WO2001024135A1

WO2001024135A1 - Remote control of a machine with channels which are independent of each other

Info

Publication number: WO2001024135A1
Application number: PCT/DE2000/003280
Authority: WO
Inventors: Josef Albersmann; Gerhard Kahle-Nobis; Berthold Klump; Christof Meier; Ulrich Sinn
Original assignee: Siemens Aktiengesellschaft
Priority date: 1999-09-28
Filing date: 2000-09-20
Publication date: 2001-04-05
Also published as: DE19946441A1

Abstract

The invention relates to a method, device and the use thereof for wirelessly transmitting digital signals and for wirelessly controlling a machine. More specifically, the invention relates to the wireless transmission of digital signals (3), especially for controlling a production machine (8). During the transmission process, it is important that safety signals that are use to control safety functions, such as 'emergency stop' are transmitted reliably, i.e. without faults and rapidly. Cables can be used to transmit the signals reliably, however this only permits a limited working radius and may also cause a person to trip. According to the invention, the disadvantages can be avoided by wirelessly transmitting the digital signals (3) in parallel, in the form of identical data packets (9a-9d), via at least two channels (4a-4d) that are logically independent of each other. It is particularly advantageous if a transmission method corresponding to the DECT standard is used. The operator of a machine (8) can move completely freely while using a hand-held device without being restricted by a cable connection. As a result, he/she has a considerably larger working radius and is not at risk of tripping over a cable and injuring him/herself. The greater the number of channels (4a-4d) that are independent from each other, the more reliable the transmission. Experiments using for independent channels (4a-4d) are produced excellent results in terms of the speed and reliability of transmission of the digital signals (3).

Description

description

REMOTE CONTROL OF A MACHINE WITH INDEPENDENT CHANNELS

The invention relates to a method, a device and a use of a device for wireless transmission of signals and the use of a method and a device for wireless control of a mash.

It is known not only to operate production machines directly on the machine itself, but also to remote-control it by means of a hand-held device which is connected to the production machine via a cable. The handsets are with start and

Stop button as well as safety elements such as "emergency stop" and "emergency stop" to trigger dangerous functions are equipped with approval buttons. The cable between the handheld device and the production machine is used to transmit the signals rather so that the corresponding function on the production machine is triggered in a hazardous situation. The use of a cable enables secure transmission of the signals, but it has some disadvantages. On the one hand, the length of the cable severely limits the range of the remote control. Furthermore, the cable, which is usually on the floor, poses a constant risk of stumbling for the operator of the handheld device. There is also a great risk that the cable will be damaged if it is rolled over by a vehicle, for example.

The object of the invention is to provide a method and a device with which the aforementioned disadvantages are avoided and which at the same time ensure safe transmission of the signals. The object is achieved according to the invention by a method for the wireless transmission of digital signals, in particular security signals, from a transmitter to a receiver, the digital signals being transmitted in parallel as identical data packets via at least two logically independent channels. The wireless transmission essentially eliminates the range restriction that was given by the length of the cable in the prior art. Furthermore, the risk of stumbling that was caused by the cable is eliminated. Damage to the cable is also no longer possible. A reliable transmission of safety-related signals for the control of functions such as "emergency stop", "emergency stop", "stop", "approval" is necessary, since otherwise there may be dangers to the health and life of the Driving people around a machine. In the event of malfunctions in the transmission from the transmitter to the receiver, it is therefore necessary that a safety-related control on the machine transfers this to a safe state. In order to restore the machine to its operational condition, a certain amount of effort is required, which leads to a time delay with regard to the execution of its work step. Although no cable is used, secure transmission of the digital signals is guaranteed, since the digital signals are transmitted in parallel over at least two logically independent channels as identical data packets. This ensures reliable transmission even if one of the identical data packets on the transmission link is mutilated or lost, for example because one of the channels is disturbed. Due to the safe transmission by means of the method according to the invention, automatic transfer m to the safe state of the machine takes place with a significantly lower probability, so that time and costs are saved. Safety signals in this sense can be: emergency stop; Emergency stop; Begin; Stop; Axis movement commands; Approval; Inching of axes; Switching functions (gripper open / closed). .fc »KJ) 1—>> o CJi o Ji o CJi o <_π tr α φ rt MOS CΛ Q. φ α CΛ CΛ 0 M« P * W TI CΛ <M d CΛ P-, -vz NM

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like the bits of the CRC checksum. In the context of this application, a frame is understood to be a time window within which a slot is transmitted. The transmitted signals are prevented from being split up into several slots or frames. This is done by limiting the data packets to a value that corresponds to the DECT B field buffer minus the CRC message byte. In the context of this application, CRC means “cyclic redundancy check”.

Another advantageous development of the invention provides that the digital signal is multiplied in a multiplier before transmission. This is a simple and secure method for ensuring that identical data packets are obtained from a digital signal.

A further advantageous development of the invention provides that only one of the data packets is passed on by the receiver, in particular the first validly received data packet. This leads to a faster transmission of the signal, the transmission time being minimized by the forwarding of the first validly received data packet.

Another advantageous development of the invention provides that all other identical data packets are discarded. This simplifies the transmission of the signal, since only a single data packet that has been obtained from the original signal is passed on by the receiver.

Another advantageous development of the invention provides that the transit times of the data packets are less than 150 ms, in particular 100 ms. These running times are sufficient to operate the safety-related control of a machine that is connected to the receiver so quickly that there is an extremely low risk to the people working in the danger area of the machine. 4i LO to MM P- * P>

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An advantageous development of the invention provides that the transmitter is connected to a multiplier, which is used to produce identical data packets. This makes it possible to produce identical data packets in a simple, secure and inexpensive way.

A further advantageous development of the invention provides that the receiver has a concentrator which only passes on the first data packet received without errors. This accelerates the transmission since not all of the received data packets are passed on, but only the first error-free received data packet. The other data packets received without errors do not provide any information that goes beyond that contained in the first data packet.

A further advantageous development of the invention provides that a control device can be connected downstream of the receiver. A machine, in particular a tool, a plastic, a laser cutting, a laser welding, an extensive production machine, a robot and / or a handling system can preferably be connected downstream of the control device. This makes it possible to use the transmitter to achieve wireless remote control of a machine, so that the person operating the machine does not have to stand directly on this machine.

Furthermore, the object is achieved according to the invention by the use of a device with the aforementioned features for wireless transmission of digital signals, in particular security signals, and / or for wireless control of a machine. The resulting advantages are outlined above. In this context, the control means in particular the triggering of functions. Such functions can be: emergency stop, emergency stop, start, stop, axis movement commands, approval, Jog mode for axes and / or switching functions (e.g. gripper open / closed).

Further advantages and details of the invention are the subject of the exemplary embodiments which are described below with reference to the figures and the test results listed below. Show it:

Figure 1 is a schematic representation of an exemplary embodiment of the invention and

Figure 2 shows another exemplary embodiment of the invention, with which the stated test results were achieved.

FIG. 1 shows a transmitter 1 which forwards a digital signal 3 to a multiplier 6. The multiplier 6 passes identical data packets 9a-9d produced from the signal 3 to a respective DECT slot 5a-5d. The DECT slots 5a-5d are transmitted via logically independent channels 4a-4d to a concentrator 10 via a radio link 11. The concentrator 10 passes the signal 3 on to a receiver 2. The receiver 2 forwards the signal 3 to a control device 7, which forwards control signals 12 to a machine 8.

In the transmitter 1 shown in FIG. 1, which is accommodated in a hand-held device (not shown), the signal 3 is generated and passed on to the multiplier 6. Four identical data packets 9a-9d are produced from the digital signal 3 in the multiplier 6. This is done in a manner known per se, so that it does not have to be dealt with in more detail in this context. Each of the individual identical data packets 9a-9d is read in a DECT slot 5a-5d as a so-called payload. The DECT slots 5a-5d each consist of a payload and an overhead. The overhead contains those necessary for transmission and for checking whether there is error-free reception LO) ro P> P ¹ o Ji o CJI o CJi oi rt a σ P ω I- ^* CΛ J ac! rt P φ P. tr rt <o CΛ n Z aza rt rt d rt XI CJi CΛ N 0 d CΛ d σ

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machine 8, any conceivable machine can be used, in particular a tool, plastic, laser cutting, laser welding, or an extensive production machine as well as a robot and / or a handling system.

Such a transmission device, which uses a radio link based on the DECT standard, results in a response time of less than 150 ms. The reaction time is understood to be the time which elapses from the operation of the transmitter 1 until the machine 8 receives the control signal 12. Such a short reaction time is necessary, since certain functions, which are necessary to protect the people working in the vicinity of the machine 8, have to be implemented in such a short time. The response time is reduced even further by dispensing with the ARQ (Automatic Repeat reQuest) normally carried out in the DECT standard. However, in order to still be able to guarantee secure data transmission, four logically independent channels 4a-4d between transmitter 1 and receiver 2 are used. The probability that all four channels 4a-4d are disturbed at the same time and thus the identical data packets 9a-9d contained on them in the DECT slots 5a-5d are all transmitted incorrectly is almost zero. It can be reduced further by using even more logically independent channels 4a-4d, this number being limited to 23 channels per frame 18 in the DECT system.

FIG. 2 shows a specific arrangement of an exemplary embodiment with which measurements were carried out. Identical or equivalent features are identified with identical reference numbers. A handset m in the form of an operating handset 13 has a control part 14 which is connected to a transmitter 1 via serial interfaces 15. The data multiplier 6 connected to the transmitter 1 is not shown. The identical data packets transmitted by transmitter 1 are registered by a base station. The base >fc> f \ J NJ P ¹ P> o CJi OO (_π O (_π

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or with a modified version of the Siemens device Gigaset MlOl Data (brand from Siemens AG) with a minimum runtime of 37 ms and one to four channels.

During the tests, the laptop 17 was in a constant position and the handheld device 13 was moved by an operator in the area of a machine. The distance between the handheld device 13 and the base station was up to 30 m, wherein the handheld device 13 was permanently m movement and there was usually no visual contact with the base station. In the first hall, during a test time of 3.5 hours, no packet runtime that was greater than 100 ms was registered. In the second hall there was a packet runtime of more than 100 ms once in 49 minutes.

With the Gigaset MlOl data radio module (brand from Siemens AG), in a two-channel operation in the first hall m 4.25 hours, there was no packet runtime that was greater than 100 ms. In the second hall an average packet duration of more than 100 ms was registered once every 9 minutes. With four-channel operation of the Gigaset MlOl Data, no packet runtime over 100 ms could be registered in the second hall for a test period of one hour.

Compared to the first test section, there was a significant improvement by a factor of 50-200 during the second test section.

A load test was also carried out in the laboratory, with the help of a DECT monitor, up to 193 asynchronously operated DECT base stations were observed. Approximately 25% of the channels were occupied by high field strengths. Only a slightly increased handover rate was observed as an influence on the transmission behavior of the radio modules. The quality of the transmission (packet runtime, error rate) was still good. In the first test section, a total of three connection breaks, two of which were in the second hall, were registered. In the second test phase, the A modules again had three connections broken off, which only took place in the second hall. In contrast, the Gigaset MLOl data modules always maintained the connection.

The data was saved at the user level by CRC and checked after the transfer. No error was found in any of the transmitted data packets.

With regard to the interference immunity of the DECT radio connections, no influence was found on the radio connection between the handheld device 13 and the laptop 17 at frequencies outside the DECT frequency range during the tests. The targeted creation of a carrier frequency in the DECT range led to the expected switching of the radio connection to an undisturbed frequency.

The analysis of the interference resistance by Si atic S5 and S7 systems (brands of Siemens AG) showed no influence. Tests were carried out at frequencies of 1.4 GHz, 1.89 GHz (DECT range) and 2.45 GHz and field strengths of up to 10 V / m (S5) and 20 V / m (S7). Due to the DECT radio link operated in the immediate vicinity, no interference could be caused either.

The results measured in the second test section showed that the transmission of safety-relevant functions with regard to the transit time of the transmitted data, the availability of the radio link and the transmission quality is sufficient so that a device as described above can be used to transmit such a safety-relevant function. This already applies to the use of two logically independent DECT channels, and even more so to four logically independent DECT channels, whereby even hall 2, which is responsible for the transmission, provided favorable conditions, an excellent result was achieved.

Claims

claims

1. A method for the wireless transmission of digital signals (3), in particular security signals, from a transmitter (1) to a receiver (2), characterized in that the digital signals (3) via at least two logically independent channels (4a- 4d) are transmitted in parallel as identical data packets (9a-9d).

2. The method according to claim 1, characterized in that a method according to the DECT standard is used for transmission.

3. The method according to any one of the preceding claims, characterized in that a handheld device is used as the transmitter (1) and a machine (8) control is used as the receiver (2).

4. The method according to any one of the preceding claims, characterized in that the digital signal (3) received by the receiver (2) is passed on to a control device (7).

5. The method according to any one of the preceding claims, characterized in that the digital signal (3) from the control device (7) m control signals (12) is converted and to the machine (8), in particular a tool, a plastic, a laser cutting -, a laser welding, an extensive production machine, a robot and / or a handling system is passed on.

6. The method according to any one of the preceding claims, characterized in that a complete data packet (9a-9d) is transmitted per slot or frame.

7. The method according to any one of the preceding claims, characterized in that the digital signal (3) is multiplied before transmission m a multiplier (6).

8. The method according to any one of the preceding claims, characterized in that only one of the data packets (9a-9d) is passed on by the receiver (2), in particular the first validly received data packet (9a-9d).

9. The method according to the preceding claim, characterized in that all other identical data packets (9a-9d) are discarded.

10. The method according to any one of the preceding claims, characterized in that the transit times of the data packets (9a-9d) are less than 150 ms, in particular less than 100 ms.

11. The method according to any one of the preceding claims, characterized in that the transmission of the individual data packets (9a-9d) is secured by a "Cylic Redundancy Check" CRC within each slot.

12. The method according to any one of the preceding claims, characterized in that no feedback to the transmitter (1) takes place, which data packets (3a-3d) are received by the receiver (2), in particular that no ARQ takes place in the transmitter (1).

13. Use of a method according to one of the preceding claims for wireless control of a machine (8).

14. Device for the wireless transmission of digital signals (3), in particular security signals, according to the DECT standard with a transmitter (1) and with a receiver

(2), characterized in that the transmitter (1) has at least two channels usable in parallel per frame (18).

15. The device according to the preceding claim, characterized in that the transmitter (1) is connected to a multiplier (6) which is used to produce identical data packets (9a-9d).

16. Device according to one of the preceding claims, directed to a device, characterized in that the receiver (2) has a concentrator (10) which only passes on the first error-free received data packet (9a-9d).

17. Device according to one of the preceding claims, directed to a device, characterized in that the receiver (2) can be followed by a control device (7).

18. Device according to one of the preceding claims, directed to a device, characterized in that the control device (7) has a machine (8), in particular a tool, a plastic, a laser cutting, a laser welding, an extensive one Production machine, a robot and / or a handling system can be connected.

19. Use of a device according to one of the preceding claims directed to a device for the wireless transmission of digital signals (3), in particular of security signals.

20. Use of a device according to one of the preceding claims directed to a device for wireless control of a machine (8).