EP3987726A1 - Système de communication décentralisé et procédé de commande correspondant - Google Patents
Système de communication décentralisé et procédé de commande correspondantInfo
- Publication number
- EP3987726A1 EP3987726A1 EP19749391.9A EP19749391A EP3987726A1 EP 3987726 A1 EP3987726 A1 EP 3987726A1 EP 19749391 A EP19749391 A EP 19749391A EP 3987726 A1 EP3987726 A1 EP 3987726A1
- Authority
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- European Patent Office
- Prior art keywords
- point
- module
- connection
- communication means
- communication
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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- 230000006854 communication Effects 0.000 title claims abstract description 228
- 238000004891 communication Methods 0.000 title claims abstract description 227
- 238000000034 method Methods 0.000 title claims description 22
- 230000015654 memory Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 50
- 230000005540 biological transmission Effects 0.000 claims description 41
- 230000004044 response Effects 0.000 description 7
- 230000004913 activation Effects 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000037213 diet Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000007620 mathematical function Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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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
- H04L12/407—Bus networks with decentralised control
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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
- H04L12/403—Bus networks with centralised control, e.g. polling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/02—Topology update or discovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L45/00—Routing or path finding of packets in data switching networks
- H04L45/74—Address processing for routing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor 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
- H04L2012/4026—Bus for use in automation systems
Definitions
- the technical field of the invention is communication buses and more precisely communication buses between electronic devices.
- Power saving and on-the-fly reconnection / reconnection of devices requires advanced addressing and topology sensing capabilities from the communication bus to identify and address each device as it connects or restores. his diet.
- the communication bus In order to allow easy deployment, the communication bus must require little calculation time and have a limited footprint.
- the I2C bus (acronym for “Inter-Integrated Circuits”) is a bidirectional half-duplex synchronous serial bus, based on two conductors. It is a light bus dedicated to electronics, with a master-slave structure and can have several masters on the same bus. Its main drawback is that it has a low communication speed and that it is not immune to electromagnetic interference. This bus does not allow automatic address allocation or detection of the network topology.
- the CAN bus (acronym for "Controller Area Network") is a bidirectional half-duplex serial bus, developed by and for the automotive industry, highly immune to noise and reliable and based on two twisted conductors. This bus has a low communication speed associated, however, with low latency. It is subject to congestion in the event of an error in order to detect and isolate the anomaly. This bus does not allow topology detection.
- the Ethercat bus (acronym for "Ethernet for Control Automation Technology) is a communication bus for the automation of industrial installations, based on an Ethernet type layer. This bus allows very high communication speed associated with low latency while being well immunized against noise. It also allows topology detection, however limited to a star topology. Its main disadvantages are a very expensive implementation as well as a complex use.
- the object of the invention is a decentralized communication system in a robot comprising at least two modules, each module being connected to at least one neighboring module by a point-to-point connection, all the modules being connected to each other by at least one serial connection. , each module being chosen from at least one interface module or one communication module, one interface module being connected by a connection other than the serial connection or the point-to-point connection to at least one memory allowing communication between the memory and the at least one other module, a communication module being connected by a connection other than the serial connection or the point-to-point connection to at least one device allowing communication between the at least one device and the at least one other module, a device being chosen from at least one actuator, a sensor, a communication means, a battery, a power supply or a data processing means.
- Each module can comprise at least two first communication means each capable of being connected to a point-to-point connection and at least one serial communication means connected to a serial connection, the communication means being connected to at least one processing means. of data.
- a module can be a coordination or switching module configured to connect at least three modules in parallel, each module being connected by a point-to-point connection and a serial connection,
- the coordination module being configured to retransmit predefined values received over a point-to-point connection according to predefined rules
- the switching module being configured to retransmit messages received over a serial connection to at least one other serial connection and predefined values received over a point-to-point connection to at least one other point-to-point connection according to predefined rules.
- the invention also relates to a method for controlling a decentralized communication system according to any one of the preceding claims, in which the communication system comprises a first module and at least a second module connected to the first module,
- At least one message is transmitted comprising a preamble and a header between at least two modules of the communication system by carrying out the following steps:
- the serial communication means of the first module is controlled so as to activate its transmission mode while keeping the reception mode activated
- the first module is controlled so as to send the preamble and at least part of the header via the serial connection
- the serial communication means of each second module are controlled so as to prohibit the transmission mode from reading at least part of the header
- the first module is ordered so as to send the rest of the message via the serial connection
- the serial communication means of the first module is controlled so as to activate its reception mode and its transmission mode to be deactivated and the serial communication means of each second module is controlled so to cancel the prohibition of the transmission mode.
- a message can also include at least one of data and an error check value.
- a neighbor detection step by step in order to discover at least one second module connected directly or indirectly to a first module and at least one routing address can be assigned to each second module connected directly or indirectly to the first module, in carrying out the following steps:
- each module connected directly or indirectly to the first module is controlled, one after the other, so that it performs at least one neighbor detection by via the serial connection and a point-to-point connection
- the detected neighbor module is controlled so that it confirms its presence to the first module via the point-to-point connections
- it is ordered the first module so that it sends at least one new routing address via the serial connection
- the neighboring module is ordered so that it registers the at least one new routing address
- the neighboring module is ordered so that it carries out its own
- a neighbor detection the detection of neighbors is stopped when none of the modules connected directly or indirectly detects a new neighbor.
- each module connected directly or indirectly, to the first module, one after the other, is controlled so that it carries out at least one neighbor detection via the serial connection and a point-to-point connection,
- the detected neighbor module is controlled so that it confirms its presence to the first module via the point-to-point connections, and the neighboring module is controlled so that it in turn carries out a detection of neighbour,
- the detection of neighbors is stopped when none of the modules connected directly or indirectly detects a new neighbor.
- the neighbor discovery step can be repeated for each device connected to the module.
- the following steps can be carried out: the transmission of a first predefined value is commanded by the second point-to-point communication means point of the module on the point-to-point connection,
- the module receives a predefined value in return by the second point-to-point communication means, for a predetermined period starting at the instant of transmission of the first value predefined by the second point-to-point communication means,
- the predefined value is equal to the first predefined value, it is considered that a neighboring module is connected to the other end of the point-to-point connection connected to the module,
- a module can transmit a first predefined value by its first point-to-point communication means, the first predefined value being retransmitted step by step through the modules and point-to-point connections up to in the first module
- a module being connected to a first point-to-point connection and to a second point-to-point connection, when the module has sent a first value by the first point-to-point connection within a predefined time, the module receives a first predefined value by the second point-to-point connection within the predefined duration, it can retransmit the first predefined value by the first point-to-point connection.
- a module being connected to a first point-to-point connection and to a second point-to-point connection, when the module has sent a first value by the first point-to-point connection within a predefined time, the module receives a second predefined value by the second point-to-point connection within the predefined duration, it can retransmit the second predefined value by the first point-to-point connection.
- the module is a coordination or switching module, comprising a first point-to-point communication means and at least two second first communication means
- the communication or coordination module can be controlled so as to proceed with an allocation of routing address and neighbor detection for each second point-to-point communication means, the coordination or switching module changing from second point-to-point communication means on receipt of a second predefined value by the second point-to-point communication means, and ,
- the coordination or switching module when the coordination or switching module has received a second predefined value on each of its second first communication means, it can transmit the second predefined value by its first point-to-point communication means.
- FIG. 1 illustrates the decentralized communication system according to a first embodiment
- the decentralized communication system comprises at least two modules each chosen from an interface module, a communication module, a coordination module and a switching module, connected in a network.
- the decentralized communication system is controlled by a decentralized communication process ensuring the communication of messages between the modules using different communication modes, the discovery of connected modules, and the assignment of routing addresses to each discovered module.
- the decentralized communication system 1 comprising an interface module 2 connected to a communication module 4 by a point-to-point connection PTP (acronym for “Point to Point”) referenced 3a and by a serial connection 3b, the communication module 4 being connected moreover directly or indirectly to at least one device 7 of a complex system, in particular of a robot.
- PTP point-to-point connection
- serial connection 3b serial connection
- the interface module 2 is also connected directly or indirectly to at least one memory 5 comprising instructions or data exchanged with at least one of the connected modules.
- the interface module 2 comprises a data processing means 2a, such as a microcontroller, configured to interact with two first communication means 2b, 2e, a serial communication means 2c, and at least one third communication means 2d .
- a data processing means 2a such as a microcontroller, configured to interact with two first communication means 2b, 2e, a serial communication means 2c, and at least one third communication means 2d .
- the first two means of communication 2b, 2e are each capable of being connected to a point-to-point connection.
- a single point-to-point communication means, referenced 2b is connected to a point-to-point connection 3a.
- the serial communication medium 2c is connected to the serial connection 3b.
- the first and second communication means 2b, 2c allow the exchange of data between the interface module 2 and, respectively, a point-to-point communication means 4b and a serial communication means 4c of the communication module 4.
- the serial communication medium 2c comprises an independent transmission mode and a reception mode. Thus each mode can be activated or deactivated independently of the activation state of the other mode.
- a third means of communication 2d allows the exchange of data between the interface module 2 and the at least one memory 5 via a connection 6 of a first type, in particular ethernet, wifi or bluetooth, and possibly through a remote server.
- the data processing means 2a comprises a microprocessor or microcontroller as well as optionally at least one memory.
- the data processing means 2a can be configured to control the transmission, with or without prior processing, of all or part of the data received from the first and second communication means 2b, 2c, 2e via the third communication means 2d to memory 5.
- the data processing means 2a can be configured to control the reception of data by the third communication means 2d, processing them according to data received from the point-to-point connection 3a and from the serial connection 3b via the first ones. and second means of communication 2b, 2c, 2e.
- the data processing means 2a can also be configured to control the transmission, with or without prior processing, of all or part of the data received from the third communication means 2d via the first and second communication means 2b, 2c, 2e for the communication module 4.
- the data processing means comprises all or part of the characteristics described above, said characteristics being activated or deactivated by depending on the instructions or the results of processing the data received.
- the point to point connection 3a includes at least one wire.
- the point-to-point connection can be protected against noise by employing a differential or enable signal.
- the differential signal involves a difference in signals between at least two wires of the point-to-point connection 3a.
- the enable signal comprises both a signal sent by at least one wire of the point-to-point connection 3a and a validate signal transmitted by the serial connection 3b.
- the signal sent on the point-to-point connection 3a is only validated when the validating signal is received simultaneously or within a predetermined period of time with respect to the instant of reception of the message on the point-to-point connection 3a.
- the serial connection 3b also includes at least one wire.
- the serial connection can comprise at least one pair of twisted wires, in particular of the RS485 type.
- two power supply wires can be arranged in parallel with the serial connection 3b in order to centrally power the various connected modules.
- connection we mean both a connection with a physical connector and an integrated connection within a printed or integrated circuit. It can also be a software connection between software modules.
- a communication module 4 has a structure similar to that of interface module 2.
- the communication module 4 comprises a data processing means 4a, such as a microcontroller, configured to interact with the communication means 4b, 4c, 4d, 4e.
- a data processing means 4a such as a microcontroller
- the data processing means 4a comprises a microprocessor or microcontroller as well as optionally at least one memory.
- the communication module 4 comprises two first communication means 4b, 4e each capable of being connected to a point-to-point connection and a serial communication means 4c connected to the serial connection 3b.
- the point-to-point communication means 4b is connected to the point-to-point connection 3a.
- the point-to-point communication means 4b and the serial communication means 4c allow the exchange of data between the communication module 4 and the interface module 2 via the point-to-point connection 3a and the serial connection 3b.
- the serial communication medium 4c comprises an independent transmission mode and a reception mode. Thus each mode can be activated or deactivated independently of the activation state of the other mode.
- the communication module 4 comprises at least one third communication means 4d configured to exchange data with a device 7.
- the communication module 4 can thus exchange data with several devices 7.
- the data processing means 4a can be configured to receive data from a first device and transfer them, with or without processing, to a second device, the first and second devices being connected to the communication module 4.
- the data processing means 4a can also be configured to control the transmission, with or without prior processing, of all or part of the data received from the third communication means 4d via the first and second communication means 4b, 4c, 4th for communication module 4.
- the data processing means 4a can also be configured to control the transmission, with or without prior processing, of all or part of the data received from the first and second communication means 4b, 4c, 4e via the third communication means. 4d for devices 7 connected to communication module 4.
- FIG. 2 one can see the decentralized communication system 1 according to the invention comprising a larger number of modules.
- Each communication module 40, 41, 42, 43, 44 comprises a structure similar to that of the communication module 4 illustrated in FIG. 1. They include at least one data processing means connected to two first communication means each capable of being connected to a point-to-point connection and to a serial communication means connected to the serial connection. Each communication module 40,41, 42,43, 44 also comprises at least one third communication means connected to a device. For the sake of clarity, the first, second and third means of communication as well as the devices are not illustrated in figure 2.
- a coordination module configured to connect in parallel several communication modules 40,41, 42,43, 44.
- Such a coordination module 8 comprises a means for processing data, at least three first means of communication and a second means of communication. It differs from communication and interface modules in that it is not connected to any device or memory.
- the coordination module 8 is connected to the interface module 2 by the serial connection 3 1b.
- the serial connection 3 1b propagates to the modules connected behind the coordination module 8 via serial connections 32b, 33b, 34b each defining a branch of the star configuration.
- the messages sent on the serial connection 3 1 b thus pass through each branch of the star configuration.
- all the modules connected to the coordination module 8 receive messages via the serial connection to which they are connected, in a similar way to the reception of messages by the modules connected before the coordination module 8.
- the coordination module 8 selectively duplicates the messages received on the point-to-point connection 32a to the other point-to-point connections 33a, 34a, 35a to which it is connected. However, the duplication of these messages depends on the stage of operation.
- the data processing means of the coordination module 8 is thus configured to transmit, with or without processing, all or part of the data received from the first and second communication means via other first and second communication means respectively.
- the coordination module 8 does not allow direct communication with a device but rather transmits the data exchanged between the modules of the decentralized communication system 1.
- a module can be a switching module, not illustrated in FIGS. 1 and 2, having a structure similar to the coordination module 8. It comprises at least three second communication means, each connected to a separate serial connection.
- the coordination module 8 duplicates the messages received by the serial connection 3 1b on each branch of the star configuration. However, the duplication of these messages depends on the stage of operation. However, a switching module behaves similarly to the coordination module during the neighbor discovery steps.
- a message exchanged between two modules comprises a preamble P, a header H, and data D.
- it comprises an error control value CTRL.
- the preamble P is used to trigger the reception or transmission of a new message.
- the preamble P is a period of inactivity of the decentralized communication system 1 between each message. Receiving the preamble resets the state of a module so that it can receive a new message or erase a bogus message.
- the H header includes several fields containing information allowing a module to understand the message.
- the H header includes a version number field, a target field, a target mode field, a source field, a command field, and a size field.
- the version number field defines the version number of the communication method used to establish the exchanged message.
- the version number field allows a module to determine how to read the message.
- the target field indicates a routing address of the module to which the message is intended. Note that in the event that several devices are connected to a communication module, a routing address can be assigned to the module. communication for each connected device. Thus, the communication module can have several routing addresses.
- the target mode field indicates the addressing mode and how to interpret the target field.
- a first addressing mode is the ID mode during which the message is intended for a single module identified by its routing address and without acknowledgment of receipt.
- a second addressing mode is the ID + ACK mode during which the message is intended for a single module identified by its routing address and with acknowledgment of receipt.
- a third addressing mode is Broadcast mode during which the message is transmitted to all the modules connected to the serial connection. In such an addressing mode, the target field is not considered by the modules reading the message.
- a fourth addressing mode during which the message is transmitted to all modules of a defined type.
- Each module includes a Type address depending on the nature of the devices connected to it. For example, you can give type 1 address to all engines, type 2 address to all light sources, and type 3 address to all sensors.
- a message with the type 2 address then targets all light sources connected to the communication system.
- the source field indicates the routing address of the module from which the message originated.
- the command field defines the type of data transmitted.
- the size field indicates the size of the data included in the message.
- the data D correspond to the main part of the message comprising the data exchanged.
- the CTRL error check value is used to determine the presence of an error on receipt of the message by comparing the CTRL error check value included in the message to the error check value determined on receipt, both values being determined by applying predetermined mathematical functions to the digital values associated with the header H and the data D.
- the error check value may in particular be a CRC cyclic redundancy check value or a checksum.
- the message also comprises an acknowledgment of receipt A.
- the acknowledgment of receipt can take two distinct values, a first value being associated with the message sent from the source to the target, the second value being associated with the acknowledgment sent from the target to the source. This field is used in conjunction with the second ID + ACK addressing mode.
- the first module When controlling the transmission of a message by a first module, the first module is controlled so as to activate the transmission mode of the serial communication medium while keeping the reception mode activated.
- a collision is the transmission of a message by two distinct modules on the serial connection in a time interval. predefined, between the start of the transmission of the preamble and the end of the transmission of the header. In order to avoid bad detections, it is considered that the time interval is preferably equal to the duration of transmission of the preamble and of at least a first bit of the header.
- the first module is controlled so as to send the preamble or to wait for the duration of the preamble according to the embodiment.
- the first module is then commanded so as to send the header H of a message via the serial connection.
- a message or part of a message sent on the serial connection is read by all the modules connected to the serial connection.
- Each module receiving the message interprets the content of the message as a function of its characteristics (routing address, type address, etc.) and of the structure of the message described above.
- the second module On receipt of the header H, the second module reads the header H of the message, and controls its serial communication means so that the transmission mode is prohibited. In other words, the sending of the header H by a module controls the other modules receiving the header H by their serial connection, so that they cannot send a header in their turn.
- the serial communication means of the first module is controlled so as to activate the reception mode and the transmission mode deactivated, and the serial communication means of the second module is controlled so as to deactivate the 'emission ban.
- step-by-step discovery is initiated from interface module 2.
- the interface module 2 is assigned the first routing address of the decentralized communication system referenced 1. Then, the activation of the transmission mode of the serial communication means 2b of the interface module 2 in mode is controlled. transmission and the interface module 2 sends a first predefined value on the point-to-point connection 3a. In the case where the first module is connected to two point-to-point connections, the detection step is repeated for each point-to-point connection.
- a module connected to the point-to-point connection 3a receives the first predefined value, and returns, in return, this same first predefined value.
- a new routing address to be assigned is determined.
- a broadcast message comprising the new routing address to be assigned is then sent via the serial communication means 2c of the interface module 2.
- the interface module 2 deduces from this that there are no modules left to discover and address. Interface module 2 then stops generating new routing addresses.
- the interface module 2 sends the first predefined value through the point-to-point connection 3a.
- the communication module 4 receives the first predefined value by the point-to-point connection 3a and re-transmits the first predefined value by the point-to-point connection 3a in return.
- interface module 2 When it receives the first predefined value via point-to-point connection 3a, interface module 2 deduces that a module is connected. A second routing address is generated, and interface module 2 transmits in broadcast mode a message including the second routing address to be assigned.
- the communication module 4 having re-emitted the first predefined value by the point-to-point connection 3a and perceiving by its second point-to-point communication means 4e receives a second predefined value, the communication module 4 records the second routing address to be allocated.
- the second predefined value is the default value.
- a first predefined value is sent by the communication module 4 by its second point-to-point communication means 4e.
- the second point-to-point communication means 4e is not connected to a point-to-point connection and to another module, it cannot receive a response.
- the sending of the second predefined value on the point-to-point connection 3a is ordered, indicating that there is no other neighbor after the communication 4.
- the interface module 2 receives the second predefined value by the point-to-point connection 3a and stops the neighbor detection process for the point-to-point connection 3a.
- the neighbor detection step has been described between an interface module 2 and a communication module 4. However, the same step is applied when different modules are involved.
- a routing address can be assigned to the communication module for each connected device.
- the communication module can have several routing addresses.
- the neighbor detection step is repeated several times for the same module for each device connected to said module.
- the communication module connected to several devices sends back the first predefined value by the point-to-point connection through which a first predefined value has been received as long as the communication module has not received a sufficient number of addresses. routing to register one for each device.
- the first predefined value sent back by the point-to-point connection is sent again after the reception on the serial connection of a new routing address until each device connected to the communication module is associated with a routing address.
- the communication module resumes the detection of neighbors by its second point-to-point communication means, as described above.
- the neighbor detection step described above is applied to all interconnected modules, that is, as long as the interface module 2 periodically receives the first preset value by the point-to-point connection.
- the interface module 2 is assigned a first routing address of the decentralized communication system 1. Then, the interface module 2 is ordered to send by its first point-to-point communication means 2b the first predefined value by the point-to-point connection 3 1 a
- the communication module 40 receives the first predefined value on the point-to-point connection 3 1 a. It sends back the first predefined value by the point-to-point connection 3 1 a.
- the interface module 2 receives the first predefined value by the point-to-point connection 3 1a and deduces from this that the neighbor discovery step must continue and that a routing address must be issued.
- a second routing address is determined and the interface module 2 is ordered to send through the serial connection 3 1b a message in broadcast mode comprising the second routing address.
- the message comprising the second routing address being sent on the serial connection 3 1b, it is read by each of the connected modules, regardless of their discovery by the interface module 2.
- the communication module receives the message in broadcast mode comprising the second routing address via the serial connection 3 1b.
- the module Since the second point-to-point communication medium of the communication module 40 perceives the default value equal to the second predefined value, the module registers the routing address to be assigned.
- the second point-to-point communication means of the communication module 40 transmits the first predefined value by the point-to-point connection 32a
- the routing module 8 then receives the first predefined value via the point-to-point connection 32a and sends back via the point-to-point connection 32a the first predefined value.
- the module communication 40 receives the first predefined value via the point-to-point connection 3 1 a. As it already has a routing address, it in turn sends the first predefined value through its other point-to-point connection 3 1 a. The first predefined value is thus retransmitted step by step to interface module 2.
- Interface module 2 receives the first predefined value via point-to-point connection 3 1a and deduces from this that another module must receive a routing address.
- the interface module 2 determines a third routing address and then sends over the serial connection 3 1b a new message in broadcast mode comprising the third routing address.
- the routing module 8 having re-emitted in return the first predefined value by the point-to-point connection 32a and perceiving the second predefined value on its second point-to-point communication means, it then records the third routing address received on the serial connection 3 1b in the message in broadcast mode.
- the last module having memorized a routing address sends the first predefined value by its second point-to-point communication means.
- the last module On receipt of the first predefined value in return, the last module having memorized a routing address and all the modules connected up to interface module 2 gradually retransmit the first predefined value.
- interface module 2 Each time the first predefined value is received, interface module 2 generates a new routing address, and sends a new message in broadcast mode, each comprising a new routing address. The routing address thus generated and sent is stored by the discovered module.
- the last module in the network When the last module in the network is discovered and has registered a routing address, the last module transmits the first predefined value by its second point-to-point communication means. As has been described during the description of the discovery of the network illustrated by FIG. 1, the second point-to-point communication means is not connected to a point-to-point link. point and to a module. It cannot therefore receive a response. At the end of a predetermined period, having received no response, the transmission of a second predefined value is ordered by the first point-to-point communication means of the last network module discovered and having recorded an address. The second predefined value is retransmitted step by step by each module up to interface module 2.
- interface module 2 On receipt of this second predefined value by interface module 2, it is determined that all the connected modules have a routing address and that the discovery of the modules step by step is complete. The interface module 2 is controlled so that it does not determine a new routing address and the neighbor detection step is completed.
- the interface module 2 each time a first predefined value is received by the point-to-point connection 3 1 a, the interface module 2 records the assigned routing address in a routing table.
- the data processing means included in such modules is configured to transmit deterministically the first predefined value received by the point-to-point connection connected to the first means. point-to-point communication.
- deterministic transmission is meant that the messages received by such modules via the point-to-point connection connected to the first point-to-point communication means are transmitted in a predetermined order in each branch connected by another point-to-point connection at the output of the module. The predetermined order does not change from one neighbor determination step to the next.
- each first predefined value received as an input is transmitted by the first point-to-point connection 32a via the second point-to-point connection 33a. All the first values received by the second point-to-point connection 33a are also retransmitted by the first point-to-point connection 32a.
- the coordination module 8 is then ordered to send the first predefined value by the third point-to-point connection 34a.
- the coordination module 8 is then ordered to retransmit all the first values received by the fourth point-to-point connection 34a through the first point-to-point connection 32a.
- All the first values received by the third point-to-point connection 34a are also retransmitted by the first point-to-point connection 32a.
- the coordination module 8 is then ordered to send the first predefined value by the fourth point-to-point connection 35a.
- the coordination module 8 is then ordered to retransmit all the first values received by the fourth point-to-point connection 35a through the first point-to-point connection 32a.
- All the first values received by the fourth point-to-point connection 35a are also retransmitted by the first point-to-point connection 32a.
- the coordination module 8 is then ordered so that it sends a second predefined value via the first point-to-point connection 32a.
- the coordination module proceeds to the discovery of its branches by successively scanning the second point-to-point connection 33a, then the third point-to-point connection 34a, then the fourth point-to-point connection 35a.
- branch scan orders are possible while remaining within the scope of the present description.
- the selective transmission of predefined values by the coordination or switching module combined with the issuance of routing addresses by the interface module allows discovery and assignment of a routing address to all connected modules.
- the data can then be routed by messages as defined in this description.
- the neighbor discovery step described above is illustrated in the context of an exchange of messages in the form of either a first predefined value or a second predefined value.
- These values can be for example structured messages or signal voltage values on the point-to-point connection.
- the first point-to-point communication means 2b of the interface module 2 brings the point-to-point connection 3a to a first level.
- the first point-to-point communication means of the communication module 4 perceives the first level on the point-to-point connection 3a and the message in broadcast mode comprising the routing address on the serial connection 3b, it records the routing address .
- the first point-to-point communication means 2b of the interface module 2 maintains the first level for a predetermined time after the transmission of a message in broadcast mode comprising a routing address. If at the end of this predetermined period, he still perceives the first level by his first point-to-point communication means 2b, it interprets it as the presence of a module having memorized the routing address included in the message sent in broadcast mode.
- the communication module 4 does not maintain the first level via its first point-to-point communication means 4b after the predetermined period following the transmission of the message in mode. broadcast.
- the second level is perceived by its first point-to-point communication means 2b. It interprets it as the absence of a module having memorized the routing address included in the message sent in broadcast mode. Network discovery is then terminated.
- Network discovery has been described above as part of a first discovery of the network in connection with the assignment of routing addresses. However, network discovery can be performed again later in order to verify, for example, that previously discovered modules are still connected or have not suffered a failure, that a new module has been added or replaced, or that the first discovery of the network. network was not correctly performed.
- the discovery and addressing method described above is applied by omitting the generation of routing address, the transmission of routing address on the serial connection and the registration of the address. routing by the last discovered module.
- the subsequent discovery step includes the following substeps.
- the interface module 2 is ordered to send by its first point-to-point communication means 2b the first preset value by the point-to-point connection 3 1 a
- the communication module 40 receives the first predefined value on the point-to-point connection 3 1 a. It sends back the first predefined value by the point-to-point connection 3 1 a.
- the interface module 2 receives the first predefined value via the point-to-point connection 3 1 a and deduces therefrom that a module has been discovered.
- the second point-to-point communication means of the communication module 40 transmits the first predefined value by the point-to-point connection 32a
- the routing module 8 then receives the first predefined value via the point-to-point connection 32a and sends back the first predefined value via the point-to-point connection 32a.
- the communication module 40 receives the first predefined value via the point-to-point connection 3 1 a. As has already been discovered, it in turn transmits the first preset value through its other point-to-point connection 3 1a. The first predefined value is thus transmitted step by step to interface module 2.
- Interface module 2 receives the first predefined value through point-to-point connection 3 1a and deduces that another module has been discovered.
- the last module that has been discovered transmits the first predefined value by its second point-to-point communication means.
- the last module On receipt of the first predefined value in return, the last module having memorized a routing address and all the modules connected up to interface module 2 gradually retransmit the first predefined value.
- interface module 2 determines that a new module has been discovered.
- the last module in the network When the last module in the network is discovered, it sends the first predefined value by its second point-to-point communication means. As has been described during the description of the discovery of the network illustrated by FIG. 1, the second point-to-point communication means is not connected to a point-to-point link and to a module. It cannot therefore receive a response. At the end of a predetermined period, having received no response, the transmission of a second predefined value is ordered by the first point-to-point communication means of the last network module discovered and having recorded an address. The second preset value is gradually retransmitted by each module to interface module 2.
- interface module 2 Upon receipt of this second predefined value by interface module 2, it is determined that all connected modules have been discovered.
- the interface module 2 is thus able to compare the number of modules discovered with the number of modules discovered during the first step of discovery and assignment of routing addresses.
- the neighbor discovery step described above is performed by the interface module 2.
- the control method can be performed by any module of the communication system 1.
- the decentralized communication system 1 and the method of controlling such a system allow communication of a memory with devices of a complex system. These devices can be actuators, batteries, power supplies, sensors, transmitters, memories of data processing means and more generally any system allowing the operation of a complex system.
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Abstract
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PCT/FR2019/051521 WO2020254732A1 (fr) | 2019-06-21 | 2019-06-21 | Système de communication décentralisé et procédé de commande correspondant |
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EP3987726A1 true EP3987726A1 (fr) | 2022-04-27 |
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EP19749391.9A Withdrawn EP3987726A1 (fr) | 2019-06-21 | 2019-06-21 | Système de communication décentralisé et procédé de commande correspondant |
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US (1) | US20220021555A1 (fr) |
EP (1) | EP3987726A1 (fr) |
JP (1) | JP2022537232A (fr) |
KR (1) | KR20220021446A (fr) |
WO (1) | WO2020254732A1 (fr) |
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CN114915920B (zh) * | 2021-02-09 | 2024-04-16 | 京东科技信息技术有限公司 | 消息的传输方法、装置、机器人以及存储介质 |
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US4719458A (en) * | 1986-02-24 | 1988-01-12 | Chrysler Motors Corporation | Method of data arbitration and collision detection in a data bus |
US5185866A (en) * | 1988-12-30 | 1993-02-09 | Pitney Bowes Inc. | Dual mode communication among plurality of processors using three distinct data channels each having different function and operations |
US6484215B1 (en) * | 1998-11-16 | 2002-11-19 | Rockwell Technologies, Llc | System having I/O module number assignment utilizing module number signal line having pair of inputs adapted for receiving module number signal and propagation of module number signal down stream |
NL1027672C2 (nl) * | 2004-12-06 | 2006-06-12 | Neopost Sa | Werkwijze voor het bepalen van een netwerktopologie in een inrichting voor het verwerken van fysieke documenten, zoals poststukken. |
US7680090B2 (en) * | 2007-02-28 | 2010-03-16 | Freescale Semiconductor, Inc. | System and method for monitoring network traffic |
US8856434B2 (en) * | 2008-09-26 | 2014-10-07 | Cypress Semiconductor Corporation | Memory system and method |
DE102008050102B4 (de) * | 2008-10-06 | 2010-11-04 | Phoenix Contact Gmbh & Co. Kg | Kommunikationsentität zur Kommunikation über ein busorientiertes Kommunikationsnetzwerk |
DE102008060007A1 (de) * | 2008-11-25 | 2010-05-27 | Pilz Gmbh & Co. Kg | Verfahren zum Übertragen von Daten in einem automatisierten Steuerungssystem |
US9672182B2 (en) * | 2014-08-21 | 2017-06-06 | Infineon Technologies Ag | High-speed serial ring |
-
2019
- 2019-06-21 WO PCT/FR2019/051521 patent/WO2020254732A1/fr active Application Filing
- 2019-06-21 JP JP2021536768A patent/JP2022537232A/ja not_active Ceased
- 2019-06-21 US US17/413,336 patent/US20220021555A1/en not_active Abandoned
- 2019-06-21 EP EP19749391.9A patent/EP3987726A1/fr not_active Withdrawn
- 2019-06-21 KR KR1020217028411A patent/KR20220021446A/ko active Search and Examination
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US20220021555A1 (en) | 2022-01-20 |
JP2022537232A (ja) | 2022-08-25 |
WO2020254732A1 (fr) | 2020-12-24 |
KR20220021446A (ko) | 2022-02-22 |
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