LU500713B1 - Method for the transmission of data between a central control device and a number of decentralized devices and correspondingly adapted devices - Google Patents

Abstract

The invention relates to methods for transmitting data between a central control device and a number of decentralized devices and correspondingly adapted devices. The invention proposes the transmission of the data from a data communication controller (10) housed by the central control device (1) for the number of decentralized devices (31, 32, 33) and to a central proxy component (12; 13), and the data communication controller (10) receiving response data only from the proxy component (12; 13).

Description

' LU500713

Procedure for the transmission of data between a central

Control device and a number of decentralized devices and correspondingly adapted devices

Description

The invention relates to a method for transmitting data between a central control device and a number of decentralized devices and correspondingly adapted devices.

As is well known, various

Safety protocols, such as CIP-Safety or PROFIsafe, developed to

Operate a large number of different functional safety devices in a network. Functional safety refers to the part of the safety of a

system, which depends on the correct functioning of the safety-related system and other risk-reducing measures. For the sake of functional

Consequently, such devices must have functional safety as soon as a safety

Danger is imminent, initiate risk-reducing measures, e.g. the units of the safety-related system from which the danger emanates, or shut down the system as a whole in a safety-related manner. In general, facilities in the

Diagnosing, controlling, monitoring and/or, if necessary, a safe,

Initiate the operating state are referred to as safe or safe device within the scope of the invention.

Become driverless in modern, automated warehouse and logistics systems, for example

Transport systems (FTS) used, which are based on automatically guided vehicles (AGF) and so usually a number of driverless transport vehicles (AGF) with integrated control intelligence, a master control, facilities for

Location determination and a communication device for the exchange of

Control or management data between the master controller and the number of

AGVs contain a standardized network for communication

wireless network such as WLAN or Bluetooth is used. In principle, no human intervention is necessary, although this is of course a purely theoretical consideration.

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For reasons of functional safety, however, the AGVs and therefore the automatically guided vehicles must then be stopped in a safety-related manner, at least when they pose a risk, e.g. as soon as a person approaches inside or is already in the way, at least with a safer reduced

driving speed.

The safety protocols mentioned above have basically also proven themselves for such tasks and can often also be transmitted wirelessly, such as PROFIsafe.

These security protocols are also structured in such a way that transmission errors and

Errors in the network can be reliably detected. These security protocols are also bidirectional, which means that communication can only be maintained if the communication partner's response arrives within the specified time. In "Principles for the testing and certification of bus systems for the

Transmission of safety-related messages" GS-ET-26, the errors to be assumed are specified, which must be recognized by a safe communication protocol.

Especially in the case of operating an AGV and the associated cyclic, bidirectional point-to-point communication between the safe

However, the master control and the AGVs result in a large amount of communication, which usually grows linearly with the number of AGVs operated. Due to the bandwidths available in Bluetooth and WLAN systems, the number of

Vehicles are therefore severely restricted. Furthermore, because of the bandwidth available, e.g. in a WLAN network, not all participants can be addressed with one telegram each, so that when using the known

Safety protocols for operating an AGV with many AGFs the vehicles must be addressed one after the other, resulting in a relatively large

response time leads. In addition, the utilization of the safe control is very high overall due to the many instances for safe communication in such AGVs.

The invention is therefore based on the object of providing a method, a control device and a control and data transmission system with which

’ LU500713 simplified or improved, in particular more efficient data transmission between a control device and decentralized devices can be achieved.

WO 2019/038333 A1 proposes unidirectional transmission of a multicast or broadcast telegram from a central control device to a plurality of decentralized devices, with the data telegram being particularly secure

User data and additional information to secure the transmission includes, and to protect against a systematic delay in the transmission of the data telegram on the transmission path, which in a unidirectional

Transmission usually can not be detected, which is provided

To monitor the transmission time of the transmission of the data telegram and

Exceeding a predetermined transmission time a predetermined

to trigger a security response. In particular, two variants that can be used alternatively or cumulatively are provided for this purpose. The first variant provides time synchronization between the transmitter and receiver unit, i.e. between the central control device and the respective decentralized device, while the second variant

Monitoring the quality of a separately running bidirectional data transmission using a transmitter and / or receiver-side diagnosis unit that uses the same transmission path as the unidirectional transmission of the

data telegram.

The invention, however, solves the problem through the features of the independent

Claims, it being expedient to use a unidirectional transmission of a multicast or broadcast telegram as disclosed in WO 2019/038333 A1. Preferred embodiments are the subject of the dependents

Claims, wherein the stated features and advantages may essentially apply to all independent claims.

Accordingly, the invention provides a method in which, for the transmission of

Data between a central controller and a number of decentralized

Devices that housed the data from one of the central controllers

Data communication control are transmitted both for the number of decentralized devices and to a central deputy component, and response data are received by the data communication control only from the deputy component.

! LU500713

In particular, this is for the transmission of data between a central

Control device and a number of decentralized devices provided a method in which a data telegram to the central control device

Broadcast or multicast transmission of data to the number of decentralized

Devices to generate the data telegram from one, from the central

Controller housed to transfer data communication control for the number of decentralized devices and to a proxy component and the

To monitor transmission to the deputy component, the transmission of the data communication controller to the deputy component and to the

Number of decentralized devices is repeated when an interruption of the

Transmission connection from the data communication controller to the

Substitute component is present.

In particular, the invention also proposes a control device for controlling a number of decentralized devices which have a data communication

Control has that is set up to generate a data telegram

Broadcast or multicast transmission of data to a number of remote

Devices for controlling the number of decentralized devices and for transmitting the data telegram for the number of decentralized devices and to one of the

Controller housed deputy component. Furthermore, the deputy component for monitoring the transmission of the

Data telegram from the data communication controller to the

Set up deputy component and the data communication controller is set up to repeat the transmission of the data telegram to the

proxy component and for the number of remote devices, if one

There is an interruption in the transmission connection for transmission of the data telegram from the data communication controller to the deputy component.

An essential basic idea of the invention is consequently to use a representative or imaginary device to maintain communication between a central control device and a number of decentralized devices.

Significant advantages can therefore be seen in the fact that no response data must be received by the data communication controller or are received from the decentralized devices and bidirectional communication from the

data communication control is to be managed only in relation to the deputy,

) LU500713 so that the load on the data communication controller and each communication between the data communication controller and the

Number of decentralized devices used communication medium, in particular

wireless network, significantly reduced.

Since if the transmission connection is interrupted by the data communication

Control to the proxy component the transfer from the

Data communication control is repeated not only for the proxy component, but also for the number of decentralized devices, it can consequently be ensured that the decentralized devices receive the data telegram securely. This is provided in particular, the interruption of

Transmission connection from the data communication controller to the

Set proxy component specifically, specifically targeted for a predetermined

set duration. According to a preferred embodiment, for example, it is provided that when the data telegram is transmitted from the

Data communication control for the number of decentralized devices of each of the number of decentralized devices, the respective data transmission is diagnosed and a diagnostic value is reported back to the central control device for setting the interruption of the transmission connection. The interruption of

Transmission connection can therefore, in particular due to the environment and / or

Depending on the application, depending on the data transmission during the transmission of the

Data telegram from the data communication control for the number of decentralized devices are extremely flexible.

In particular, it can be provided that if there is an interruption in the

Transmission connection the transmission of the data telegram from the

Data communication control to the deputy component and for the number of decentralized devices is only repeated several times or the

repetition rate is increased. Additionally or alternatively, a predetermined safety response can be triggered if the duration of the

Interruption of the transmission connection exceeds a predetermined value.

Furthermore, it is preferably provided that, before each transmission of the data telegram, the data communication controller in particular checks whether it is more up-to-date

Data are available for transmission and if more recent data are available before transmission

° LU500713 of the data telegram for the representative component and for the number of decentralized devices to update this first.

A device that can be used as a decentralized device within the scope of the invention can consequently be controlled by a central control device according to the invention and is designed in particular as a driverless transport vehicle. According to the invention, it is also preferably proposed for such a device that it is set up on the one hand to receive a broadcast or multicast message sent by the control device

Transmission of data sent data telegram and on the other hand

Has diagnostic device for diagnosing the data transmission in relation to the received data telegram from the central control device and a

Transmission device that is set up to report back a diagnosis-based feedback to the central control device.

The scope of the invention also includes a control and data transmission system, which comprises a control device as described above and at least one device that can be controlled by the control device as described above.

In particular, such a control and data transmission system includes a first

Transmission path, in particular involving a wired one

Network set up for the transmission of the data telegram to the

Substitute component and any feedback from the

Substitute component, and further comprising a second transmission path

Integration of a network, in particular wireless network, set up for

Transmission of the data telegram for the number of decentralized devices and any feedback from the number of decentralized devices.

Furthermore, it can preferably be provided within the scope of the invention that the number of decentralized devices is divided into a number of groups of decentralized devices and each group of decentralized devices summarizes a respective number of decentralized devices, for each of which a separate

Proxy component is comprised of.

Further features and advantages of the invention result from the following

Description of preferred embodiments with reference to the attached

7LU500713

Drawings showing:

Fig. 1 for the basic representation of a method according to the invention

Transmission of data between a central control device and a number of decentralized devices is a schematic diagram of a preferred embodiment of a control and

Data transmission system according to the invention, and

2 shows a schematic representation of a preferred embodiment of a central control device.

Fig. 1 shows the schematic diagram of a preferred embodiment of a control and data transmission system according to the invention 100. The control and

Data transmission system 100 includes a control device 1 and a number of

Devices 31, 32 and 33. In the present example a number of 3 devices. However, it should be pointed out that the number can in principle also be 1 or can be many times larger, e.g. can also be several dozen or even several hundred.

As shown by way of example, the devices 31, 32 and 33 can be controlled by the control device and, in particular, are also each designed as driverless transport vehicles (AGV). The control device 1 thus expediently forms a central one

Control device and can therefore be used in particular as a master control within a driverless transport system (AGV) that is automatically guided

Vehicles (AGF) based and this usually a number of driverless

Transport vehicles (AGV) with integrated control intelligence. In relation to the control device 1, the devices 31, 32 and 33 are central to this

Control device, in particular safe control device, arranged decentrally and thus form decentralized devices 31, 32 and 33 within the scope of the invention.

Each of the devices 31, 32 and 33 is also set up in a practical embodiment to receive data telegrams sent out by the control device 1 for broadcast or multicast transmission of data and has a diagnostic device 36 for diagnosing the data transmission in relation to that from the central

Control device 1 transmitted data telegrams and a transmission device that is set up to report back based on the diagnosis feedback to the

° LU500713 central control device 1. The here required for receiving and sending

Interfaces are identified by the reference numeral 35 in FIG.

The diagnostic devices 36 can in particular be equipped with a safe logic.

As can also be seen from FIG. 1, the number of devices 31, 32 and 33 can be divided into a number of groups 30a and 30b of decentralized devices. For example, devices 31, 32 and 33 may be divided into a first group 30a and a second group 30b, for example devices 31 and 32 being part of group 30a and device 33 being part of group 30b. Each of these groups 30a and 30b of decentralized devices (31, 32; 33) is combined into a respective number of decentralized devices (31, 32; 33), for each of which a separate

Deputy component (12; 13) is included.

The control device 1 is set up to control the number of decentralized devices 31, 32 and 33 and initially comprises a data communication controller 10, which is used to generate a data telegram for broadcast or multicast transmission of data 20 for the number of decentralized devices 31, 32 and 33 for controlling these devices 31, 32 and 33. The data communication controller 10 is also for transmitting the data telegram for the number of decentralized

Devices 31, 32 and 33 and to one housed by the control device 1

Substitute component 12, 13 set up.

As described above with reference to FIG. 1, the decentralized devices 31, 32 and 33 are divided into several groups 30a and 30b and consequently contain each of these

Groups 30a and 30b again have a respective number of decentralized devices 31, 32 or 33 together, a separate representative component is preferably provided for this respective number of decentralized devices combined in a group. In other words, two proxy components 12 and 13 are accommodated by the control device 1 in the embodiment shown in FIG. At this point, however, it should be noted that the control device 1 in the

Figures is shown as a physical unit, but in principle it can only form a logical unit, i.e. with several, distributed, as logical

Unit cooperating physical units and / or components is constructed.

’ LU500713

If the decentralized devices 31, 32 and 33 are divided into several groups 30a and 30b, respectively, and consequently each of these groups 30a and 30b again includes a respective one

Number of decentralized devices 31, 32 and 33 together is therefore the

Data communication controller 10 accordingly for each group combined number of decentralized devices 31, 32 or 33 to their

Control for generating a respective data telegram for broadcast or

Multicast transmission of data 20 and for transmitting the data telegram for each, combined into a common group number of decentralized

Devices 31, 32 or 33 and set up for each separate representative component 12 and 13 respectively. The deputy component 12 shown in FIG. 1 is assigned to group 30a or the number of decentralized devices 31 and 32 therein, for example, and deputy component 13 is assigned to group 30b or the number therein

Number of remote devices 33.

Such a group assignment between the number of decentralized devices combined into a common group and a respective one

Substitute component can in particular have a common

Identification identifier, appropriately via a common address or partial address, such as a common group address. The combined to form a common group number of decentralized devices can in practical application consequently by the same or a common

Broadcast or multicast transmission data telegram can be controlled.

According to the invention, each such representative component 12, 13 is also set up to monitor the transmission of the data telegram from the data communication controller 10 to it, i.e. to the representative component 12 or 13, and the

Data communication controller 10, the transmission of the respective

Repeat data telegram to the deputy component 12 or 13 and for the number of decentralized devices 31, 32 and 33, respectively, when an interruption of the

Transmission connection for transmission of the data telegram from the

Data communication controller 10 to the proxy component 12 or 13 is present.

Basically, therefore, according to the invention, and as can be seen in FIG

Transmission of data 20, in particular control or management data for

Controlling or managing a number of decentralized devices 31, 32 and/or 33,

between a central control device 1 and the number of decentralized devices 31, 32 and / or 33, proceed in such a way that the data from one, from the central

Controller 1 housed data communication controller 10 respectively for the

Number of decentralized devices 31, 32 and / or 33 and a central

Substitute component 12 or 13 are transmitted, response data through the

However, data communication controller 10 can only be received by the deputy component 12 or 13. The data communication controller 10 can preferably be replaced by a programmable logic controller (PLC) or a programmable logic controller (PLC), in particular a safe programmable logic controller or safe programmable logic controller (SPLC), or a central processing unit or central processing unit (CPU ), in particular safe central processing unit or safety-related central

Processing Unit formed or be. In other words is the

Data communication control preferred as a secure control or

Safety control trained.

In particular, therefore, after the generation of a respective data telegram for

Broadcast or multicast transmission to the number of remote devices and transmitting the data telegram from the hosted data communication

Control 10 for the number of decentralized devices 31, 32 and / or 33 and to the

Substitute component 12 or 13 as a result of monitoring the transmission to the

Substitute component 12 or 13, the respective transmission of the

Data communication controller 10 to the proxy component 12 or 13 and for the corresponding number of decentralized devices 31, 32 or 33 are repeated when an interruption in the transmission connection from the

Data communication controller 10 to the proxy component 12 or 13 is present. The presence of an interruption in the transmission link from the

Data communication controller 10 to the respective deputy component 12 of FIG. 13 is therefore appropriately reported back to data communication controller 10 by the corresponding deputy component 12 or 13, which is therefore set up accordingly in a preferred embodiment.

Thus, from the data communication control only in relation to the respective

Substitute a bi-directional manage though for the transfer of the

Data telegram from the data communication controller 10 for the number of decentralized devices 31, 32 and / or 33 in an extremely advantageous manner

Use of bidirectional communication protocols when transmitting the

Data telegram, in particular secure communication protocols, can be used. With regard to the decentralized devices 31, 32 and/or 33, according to the invention, even the use of bidirectional communication protocols, in particular secure communication protocols, can be used in the transmission of the

Data telegram are reduced in terms of data communication controller 10 to a unidirectional transmission, in particular multicast or broadcast transmission. As a result, the utilization can consequently also be significantly reduced.

This means that the communication, in particular secure communication, preferably runs between the data communication controller 10 and a respective

Substitute component 12 and / or 13, which, as already shown above, can be located either on the same physical unit, in particular also part of

Data communication controller 10 can be, or alternatively can be arranged elsewhere, in particular can be simulated, e.g. by a

Control, in particular standard control, which is preferably additionally provided for communication between the control device 1 and the decentralized devices. It is thus more or less carried out by the data communication

Controller 10, which thus functions or is set up in particular as a safety controller, mirrors the transmission of the data telegram from data communication controller 10 to the respective proxy component 12 or 13, also for the assigned number of decentralized devices 31, 32 or 33.

In a practical application, this proxy component 12 and/or 13 does not deliver any process data either, but only monitors the communication protocol or the transmission of the respective data telegram and outputs any

Feedback to the data communication controller 10 via a respective transmission path or communication path set up between them.

The decentralized devices 31, 32 and 33, on the other hand, are only supplied with the outgoing data telegrams from the data communication controller 10 in a practical application. However, any feedback and/or responses to these messages are not required by the data communication controller 10 and are not transmitted to it either.

In the control and data transmission system 100 according to the invention, the transmission path or communication path preferably takes place via a first transmission path or communication path for transmitting the

Data telegram to the respective representative component 12 or 13 and any feedback from this representative component, and via a second transmission path or communication path for the number of decentralized

Devices 31, 32 and / or 33 and any feedback from the number of decentralized devices involving a further network 16, 35, in particular wireless network.

The number of participants in a group is not limited, so that in principle or theoretically an infinite number of participants can be included within a group or assigned to one another. However, the upper limit can consequently essentially be limited by the transmission path or communication path, in particular by an integrated network 16, 35, e.g. by a radio network, preferably WLAN (wireless local area network). Also, other properties or

Characteristics of participants within a group, i.e. in particular the respective number of decentralized devices 31, 32 and/or 33, such as their

Response times, set parameterizations and/or watchdog times are preferably the same, as can be seen in more detail from the following description.

The invention consequently enables a unidirectional, in particular also cyclic,

Transmission of secure output data from a central point or the

Control device 1 to more than one decentralized device and also to several groups, each with more than one decentralized device, such as a driverless

Transport vehicle (FTF), in the form of a multicast or broadcast data telegram, the transmission being wireless in particular, for example via a

Radio link or by means of optical transmission. The ones shown below

Exemplary embodiments preferably relate to the control of AGVs and are based on wireless transmission of the multicast or broadcast data telegrams to them. But it is also the use of the invention in wired

Applications for the transmission of data for the decentralized devices are conceivable in order to save bandwidth there as well.

So that the decentralized devices still receive the data telegram in the event of a message loss, this must be repeated in the event of a message loss. A procedure described below and an embodiment of a central control device, as shown in FIG. 2, can preferably be used for this purpose. For reasons of clarity, however, only one representative component 12 is sketched in FIG. 2, so that it can be assumed here that only one group of one

Number of decentralized devices, i.e. in particular only one of the

Substitute component 12 jointly assigned number of decentralized devices is to be taken as a basis.

According to the invention, such a message loss is consequently assumed when an interruption in the transmission connection from the data communication

Control 10 to the representative component 12 is present. In the presence of such

The transmission of the data telegram is then repeated after an interruption.

According to the invention, especially when avoiding the receipt of

Data communication control 10 of feedback and / or responses from the decentralized devices, such a loss of messages for the

Data communication controller 10 indicated that the communication from the

Data communication controller 10 is specifically disrupted to the proxy component 12, i.e. the interruption of the transmission connection from the

Data communication controller 10 is specifically set to the deputy component 12, in particular is specifically set for a predetermined period.

As a result, this then leads to the repetition of the transmission of the data telegram from the data communication controller 10 for the decentralized devices, e.g

Disruption of the communication from the data communication controller 10 to

Substitute component 12 for the devices 31, 32. As described above by way of example, the transmission as well as the repetition of the transmission of the

Data telegram for the devices 31, 32 and / or 33 expediently via a second

Transmission path, e.g. involving a wireless network, in particular

WIRELESS INTERNET ACCESS. The control device 1 thus expediently has a separate transmission/reception interface 16 for data exchange with the decentralized devices 31, 32, 33 and, additionally or alternatively, an additional network controller 15 for the

Data exchange with the decentralized devices 31, 32, 33.

For the setting of the interruption, in particular for a specifically predefinable duration adjustable interruption, the transmission connection includes the

Control device 1 preferably one set up accordingly for this purpose

breaker device 14.

For example, the interruption of the transmission connection from the

Data communication controller 10 to the representative component 12 or 13 can also be set depending on the data transmission during the transmission of the data telegram from the data communication controller 10 for the number of decentralized devices 31, 32, 33. Thus, the interruption and the consequent repetition of the transmission of the data telegram from the

Data communication controller 10 can also be set optimally for the decentralized devices in a flexible manner, in particular depending on the quality and/or utilization of the data transmission path between the control device 1 and the decentralized devices 31, 32, 33.

So can be provided for setting the interruption of the transmission connection in particular, in the transmission of the data telegram from the

data communication controller 10 for the number of remote devices 31, 32, 33 of each of the number of remote devices 31, 32; 33 the respective

To diagnose data transfer and send a diagnostic value to the control center

Control device 1 to report back. As previously described, the decentralized

Devices 31, 32, 33 in practical implementation corresponding diagnostic devices 36.

Are those sent out by the number of decentralized devices 31, 32, 33

If feedback is received from the central control device 1, it can expediently be sent to the interrupter device 14, which then

Depending on the feedback, the interruption of the transmission connection can be adjusted.

For example, the network controller 15 can be set up for data exchange with the decentralized devices 31, 32, 33 for forwarding the feedback to the interrupter device 14. For setting the interruption of

Transmission connection for transmission of the data telegram from the

Data communication controller 10 to the proxy component can be a

Device of the interrupter device 14 z. Be such that this a first

comprises component 14a which performs a diagnosis of the feedback and comprises a second component 14b which performs the actual interruption, the component 14a specifying an interruption time for the component 14b.

Is for communication, i.e. in particular for secure communication, between the data communication controller 10 and the proxy component

Given watchdog time, the interruption time specifically predetermined with the interrupter device 14 or the set duration of the interruption should suitably be shorter than the watchdog time

Watchdog time can thus be turned off or canceled again and after receiving appropriate feedback from the

proxy component through the data communication controller 10 the

Communication, in particular secure communication, between the

Data communication controller 10 and the proxy component are maintained. However, if the duration of the interruption exceeds the

transmission connection has a predetermined value, i.e. in particular a predetermined or preset watchdog time, the data communication

Controller 10 suitably set up to trigger a safety reaction, i.e. in particular a predetermined safety reaction.

As a result of a particularly consciously brought about interruption of the transmission connection from the data communication controller 10 to the

Substitute component 12 or 13 associated repetition of the transmission of the data telegram from the data communication controller 10 also applies to the decentralized devices, depending on the quality and / or utilization of the data transmission path and / or depending on the specific application, in particular additionally or alternatively by appropriate response the

Substitute component can be provided that the data communication controller 10 is set up to set the number of repetitions based only on the duration of the interruption or here also the repetition rate, i.e. the

Increase number of repeated transmissions per time.

Thus, for example, the transmission rate of data telegrams and / or their repetition rate for optimal utilization of the

Data transmission between the data communication controller 10 and the decentralized devices 31, 32, 33 can be adjusted individually by the decentralized devices 31, 32, 33, e.g. AGVs, a typical, e.g. average, number of received data telegrams per time recorded and reported back to the standard controller.

Since the data telegrams, as shown above, are expediently transmitted and sent out as a multicast or as a broadcast, they should essentially be available to all decentralized devices at the same time. The transmission duration can be monitored over time, for example, in accordance with WO 2019/038333 A1, i.e. to monitor the transmission duration, time synchronization between the transmitter and receiver unit, i.e. between the central control device and the respective decentralized device, is carried out and/or a monitoring of the quality of a further bidirectional data transmission taking place separately by means of a transmitter and/or receiver-side

Diagnostic unit is provided, which uses the same transmission path as the transmission of the data telegram. Additionally or alternatively, the temporal

However, the communication can be monitored by recording the connection quality in the network used.

In principle, however, it is provided in particular for the practical implementation according to the invention that the data communication controller 10 before each

Transmission of a data telegram, i.e. expediently including when the data telegram is repeated, is designed to check whether more up-to-date data is available

Transmission are available and if more recent data is available to update the

Data telegram before the transmission of the data telegram to the

Substitute component 10, 12 and for the number of decentralized devices 31, 32, 33.

Since the data to be transmitted, in particular secure output data, is preferably updated at any time and expediently even in the case of repetitions, the decentralized devices, in particular the signal outputs they comprise, can be constantly supplied with fresh data. In this respect, in particular at least

Shutdown commands, which are usually extremely time-critical, are essentially always transmitted promptly or at the currently critical point in time. Thus, there are also very fast typical switch-off times, which are also far below a set one

Watchdog time can be realizable with the invention.

Furthermore, e.g. if a decentralized device or several decentralized devices

has lost or have lost the connection to control device 1, the entire number of decentralized devices or just the affected group 30a or 30b, new that

Control and data transmission system 100, in particular integrated into the network used.

The decentralized devices for which there was no communication error can either continue to run without interruption or be restarted.

The decentralized devices are also preferably set up with a certain "overrun time" so that an interruption can also be bridged by reintegration depending on the set "overrun time" and/or the length of the interruption.

Considering the above, it can be seen that with the

Application of the invention transmitted data 20, in particular control or

Management data, including the transmission of operating states, appropriately as safe

Output data, e.g. safely reduced or to be reduced speeds, the

Transmission of operating states depending on the respective local position of the decentralized devices, the transmission of stop commands for all decentralized devices or certain groups of decentralized devices, the reintegration of decentralized ones

devices or specific groups of decentralized devices

Communication disruptions can be caused.

For example, sequences of recordings can also be

Communication to or reintegration of decentralized devices or specified

In particular, groups of decentralized devices can be as follows.

To start a communication, for example, an affected group of decentralized

Devices addressed by the data communication controller 10. The

Interrupter device 14 can be set to a preset maximum value for this purpose. As soon as all the decentralized devices in this group report their diagnosis values with regard to the number of repetitions, the interrupter device 14 can be set to the optimum value. This reduces the load on a correspondingly integrated network to a minimum.

If other devices or groups to be integrated are waiting for the inclusion of a

waiting for communication, these can subsequently be integrated accordingly.

This means that the network is never overloaded. If the bandwidth of the network permits the simultaneous integration of several or all groups, this method can also be applied to several or all groups at the same time.

In particular, depending on the application, it may also be permissible to integrate a

Complete the group, even if some of the decentralized devices grouped or to be grouped in it are still missing.

As indicated above, a reintegration of decentralized devices or certain groups can also be done during operation. Two options in particular can be considered for this: either an entire group is reintegrated, preferably as outlined above for establishing a communication, with the decentralized devices combined therein being appropriately stopped and reintegrated, or one or each decentralized device to be integrated Device is by a special command in the

Integrated communication, with all other decentralized devices or groups that have already been included ignoring this command. In more expedient

As a result, reintegration commands can also be transmitted regularly, regardless of the state of the system, in order to enable simple and rapid automatic reintegration of the devices.

When establishing communication or reintegration, necessary

Parameter data are transmitted and / or the state machine of

communication can be reset and restarted. Since the hereby caused

Operating condition in practical implementation also from those already recorded

Detect devices or groups, particularly due to the multicast or

Broadcast transmission, these can either restart or ignore these start sequences, depending on the default setting and, if necessary, also restart.

Since decentralized devices that have already been parameterized can in principle also start immediately, reintegration can also take place, for example, using an acknowledgment command, e.g. if a

watchdog time has expired or a remote device has been switched off and on again. Special start-up sequences can be implemented, but are not mandatory.

Since the proposed solution according to the invention can in principle use a known secure protocol, such as PROFIsafe, other protocols can also be used

Devices are operated in a correspondingly integrated network, e.g.

Input/output modules, driver and control devices used in process/automation technology, etc.). These can, in particular through the network

Control 15 operated by default.

List of reference symbols: 1 control device;

data communication controller 12, 13 proxy components of the controller; 14 breaker device; 14a, 14b components of the interrupter device;

Network control for data exchange with decentralized devices; 10 16 Send/receive interface Network for data exchange with decentralized devices on the control unit side;

Data; 30a, 30b groups of decentralized devices; 15 31, 32, 33 decentralized devices;

Send/receive interface network on the part of the decentralized

Devices; 36 diagnostic device; 100 control and data transmission system; 20

Claims (15)

patent claims 1. A method for transmitting data (20) between a central control device (1) and a number of decentralized devices (31, 32, 33) with the steps: - Transmission of the data from one of the central control device (1) hosted data communication - controller (10) for the number of decentralized devices (31, 32, 33) and to a central proxy component (12; 13), and - receiving response data by the data communication controller (10) only from the proxy component (12; 13 ). 2. Method for the transmission of data (20) between a central control device (1) and a number of decentralized devices (31, 32, 33), in particular according to claim 1, with the steps: - generating, in the central control device (1) , a data telegram for broadcast or multicast transmission of data to a number of decentralized devices (31, 32; 33), - transmission of the data telegram from a data communication controller (10) housed by the central control device (1) for the number from decentralized devices (31, 32; 33) and to a proxy component (12; 13) and monitoring the transmission to the proxy component (12; 13), - repeating the transmission from the data communication controller (10) to the proxy component (12; 13) and for the number of decentralized devices (31, 32; 33) if there is an interruption in the transmission connection from the data communication controller (10) to the proxy component (12; 13). 3. The method according to claim 1 or 2, wherein the presence of an interruption in the transmission connection from the data communication controller (10) to the proxy component (12; 13) is reported back to the data communication controller (10) by the proxy component (12; 13); and/or wherein the interruption of the transmission connection from the data communication controller (10) to the proxy component (12; 13) is set in a targeted manner, is set in particular specifically for a predefinable duration, the predefinable duration being expediently set to be shorter than an included watchdog time. 4. The method according to any one of the preceding claims, wherein the interruption of the transmission connection from the data communication controller (10) to the proxy component (12; 13) depending on the data transmission during the transmission of the data telegram from the data communication controller (10) for the number is set by decentralized devices (31, 32; 33). 5. The method according to the preceding claim, wherein during the transmission of the data telegram from the data communication controller (10) for the number of decentralized devices (31, 32; 33) of each of the number of decentralized devices (31, 32; 33) the respective Data transmission is diagnosed and a diagnostic value is reported back to the central control device (1) to set the interruption of the transmission connection. 6. The method according to any one of the preceding claims, wherein if there is an interruption in the transmission connection, the transmission of the data telegram from the data communication controller (10) to the proxy component (12; 13) and for the number of decentralized devices (31, 32; 33) is repeated several times, in particular the repetition rate is increased; and/or wherein a predetermined security reaction is triggered if the duration of the interruption of the transmission connection exceeds a predetermined value; and/or wherein before each transmission of the data telegram it is checked whether more up-to-date data is available for transmission and if more up-to-date data is available, the data telegram is first updated before it is interrupted by the transmission connection to the proxy component (12; 13) and for the number of decentralized devices (31, 32; 33); and/or wherein the transmission of the data telegram to the proxy component (12; 13) as well as any feedback from this takes place via a first transmission path, in particular involving the integration of a wired network and the transmission of the data telegram for the number of decentralized devices (31, 32; 33) as well as any eventual feedback from that number of decentralized devices (31, 32; 33) via a second transmission path involving a network (18, 35), in particular involving a wireless network; and/or wherein the number of decentralized devices (31, 32, 33) is divided into a number of groups (30a, 30b) of decentralized devices (31, 32, 33) and each group (30a; 30b) of decentralized devices ( 31, 32, 33) combines a respective number of decentralized devices (31, 32; 33), for each of which a separate proxy component (12; 13) is used, the assignment between the number of decentralized devices combined into a common group and a respective proxy component, in particular via a common identifier, expediently via a common address or partial address, such as a common group address. 7. Control device (1) for controlling a number of decentralized devices (31, 32; 33), comprising: - a data communication controller (10), which is set up to generate a data telegram for broadcast or multicast transmission of data ( 20) for a number of decentralized devices (31, 32; 33) for controlling the number of decentralized devices (31, 32; 33) and for transmitting the data telegram for the number of decentralized devices (31, 32; 33) and to one proxy components (12; 13) housed by the control device (10); wherein the proxy component (12; 13) is also set up to monitor the transmission of the data telegram from the data communication controller (10) to the proxy component (12; 13), and wherein the data communication controller (10) is also set up to repeat the Transmission of the data telegram to the proxy component (12; 13) and for the number of decentralized devices (31, 32; 33) if an interruption in the transmission connection for transmission of the data telegram from the data communication controller (10) to the proxy component (12; 13 ) exists. 8. Control device (1) according to claim 7, wherein the proxy component (12; 13) is further set up to report back the presence of an interruption in the transmission connection to the data communication controller (10). 9. Control device (1) according to claim 7 or 8, wherein an interruption device (14) is also included, which is set up to selectively set an interruption of the transmission connection during the transmission of the data telegram to the proxy component (12; 13), in particular specifically for one set a specifiable duration, the specifiable duration being expediently shorter than an included watchdog time. 10. Control device (1) according to claim 9, which is also set up to receive acknowledgments sent by the number of decentralized devices (31, 32; 33) and the interrupting device (14) is also set up to interrupt the transmission connection depending on the acknowledgments set. 11. Control device (1) according to one of the preceding claims 7 to 10, wherein the data communication controller (10) is also set up, if there is an interruption in the transmission connection, the transmission of the data telegram to the proxy component (12; 13) and for the number of decentralized devices (31, 32; 33) to repeat several times, in particular to increase the repetition rate; and/or to trigger a predetermined security reaction if the duration of the interruption of the transmission connection exceeds a predetermined value; and/or wherein the data communication controller (10) is also set up to check before each transmission of the data telegram whether more recent data is available for transmission and, if more recent data is present, before transmission of the data telegram to the proxy component (10; 12) and for the number from decentralized devices (31, 32; 33) to update this first; and/or wherein the number of decentralized devices (31, 32, 33) is divided into a number of groups (30a, 30b) of decentralized devices (31, 32, 33) and each group (30a; 30b) of decentralized devices ( 31, 32, 33) to form a respective number of decentralized devices (31, 32; 33), for each of which a separate proxy component (12; 13) is housed, with the assignment between the number of decentralized devices combined to form a common group and a respective proxy component, in particular via a common one Identification identifier, expediently effected via a common address or partial address, such as a common group address. 12. Device (31, 32; 33), in particular designed as a driverless transport vehicle, controllable by a central control device (1) according to one of claims 7 to 11, set up by the control device (1) for broadcast or multicast transmission of receiving data sent out by data telegrams, comprising - a diagnostic device (36) for diagnosing the data transmission in relation to the data telegrams sent out by the central control device (1), and a transmission device which is set up to report back to the central control device an acknowledgment based on the diagnosis (1). 13. Control and data transmission system (100), comprising a control device (1) according to any one of claims 7 to 11 and a number of decentralized devices (31, 32; 33), in particular a number of devices (31, 32; 33) according to Claim 12 as a number of decentralized devices. 14. Control and data transmission system (100) according to claim 13, further comprising a first transmission path, in particular involving a wired network, set up for transmission of the data telegram to the proxy component (12; 13) and any feedback from the proxy component (12; 13) , and further comprising a second transmission path involving a network (16, 35), in particular a wireless network, set up for the transmission of the data telegram for the number of decentralized devices (31, 32; 33) and any feedback from the number of decentralized devices (31 , 32; 33). 15. Control and data transmission system (100) according to claim 13 or 14, in which the number of decentralized devices (31, 32; 33) is divided into a number of groups (30a, 30b) of decentralized devices (31, 32; 33). and each group (30a; 30b) combines a respective number of decentralized devices (31, 32; 33), for each of which a separate proxy component (12; 13) is included, the assignment between the number of decentralized devices and a respective representative component, in particular via a common identifier, expediently via a common address or partial address, such as a common group address.