:
the controller comprises at least four modules: the system comprises a communication module, a fingerprint acquisition module, a fingerprint library module and an authorization management module; the method comprises the following specific steps:
1) registering, wherein the step comprises fingerprint acquisition and fingerprint input;
the registration means that a manufacturer or an administrator inputs the fingerprint of the servo driver into a fingerprint library of the controller; the method comprises the following specific steps:
a) fingerprint collection: a manufacturer or an administrator collects the fingerprints of the servo drivers by using the fingerprint collection software; or the administrator may obtain the servo drive fingerprint in other ways;
b) fingerprint input: a manufacturer or an administrator inputs the acquired servo driver fingerprint into a fingerprint library of the controller in an automatic mode and a manual mode;
the fingerprint acquisition of the servo driver is realized by sending a fingerprint acquisition instruction to the servo driver through fingerprint acquisition software, and the servo driver feeds fingerprint information back to the fingerprint acquisition software;
2) the access authentication comprises three stages of fingerprint acquisition, fingerprint matching and empowerment;
the access authentication means that when the servo driver is connected with the controller, the controller authenticates and authorizes the servo driver, the authentication authorization means that the controller compares the acquired servo driver fingerprint with the servo driver fingerprint stored in the fingerprint library, the controller authorizes the servo driver to be accessible to the controller after the comparison is successful, and the controller refuses to access the servo driver if the comparison is unsuccessful; the method comprises the following specific steps:
a) starting a system, establishing connection between a servo driver and a controller, and acquiring a fingerprint of the servo driver by the controller;
the connection between the servo driver and the controller means that the servo driver and the controller are physically connected, the same communication protocol is adopted, the physical layer normally works, and the handshake is successful;
the servo driver fingerprint acquisition module is used for sending an acquisition instruction to the servo driver by the controller fingerprint acquisition module, and the servo driver feeds the fingerprint back to the fingerprint acquisition module of the controller;
b) fingerprint comparison: after the controller collects the servo driver fingerprint, the authorization management module compares the collected servo driver fingerprint with the servo driver fingerprint in the fingerprint library;
c) and (3) assigning weights: according to the comparison result of the authorization management module, if the comparison result is successful, the servo driver can be accessed to the controller; if the failure happens, the connection between the controller and the servo driver is disconnected, and an error is reported;
3) operation: after the access authentication is successful, the servo driver can be accessed to the controller and works normally.
Preferably, the step 1) registration is performed only once.
Preferably, the first and second liquid crystal materials are,
the servo driver fingerprint refers to inherent hardware or software information or a combination of the inherent hardware or software information in the servo driver;
the hardware inherent information comprises equipment ID, CPU model, memory size and network card interface type; the software inherent information comprises a software system firmware version, a process package version and an application program version.
The invention discloses a safe access method based on servo driver fingerprints, which has the advantages that: the safe access between the controller and the servo driver is realized, and the access safety of the controller and the servo system is effectively improved.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a flow chart of servo drive fingerprint registration information of the present invention;
FIG. 2 is a flow chart of servo driver and controller access information of the present invention;
FIG. 3 is a flow chart of servo driver fingerprinting registration of the present invention;
fig. 4 is a servo driver and controller access flow diagram of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A servo driver fingerprint-based access security method is used for establishing a servo driver fingerprint-based access security mechanism between a controller and a servo driver, wherein the controller at least comprises four modules: communication module, fingerprint collection module, fingerprint library module and authorization management module, as shown in fig. 2.
The fingerprint of the servo driver refers to inherent hardware or software information or a combination of the inherent hardware or software information in the servo driver, and part or all of the combination of the inherent hardware or software information is regarded as a unique identifier of the equipment, and the unique identifier comprises equipment ID, CPU model, memory size, network card interface type, software system firmware version and the like.
The invention discloses an access security method based on servo driver fingerprints, which is divided into three parts: the first is registration, the steps include fingerprint acquisition and fingerprint input; the second is access authentication, which comprises the steps of fingerprint acquisition, fingerprint matching and empowerment; the third is operation.
The registration refers to a process of writing the servo driver fingerprint into the controller fingerprint library, and an administrator can record the servo driver fingerprint into the controller fingerprint library in various ways. As shown in fig. 1 and fig. 3a, the administrator records the fingerprint of the servo driver into the controller fingerprint library after acquiring the fingerprint through software; the administrator enters the servo drive fingerprint into the controller fingerprint library by other means (such as, but not limited to, manually acquiring the servo drive fingerprint) as shown in fig. 3 b.
The access authentication means that the controller compares the acquired servo driver fingerprint with the servo driver fingerprint in the fingerprint library, the comparison result is used as the basis for judging whether the controller authorizes the driver to access, and the fingerprint comparison is carried out in a controller authorization management module or other software capable of carrying out fingerprint comparison.
The empowerment means that the controller empowers the access of the servo driver according to the fingerprint comparison result, and the controller empowers the servo driver and accesses the operation if the empowerment is successful; if the failure occurs, no authority is given, the connection is disconnected and an error is reported.
As shown in fig. 3 and 4, the access security method based on the servo driver fingerprint of the present invention is implemented as follows:
registering: as shown in FIG. 3, registration is enabled when the drive is paired with the controller vendor or configured by an administrator; fig. 3a shows that the administrator collects the servo driver fingerprint through software and inputs the fingerprint into the fingerprint library, and the specific steps are as follows:
1) after the system is started, the controller and the servo driver handshake, the fingerprint acquisition software communicates with the servo driver, and the fingerprint acquisition software acquires the fingerprint of the servo driver;
2) and recording the fingerprint of the servo driver, and recording the collected fingerprint of the servo driver into a fingerprint library of the controller by fingerprint collection software.
Fig. 3b shows that the administrator can acquire the servo driver fingerprint in other ways and then enter the fingerprint library.
And (3) access authentication: when the servo driver is connected with the controller, access authorization is started, the controller compares the servo driver fingerprint stored in the fingerprint library with the acquired servo driver fingerprint, and the comparison result is used as the basis for judging whether the servo driver is authorized to access the servo driver; the method comprises the following specific steps:
1) after the controller is physically connected with the servo driver, the controller and the servo driver enter a fingerprint acquisition stage, which specifically comprises starting, communication handshake and fingerprint acquisition;
the communication handshake ensures that the servo driver and the controller adopt the same communication protocol, and a communication physical layer is normal;
the fingerprint information acquisition finger controller sends a fingerprint acquisition instruction to the servo driver, and the servo driver feeds back the fingerprint of the servo driver to the controller;
2) fingerprint matching: the controller authorizes a management module or other software capable of fingerprint comparison to compare the acquired fingerprint of the servo driver with the fingerprint of the servo driver in the fingerprint library;
3) and (3) assigning weights: according to the fingerprint comparison result, if the fingerprint comparison result is successful, the controller is authorized to allow the servo driver to access; if the failure is not successful, the controller disconnects the servo driver and reports an error.
Operation: after the access authentication is successful, the servo driver can be connected with the controller to work normally.
In order to facilitate understanding of the above-described technical aspects of the present invention, the following detailed description will be given of the above-described technical aspects of the present invention with reference to specific example 1.
Example 1
In order to ensure the safety of the industrial robot system, manufacturers stipulate that the industrial robot does not allow replacement of a configured controller and a configured servo driver so as to avoid faults and dangers. To ensure that replacement is not required, the present invention, a controller and servo drive access security method based on servo drive fingerprinting technology, may be deployed. The robot has a controller and a servo drive. The specific deployment and use methods are as follows:
registering: when a robot manufacturer or an administrator configures parameters, the robot controller and the servo driver acquire fingerprints of the servo driver through fingerprint acquisition software; and inputting the acquired fingerprint of the servo driver into a fingerprint library of the controller, and finishing the current registration after the input is successful.
And (3) access authentication: when the robot controller is connected with the servo drivers, for example, in an industrial field, after the industrial robot is started, the controller communicates with the servo drivers for handshake, and the controller acquires fingerprints of the servo drivers; the collected servo driver fingerprint is matched with the fingerprint of the fingerprint library, if the fingerprint is successful, the empowerment servo driver is accessed into the controller, and if the fingerprint is unsuccessful, the connection with the servo driver is disconnected, and an error is reported.
Operation: after the access is successful, the servo driver can be connected with the controller to work normally.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A servo driver based on servo driver fingerprint and a controller security access method establish an access security mechanism based on servo driver fingerprint between a controller and a servo driver, wherein the controller at least comprises four modules: a communication module, a fingerprint acquisition module, a fingerprint library module and an authorization management module,
the method comprises the following specific steps:
1) registering, wherein the step comprises fingerprint acquisition and fingerprint input;
the registration means that a manufacturer or an administrator inputs the fingerprint of the servo driver into a fingerprint library of the controller; the method comprises the following specific steps:
a) fingerprint collection: a manufacturer or an administrator collects the fingerprints of the servo drivers by using the fingerprint collection software; or the administrator may obtain the servo drive fingerprint in other ways;
b) fingerprint input: a manufacturer or an administrator inputs the acquired servo driver fingerprint into a fingerprint library of the controller in an automatic mode and a manual mode;
the fingerprint acquisition of the servo driver is realized by sending a fingerprint acquisition instruction to the servo driver through fingerprint acquisition software, and the servo driver feeds fingerprint information back to the fingerprint acquisition software;
2) the access authentication comprises three stages of fingerprint acquisition, fingerprint matching and empowerment;
the access authentication means that when the servo driver is connected with the controller, the controller authenticates and authorizes the servo driver; the authentication authorization is that the controller compares the acquired servo driver fingerprint with a servo driver fingerprint stored in a fingerprint library, the controller authorizes the servo driver to be accessible to the controller after the comparison is successful, and the controller refuses to access the servo driver if the comparison is unsuccessful; the method comprises the following specific steps:
a) starting a system, establishing connection between a servo driver and a controller, and acquiring a fingerprint of the servo driver by the controller;
the connection between the servo driver and the controller means that the servo driver and the controller are physically connected, the same communication protocol is adopted, the physical layer normally works, and the handshake is successful;
the servo driver fingerprint acquisition module is used for sending an acquisition instruction to the servo driver by the controller fingerprint acquisition module, and the servo driver feeds the fingerprint back to the fingerprint acquisition module of the controller;
b) fingerprint comparison: after the controller collects the servo driver fingerprint, the authorization management module compares the collected servo driver fingerprint with the servo driver fingerprint in the fingerprint library;
c) and (3) assigning weights: according to the comparison result of the authorization management module, if the comparison result is successful, the servo driver can be accessed to the controller; if the failure happens, the connection between the controller and the servo driver is disconnected, and an error is reported;
3) operation: after the access authentication is successful, the servo driver can be accessed to the controller and works normally.
2. The servo driver and controller security access method based on servo driver fingerprint as claimed in claim 1, wherein the step 1) registration is performed only once.
3. Servo driver and controller secure access method based on servo driver fingerprint according to claim 1,
the servo driver fingerprint refers to inherent hardware or software information or a combination of the inherent hardware or software information in the servo driver;
the hardware inherent information comprises equipment ID, CPU model, memory size and network card interface type; the software inherent information comprises a software system firmware version, a process package version and an application program version.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110870191.7A CN113589790B (en) | 2021-07-30 | 2021-07-30 | Servo driver based on fingerprint of servo driver and controller safety access method |
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| CN202110870191.7A CN113589790B (en) | 2021-07-30 | 2021-07-30 | Servo driver based on fingerprint of servo driver and controller safety access method |
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| CN113589790A true CN113589790A (en) | 2021-11-02 |
| CN113589790B CN113589790B (en) | 2023-12-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115242445A (en) * | 2022-06-22 | 2022-10-25 | 北京航空航天大学 | Robot cluster system safety access system, method and computer readable medium |
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| US20020073046A1 (en) * | 1999-07-30 | 2002-06-13 | David Sancho Enrique | System and method for secure network purchasing |
| KR101634734B1 (en) * | 2015-07-21 | 2016-07-08 | 이디스 주식회사 | Smart door lock system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115242445A (en) * | 2022-06-22 | 2022-10-25 | 北京航空航天大学 | Robot cluster system safety access system, method and computer readable medium |
| CN115242445B (en) * | 2022-06-22 | 2024-03-26 | 北京航空航天大学 | Robot cluster system security access system, method and computer readable medium |
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