EP4058857A1 - Commande et surveillance d'un agencement de machine - Google Patents

Commande et surveillance d'un agencement de machine

Info

Publication number
EP4058857A1
EP4058857A1 EP20800111.5A EP20800111A EP4058857A1 EP 4058857 A1 EP4058857 A1 EP 4058857A1 EP 20800111 A EP20800111 A EP 20800111A EP 4058857 A1 EP4058857 A1 EP 4058857A1
Authority
EP
European Patent Office
Prior art keywords
core
machine
cores
processor
arrangement
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.)
Pending
Application number
EP20800111.5A
Other languages
German (de)
English (en)
Inventor
Yevgen Kogan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of EP4058857A1 publication Critical patent/EP4058857A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/1629—Error detection by comparing the output of redundant processing systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/30—Monitoring
    • G06F11/3003—Monitoring arrangements specially adapted to the computing system or computing system component being monitored
    • G06F11/3013—Monitoring arrangements specially adapted to the computing system or computing system component being monitored where the computing system is an embedded system, i.e. a combination of hardware and software dedicated to perform a certain function in mobile devices, printers, automotive or aircraft systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/30—Monitoring
    • G06F11/3003—Monitoring arrangements specially adapted to the computing system or computing system component being monitored
    • G06F11/3024—Monitoring arrangements specially adapted to the computing system or computing system component being monitored where the computing system component is a central processing unit [CPU]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/30—Monitoring
    • G06F11/3055—Monitoring arrangements for monitoring the status of the computing system or of the computing system component, e.g. monitoring if the computing system is on, off, available, not available
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0428—Safety, monitoring
    • 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
    • G05B2219/22—Pc multi processor system
    • G05B2219/2205—Multicore
    • 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
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33332—Each processor can execute all programs
    • 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
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33333—Network multiprocessing
    • 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
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33334—Load balancing, distribution between processors
    • 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
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34482—Redundancy, processors watch each other for correctness

Definitions

  • a core is classified as available if its utilization level specified in the directory falls below a specified utilization level threshold value, and / or classified as not available if its utilization level specified in the directory does not fall below a specified utilization level threshold value.
  • the processors each report to the processor arrangement their cores (currently available for controlling or monitoring the machine arrangement); in a further development, these are entered in the directory, which is thereby updated.
  • step (a) a core of one of these machines controlled or monitored in step (c) and / or processor closer to this machine control is compared with at least one other core or a core of one of these controlled or monitored machines monitored machine or machine control of further (lying) processor prioritized or preferred (selected).
  • step (d) a core of a processor of a machine control of a machine of the machine arrangement, which is or is to be controlled or monitored in step (f) (“machine controlled or monitored in step (f) “), Prioritized or preferred (selected) over at least one other core or a core of a processor that does not belong to this machine control system.
  • a core of a processor of a controller of a machine arranged in the same cell with this machine controlled or monitored in step (f) is not assigned to at least one other core or a core of the machine arrangement a processor belonging to a controller of a machine arranged in the same cell is prioritized or preferred (selected).
  • a core of one of these (in step (f)) controlled or monitored machine and / or (their) machine control is closer (lying) to at least one other core or a core one of these controlled or monitored machines or machine controls further (lying) processors is prioritized or preferred (selected).
  • step (f) A core of a processor of a machine control of a machine of the machine arrangement that is controlled or monitored in step (f) and / or
  • a core of a processor that is closer to this controlled or monitored machine and / or machine control compared to at least one other core;
  • system or its means in one embodiment has at least one common data connection, in particular a bus, via which selected cores communicate with one another, with at least one process signal source and / or with at least one controller of the machine arrangement or which are provided for this purpose, in particular is set up or used.
  • a means within the meaning of the present invention can be designed in terms of hardware and / or software, in particular a data or signal-connected, in particular digital, processing, in particular microprocessor unit (CPU), graphics card (GPU), preferably with a memory and / or bus system ) or the like, and / or one or more programs or program modules.
  • the processing unit can be designed to process commands that are implemented as a program stored in a memory system, to acquire input signals from a data bus and / or to output output signals to a data bus.
  • a storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media.
  • the program can be designed in such a way that it embodies or respects the methods described here.
  • a computer program product can have, in particular a non-volatile, storage medium for storing a program or with a program stored thereon, execution of this program causing a system or a controller, in particular a computer, to do so to carry out the method described here or one or more of its steps.
  • one or more, in particular all, steps of the method are carried out completely or partially automatically, in particular by the system or its means, in particular (machine) controls.
  • the system has the machine arrangement and / or processor arrangement.
  • control and / or monitoring of the machine arrangement in step (c) and / or (f) includes, in particular, a safe control or monitoring.
  • Monitoring and / or redundant processing of process signals in step (b) and / or (e) include, in particular, the process signals (redundantly) processed in step (b) and / or (e) safety-relevant or -oriented process signals.
  • the or at least two of the cores selected in step (a) are on different processors of the same computer, in particular on the same (machine, in particular robot) controller (for controlling or monitoring) the same machine, in particular the same robot, of the machine arrangement and / or implemented, in particular arranged, within a computer housing.
  • the or at least two of the cores selected in step (d) are on different processors of the same computer, in particular the same (machine, in particular robot) controller (for controlling or monitoring) the same machine, in particular the same robot, the machine arrangement and / or within a computer housing, implemented, in particular arranged.
  • the first core selected in step (a) is on a processor of a computer, in particular a (machine, in particular robot) controller (for controlling or monitoring) a machine, in particular a robot, the machine arrangement and / or within a Computer housing, and at least one further core selected in step (a) on a processor of another computer, in particular a (machine, in particular robot) controller (for controlling or monitoring) another machine, in particular another robot, the machine arrangement and / or implemented, in particular arranged, within a further computer housing.
  • a processor of a computer in particular a (machine, in particular robot) controller (for controlling or monitoring) a machine, in particular a robot, the machine arrangement and / or implemented, in particular arranged, within a further computer housing.
  • the other core selected in step (d) is on a processor of a computer, in particular a (machine, in particular robot) controller (for controlling or monitoring) a machine, in particular a robot, the machine arrangement and / or within a computer housing, and at least one further core selected in step (d) on a processor of another computer, in particular a (machine, in particular robot) controller (for controlling or monitoring) another machine, in particular another robot, which Machine arrangement and / or within a further computer housing, implemented, in particular arranged.
  • a processor of a computer in particular a (machine, in particular robot) controller (for controlling or monitoring) a machine, in particular a robot, the machine arrangement and / or within a further computer housing, implemented, in particular arranged.
  • redundant processing of process signals includes diverse processing of the process signals.
  • a computer contains (each) one or more processors which, in one version, are assigned, in particular connected, to a common infrastructure, in particular a common housing, a common main memory and / or a common power supply. If processors are on different computers, the failure of one part of the infrastructure only affects the corresponding processor (s).
  • Fig. 1 a system for controlling and / or monitoring a
  • FIG. 1 shows an example of a machine arrangement with a first robot 1, which is controlled and / or monitored by a (robot) controller 10, which has a CPU with two cores 11, 12.
  • the machine arrangement has a second robot 2, which is controlled and / or controlled by a (robot) controller 20 with a CPU with two cores 21, 22 is monitored, and a third robot 3, which is controlled and / or monitored by a (robot) controller 30 with a CPU with two cores 31, 32.
  • a (robot) controller 20 with a CPU with two cores 21, 22 is monitored
  • a third robot 3 which is controlled and / or monitored by a (robot) controller 30 with a CPU with two cores 31, 32.
  • the cores 11, 12, 21, 22, 31, 32 of the robot controls 10, 20, 30 communicate with one another and, in one embodiment, with additional sensors, of which two sensors 51, 52 are indicated by way of example in FIG. 1, and a computer 40, in which a directory 41 is managed, via a bus 100.
  • additional sensors can be provided, in particular sensors on the robot side, in particular via the robot controls 10, 20, 30, communicate with the bus 100, sensor 51 and / or 52 are omitted, and / or the directory 41 are managed on one of the robot controllers 10, 20, 30 and / or do not communicate via the bus 100.
  • a step S10 (cf. FIG. 2), the controls 10, 20, 30 initially report their cores currently available for controlling or monitoring one of the robots 1, 2, 3 to the computer 40, which stores them in the directory 41 enters what is indicated in Fig. 1 by “11” etc.
  • one of the controllers 10, 20, 30 determines a need for safety-relevant calculations for the safe control or monitoring of one of the robots 1, 2, 3 during operation (S15: “Y”), it selects in a step S20 using the directory 41 the cores currently available for this purpose from two cores with the proviso that these are implemented, in particular arranged, on different processors. It prefers a currently available own core as a first core and a currently available core of a neighboring control as a further core.
  • the controller 10 reports it as currently unavailable to the computer 40, which updates the directory 41 accordingly and marks this core 12 as currently unavailable, which is indicated in FIG. 1 by “42”. etc. is indicated.
  • the controller 10 determines a need for safety-relevant calculations for the safe control or monitoring of the robot 1 during operation, it selects corresponding to the currently (still) available cores ⁇ 11, 21, 22, 31, 32 ⁇ first the own core 11 and then the core 21 of the adjacent controller 20.
  • a step S40 the selected cores 11, 21 redundantly process process signals and, in particular, carry out safety-relevant calculations.
  • the controller 10 controls or monitors the robot 1 (step S50).
  • controller 10 releases the two cores 11, 21 occupied by it again and reports this to the computer 40, which updates the directory 41 accordingly and these cores 11, 21 are available (again) as current is marked (step S60).
  • controller 10 again determines the need for safety-relevant calculations for the safe control or monitoring of the robot 1, or if one of the controllers 20, 30 determines the need for safety-related calculations for the safe control or monitoring of the robot 2 or 3 (S65: "Y “).
  • This controller analogously selects from the currently (still) available cores, as far as possible, first one of its own cores and then, as far as possible, one of the cores of an adjacent controller (step S70).
  • the computer 40 in the directory 41 similarly marks these cores as currently not available (step S80).
  • a step S90 the selected cores process signals redundantly and, in particular, carry out safety-relevant calculations.
  • the controller controls or monitors the corresponding robot (step S100).
  • control then releases the two cores occupied by it again and reports this to the computer 40, which updates the directory 41 accordingly and marks these cores as currently (again) available (step S110).
  • one or more of the controllers 10, 20, 30 can each have at least two physically separate processors, on each of which at least one core is implemented, in particular arranged, in particular one of the two cores 11, 12 or 21, 22 or 31, 33.
  • the two cores of the two different processors of a controller can then also be selected in the same way.
  • steps S65 to S110 can also be carried out partly in parallel with steps S15 to S60 in one embodiment.
  • utilization rates of the cores can also be specified in directory 41 or cores classified or selected as available or selected or classified as unavailable based on their utilization rate, in particular classified as available when their utilization rate falls below a specified utilization threshold and classified as not available if their degree of utilization does not fall below a specified threshold value or the specified degree of utilization.
  • the ascertained need for safety-relevant calculations can include a required quality for the safe control or monitoring of one of the robots 1, 2, 3, in particular cores of the same (processor) architecture can be selected if a required quality is of a given quality Falls below the threshold value, and cores with different (type) (processor) architectures are selected if a required quality does not fall below a given quality threshold value.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computing Systems (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Software Systems (AREA)
  • Fuzzy Systems (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Safety Devices In Control Systems (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de commande et/ou de surveillance d'un agencement de machine comprenant au moins une machine, en particulier au moins un robot (1, 2, 3), à l'aide d'un agencement de processeur ayant une pluralité de processeurs ayant chacun au moins un noyau (11, 12, 21, 22, 31, 32), ledit procédé comprenant les étapes consistant : (a) à choisir, en particulier choisir temporairement (S20), un premier noyau disponible et au moins un autre noyau disponible à la condition que ces noyaux soient mis en œuvre, en particulier agencés, sur différents processeurs de l'agencement de processeur, en particulier pendant le fonctionnement de l'agencement de machine et/ou sur la base d'un répertoire mis à jour et/ou sur la base, en particulier en conséquence, d'un besoin déterminé de traitement redondant de signaux de traitement; (b) à traiter (S40) des signaux de traitement de manière redondante à l'aide de ces noyaux sélectionnés; et (c) à commander et/ou à surveiller (S50) l'agencement de machine sur la base de ce traitement.
EP20800111.5A 2019-11-12 2020-10-29 Commande et surveillance d'un agencement de machine Pending EP4058857A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019217427.2A DE102019217427A1 (de) 2019-11-12 2019-11-12 Steuern und/oder Überwachen einer Maschinenanordnung
PCT/EP2020/080442 WO2021094101A1 (fr) 2019-11-12 2020-10-29 Commande et surveillance d'un agencement de machine

Publications (1)

Publication Number Publication Date
EP4058857A1 true EP4058857A1 (fr) 2022-09-21

Family

ID=73040096

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20800111.5A Pending EP4058857A1 (fr) 2019-11-12 2020-10-29 Commande et surveillance d'un agencement de machine

Country Status (6)

Country Link
US (1) US20220402121A1 (fr)
EP (1) EP4058857A1 (fr)
KR (1) KR20220101650A (fr)
CN (1) CN114930258A (fr)
DE (1) DE102019217427A1 (fr)
WO (1) WO2021094101A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020205525A1 (de) * 2020-04-30 2021-11-04 Zf Friedrichshafen Ag Verarbeitungssystem für ein Fahrzeug
CN114029942A (zh) * 2021-09-29 2022-02-11 西门子（中国）有限公司 机器人运行的控制及监视方法、装置及计算机可读存储介质

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8037350B1 (en) * 2008-04-30 2011-10-11 Hewlett-Packard Development Company, L.P. Altering a degree of redundancy used during execution of an application
US20120036398A1 (en) * 2010-04-22 2012-02-09 Freescale Semiconductor, Inc. Multiple core data processor with usage monitoring
US10520928B2 (en) * 2017-05-15 2019-12-31 Rockwell Automation Technologies, Inc. Safety industrial controller providing diversity in single multicore processor
US10620613B2 (en) * 2017-08-21 2020-04-14 Fisher-Rosemount Systems, Inc. High performance control server system
US10599513B2 (en) * 2017-11-21 2020-03-24 The Boeing Company Message synchronization system
EP3654121B1 (fr) * 2018-11-14 2021-06-09 Siemens Aktiengesellschaft Système d'automatisation redondant pourvu d'une pluralité d'unités de processeur par unité matérielle

Also Published As

Publication number Publication date
WO2021094101A1 (fr) 2021-05-20
KR20220101650A (ko) 2022-07-19
US20220402121A1 (en) 2022-12-22
DE102019217427A1 (de) 2021-05-12
CN114930258A (zh) 2022-08-19

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