CN113589790B - Servo driver based on fingerprint of servo driver and controller safety access method - Google Patents
Servo driver based on fingerprint of servo driver and controller safety access method Download PDFInfo
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- CN113589790B CN113589790B CN202110870191.7A CN202110870191A CN113589790B CN 113589790 B CN113589790 B CN 113589790B CN 202110870191 A CN202110870191 A CN 202110870191A CN 113589790 B CN113589790 B CN 113589790B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000013475 authorization Methods 0.000 claims abstract description 13
- 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
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Hardware Design (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Numerical Control (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The invention provides a servo driver based on a servo driver fingerprint and a controller security access method, which establishes a security authorization mechanism based on the servo driver fingerprint between a controller and the servo driver, and is implemented as follows: 1) Registering, wherein the steps comprise two stages of fingerprint acquisition and fingerprint input; the process includes inputting a servo driver fingerprint into a fingerprint library module of a controller; the start-up after the first success may skip the process; 2) The access authentication comprises three stages of fingerprint acquisition, fingerprint matching and weighting, wherein the process refers to a process of comparing and matching the servo driver fingerprint stored in the controller fingerprint library module with the newly acquired servo driver fingerprint; 3) And (3) running: after the access authentication is successful, the servo driver can be accessed to the controller and works normally; the invention realizes the safety authentication between the controller and the servo driver, improves the safety and stability of the communication and industrial system, and ensures the openness of the industrial system.
Description
Technical Field
The invention belongs to the technical field of industrial information security, and particularly relates to a servo driver and controller security access method based on a fingerprint of the servo driver.
Background
In industrial systems, controllers/control systems (hereinafter referred to collectively as controllers) and servo drives are key components of industrial control, such as industrial robot controllers and numerical control systems. At present, the servo driver access controller has no access safety mechanism, and the lack of the access safety mechanism can lead the servo driver or the controller to be replaced at will, so that the system is in fault or even dangerous.
Therefore, in order to avoid the failure and danger caused by the random replacement of the servo drive or the controller, a method for ensuring the safety of the servo drive to be connected to the controller is needed to prevent the improper behavior of the random replacement of the drive or the controller and avoid the loss.
Disclosure of Invention
In order to solve the safety problem of the current servo driver access controller, the invention provides a servo driver based on servo driver fingerprint and a controller safety access method, which establishes an access safety mechanism based on servo driver fingerprint between a controller and the 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 steps comprise fingerprint acquisition and fingerprint input;
registering 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: the manufacturer or administrator uses the software for collecting fingerprint to collect the fingerprint of the servo driver; or the administrator may obtain the servo drive fingerprint in other ways;
b) Fingerprint input: the manufacturer or administrator inputs the collected fingerprint of the servo driver into a fingerprint library of the controller, and the method comprises an automatic mode and a manual mode;
the fingerprint acquisition of the servo driver sends a fingerprint acquisition instruction to the servo driver through fingerprint acquisition software, and the servo driver feeds back the fingerprint information to the fingerprint acquisition software;
2) The access authentication comprises three stages of fingerprint acquisition, fingerprint matching and weighting;
the access authentication means that when the servo driver is connected with the controller, the controller authenticates and authorizes the servo driver, and the authentication and authorization means that the controller compares collected servo driver fingerprints with servo driver fingerprints stored in a fingerprint library, after the comparison is successful, the controller authorizes the servo driver to be connected with the controller, and when the comparison is unsuccessful, the controller refuses to be connected with the servo driver; the method comprises the following specific steps:
a) Starting a system, wherein a servo driver is connected with a controller, and the controller collects fingerprints of the servo driver;
the servo driver and the controller are connected, namely the servo driver and the controller are physically connected, the same communication protocol is adopted, and the physical layer works normally and handshakes are successfully carried out;
the servo driver fingerprint acquisition means that the controller fingerprint acquisition module sends an acquisition instruction to the servo driver, and the servo driver feeds back the self fingerprint 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) Weighting: according to the comparison result of the authorization management module, the servo driver can be accessed to the controller if the comparison result is successful; if not, disconnecting the controller from the servo driver and reporting errors;
3) And (3) running: after the access authentication is successful, the servo driver can be accessed to the controller and works normally.
Preferably, the registering of the step 1) is performed only once.
Preferably, the method comprises the steps of,
the servo driver fingerprint refers to hardware or software inherent information in the servo driver or a combination thereof;
the hardware inherent information comprises an equipment ID, a CPU model, a memory size and a 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 a servo driver fingerprint, 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
For a clearer description of an embodiment of the invention or of the solutions of the prior art, reference will be made to the accompanying drawings, which are used in the embodiments and which are intended to illustrate, but not to limit the invention in any way, the features and advantages of which can be obtained according to these drawings without inventive labour for a person skilled in the art. 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 drive and controller access information of the present invention;
FIG. 3 is a flowchart of a servo driver fingerprint registration of the present invention;
FIG. 4 is a servo driver and controller access flow chart of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other.
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 described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
An access security method based on servo driver fingerprint, which establishes an access security mechanism based on servo driver fingerprint between a controller and a servo driver, wherein the controller at least comprises four modules: the system comprises a communication module, a fingerprint acquisition module, a fingerprint library module and an authorization management module, as shown in fig. 2.
The fingerprint of the servo driver refers to inherent information of hardware or software in the servo driver or a combination of the inherent information, and part or all of the information is regarded as a unique identifier of equipment, wherein the unique identifier comprises an equipment ID, a CPU model, a memory size, a network card interface type, a software system firmware version and the like.
The invention discloses an access security method based on servo driver fingerprints, which comprises three parts: the first is registration, and the steps comprise fingerprint acquisition and fingerprint input; the second step is access authentication, which comprises fingerprint collection, fingerprint matching and weighting; the third is running.
The registration refers to the process of writing the servo driver fingerprint into the controller fingerprint library, and an administrator can enter the servo driver fingerprint into the controller fingerprint library in various ways. As shown in fig. 1 and 3a, an administrator collects the fingerprint of a servo driver through software and then inputs the fingerprint into a controller fingerprint library; the administrator enters the servo drive fingerprint into the controller fingerprint library in other ways, 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 collected fingerprint of the servo driver with the fingerprint of the servo driver in the fingerprint library, the comparison result is used as the basis of whether the controller authorizes the driver to access, and the fingerprint comparison occurs in the controller authorization management module or other software capable of performing fingerprint comparison.
The giving authority refers to the fact that the controller gives authority and accesses operation according to the fingerprint comparison result to give authority and access the servo driver; if the failure occurs, the authority is not given, the connection is disconnected and the fault is reported.
As shown in fig. 3 and fig. 4, an access security method based on a servo driver fingerprint according to the present invention is specifically implemented as follows:
registering: as shown in fig. 3, registration is enabled when the drive is paired with a controller vendor or configured by an administrator; FIG. 3a shows an administrator collecting a servo drive fingerprint by software and entering a fingerprint library, specifically as follows:
1) After the system is started, the controller and the servo driver handshake, fingerprint acquisition software is communicated with the servo driver, and the fingerprint acquisition software acquires fingerprints of the servo driver;
2) And inputting the fingerprint of the servo driver, and inputting the collected fingerprint of the servo driver into a fingerprint library of the controller by fingerprint collection software.
FIG. 3b shows that an administrator may obtain a servo drive fingerprint by other means and then enter a fingerprint library.
Access authentication: when the servo driver is connected with the controller, starting access authorization, and comparing the servo driver fingerprint stored in the fingerprint library with the acquired servo driver fingerprint by the controller, wherein the comparison result is used as a basis for whether the servo driver is authorized to be accessed to the servo driver or not; 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, and the fingerprint acquisition stage 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 the 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 self fingerprint to the controller;
2) Fingerprint matching: the controller authorization management module or other software capable of fingerprint comparison compares the collected fingerprint of the servo driver with the fingerprint of the servo driver in the fingerprint library;
3) Weighting: according to the fingerprint comparison result, the controller is entitled to allow the servo driver to be accessed if the fingerprint comparison result is successful; if not, the controller disconnects the servo driver and reports errors.
And (3) running: 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 technical solution of the present invention, the following detailed description of the above technical solution of the present invention will be given by way of specific embodiment 1.
Example 1
In the actual industrial field, an industrial robot is required to perform stacking tasks, and in order to ensure the safety of an industrial robot system, manufacturers stipulate that the industrial robot cannot allow the replacement of already configured controllers and servo drivers so as not to cause faults and dangers. To ensure no replacement, the present invention can be deployed—a controller and servo drive access security method based on servo drive fingerprinting technology. The robot has a controller and a servo driver. The specific deployment and use method are as follows:
registering: the robot controller and the servo driver collect fingerprints of the servo driver through fingerprint collection software when the robot manufacturer or an administrator configures parameters; and inputting the collected fingerprints of the servo driver into a fingerprint library of the controller, and ending the current registration successfully.
Access authentication: when the robot controller and the servo drivers are connected, such as in an industrial field, the controller and the servo drivers are communicated with each other after the industrial robot is started, and the controller collects fingerprints of the servo drivers; and if the acquired fingerprint of the servo driver is matched with the fingerprint of the fingerprint library, the servo driver is successfully entitled to be connected with the controller, the connection with the servo driver is not successfully disconnected, and errors are reported.
And (3) running: 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, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A servo driver based on servo driver fingerprint and a controller safety access method establish an access safety mechanism based on servo driver fingerprint between a controller and the servo driver, wherein the controller at least comprises 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 steps comprise fingerprint acquisition and fingerprint input;
registering 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: the manufacturer or administrator uses the software for collecting fingerprint to collect the fingerprint of the servo driver; or the administrator may obtain the servo drive fingerprint in other ways;
b) Fingerprint input: the manufacturer or administrator inputs the collected fingerprint of the servo driver into a fingerprint library of the controller, and the method comprises an automatic mode and a manual mode;
the fingerprint acquisition of the servo driver sends a fingerprint acquisition instruction to the servo driver through fingerprint acquisition software, and the servo driver feeds back the fingerprint information to the fingerprint acquisition software;
2) The access authentication comprises three stages of fingerprint acquisition, fingerprint matching and weighting;
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 collected servo driver fingerprint with the servo driver fingerprints stored in the fingerprint library, the controller authorizes the servo driver to be connected to the controller after the comparison is successful, and the controller refuses to be connected to the servo driver after the comparison is unsuccessful; the method comprises the following specific steps:
a) Starting a system, wherein a servo driver is connected with a controller, and the controller collects fingerprints of the servo driver;
the servo driver and the controller are connected, namely the servo driver and the controller are physically connected, the same communication protocol is adopted, and the physical layer works normally and handshakes are successfully carried out;
the servo driver fingerprint acquisition means that the controller fingerprint acquisition module sends an acquisition instruction to the servo driver, and the servo driver feeds back the self fingerprint 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) Weighting: according to the comparison result of the authorization management module, the servo driver can be accessed to the controller if the comparison result is successful; if not, disconnecting the controller from the servo driver and reporting errors;
3) And (3) running: after the access authentication is successful, the servo driver can be accessed to the controller and works normally;
the servo driver fingerprint refers to hardware or software inherent information in the servo driver or a combination thereof;
the hardware inherent information comprises an equipment ID, a CPU model, a memory size and a network card interface type; the software inherent information comprises a software system firmware version, a process package version and an application program version.
2. The servo drive and controller security access method based on servo drive fingerprint according to claim 1, wherein the step 1) registration is performed only once.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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 CN113589790A (en) | 2021-11-02 |
| CN113589790B true CN113589790B (en) | 2023-12-26 |
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| KR101634734B1 (en) * | 2015-07-21 | 2016-07-08 | 이디스 주식회사 | Smart door lock system |
| CN107222477A (en) * | 2017-05-27 | 2017-09-29 | 国网山东省电力公司 | A kind of equipment access identification Verification System and method |
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| US7366702B2 (en) * | 1999-07-30 | 2008-04-29 | Ipass Inc. | System and method for secure network purchasing |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101634734B1 (en) * | 2015-07-21 | 2016-07-08 | 이디스 주식회사 | Smart door lock system |
| CN107222477A (en) * | 2017-05-27 | 2017-09-29 | 国网山东省电力公司 | A kind of equipment access identification Verification System and method |
Non-Patent Citations (1)
| Title |
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| 基于Arduino Mega2560的指纹锁设计;王瑜;白重阳;郑帅勇;周子为;;国外电子测量技术(第03期);全文 * |
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