WO2007107236A1 - Dispositif de commande de robot - Google Patents

Dispositif de commande de robot Download PDF

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Publication number
WO2007107236A1
WO2007107236A1 PCT/EP2007/001895 EP2007001895W WO2007107236A1 WO 2007107236 A1 WO2007107236 A1 WO 2007107236A1 EP 2007001895 W EP2007001895 W EP 2007001895W WO 2007107236 A1 WO2007107236 A1 WO 2007107236A1
Authority
WO
WIPO (PCT)
Prior art keywords
data
real
time
module
network
Prior art date
Application number
PCT/EP2007/001895
Other languages
German (de)
English (en)
Inventor
Fan Dai
Joachim Unger
Thomas Groth
Original Assignee
Abb Patent 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
Priority claimed from EP06011998A external-priority patent/EP1835699A1/fr
Application filed by Abb Patent Gmbh filed Critical Abb Patent Gmbh
Priority to US12/282,417 priority Critical patent/US8289955B2/en
Publication of WO2007107236A1 publication Critical patent/WO2007107236A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/56—Provisioning of proxy services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/56—Provisioning of proxy services
    • H04L67/564—Enhancement of application control based on intercepted application data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/60—Scheduling or organising the servicing of application requests, e.g. requests for application data transmissions using the analysis and optimisation of the required network resources
    • H04L67/63—Routing a service request depending on the request content or context

Definitions

  • the invention relates to a robot controller, which is designed as a real-time control, with a connection module to a data network, wherein with a filter module certain data from a data stream of the data network can be read out.
  • robot controls are well known.
  • robot controllers for industrial robots are real-time controllers in order to counteract the particular hazard potential of a robot with a high safety standard.
  • robotic controllers are connected to networks, particularly local area networks that operate with standardized protocols, such as TCP / IP, to exchange time-critical or general data with other computers, such as a higher-level controller.
  • networks particularly local area networks that operate with standardized protocols, such as TCP / IP, to exchange time-critical or general data with other computers, such as a higher-level controller.
  • the robot controller according to the invention embodied as real-time control, is accordingly characterized in that real-time data in the data network can be identified and, if necessary, can be diverted by means of a filter module.
  • Data networks commonly associated with robotic control are often based on a data protocol that does not communicate a data stream in real time, such as the standardized TCP / IP protocol.
  • the filter module according to the invention now makes it possible to detect such data in the data network that are intended as real-time data for the robot controller. This real-time data can be correspondingly routed or read out of the data network by the filter module.
  • the filter module is connected to a first receiving module for real-time data.
  • the robot controller therefore has a first receiving module which receives the data from the filter module and treats them as real-time data.
  • the filter module only recognizes the data in the data stream of the network, while the first receiving module receives the real-time data and, if necessary, prepared for use in real-time data functions of the robot controller.
  • the first receiving module is connected to one or more real-time data function modules of the robot controller.
  • the filter module has a further connection to a second receiving module for IP data.
  • IP Internet Protocol
  • the filter module is then designed so that it can make a case distinction, namely, whether the received data represent real-time data or data for a standard IP function.
  • a feed module for real-time data it is possible in the robot controller according to the invention that real-time data can be sent to the network. Namely, certain robot functions provide real-time data, so that the robot controller receives such data from corresponding robot functions. If, for some reason, these data are to be transmitted in real time over the network to another location, it is more possible with the robot controller according to the invention to carry this out as well.
  • the modules mentioned above are programs or program parts of the robot controller.
  • the object is achieved by a method for real-time data traffic between a real-time based data system and a network having the features specified in claim 12.
  • a method according to the invention for data traffic has the following method steps in real time:
  • a filter module monitors a data stream in the network for specific data in the data system
  • real-time data is identified by a characteristic and forwarded to a first receiving module.
  • real-time data is identified by the filter module and extracted if necessary.
  • the recognition of such real-time data is based on a parameter, so that the network filter can handle the data with the appropriate priority.
  • Such data is sent directly to a tes forward receiving module, so that the line filter advantageously quickly fulfills its identification task.
  • data identified as non-real-time data is forwarded from the network filter to a second receiving module.
  • Such data may be, for example, information for certain program parts of the robot controller, which are not subject to the real-time requirement and are referred to as standard IP tasks.
  • a further embodiment of the method according to the invention provides that data in the network are transmitted many times faster than data in the data system.
  • 1 is a functional diagram of an interface between a robot controller and a data network.
  • the interface 12 is to be understood as the system boundary between the physical embodiment of the robot controller 16 and a network connection of the Ethernet 14, for example in the form of a connector.
  • the Ethernet 14 will have a data stream of 100MBit / sec. while the robot controller 16 operates at 1 kbit / 4 ms. to be operated on the data stream.
  • the Ethernet 14 is also operated with a standardized protocol, namely the TCP / IP (Transmission Control Protocol / Internet Protocol). This type of network is widely used and standardized to a high degree.
  • data packets are sent through the Ethernet 14, wherein the data packets contain, in addition to the pure information data, also protocol data that contain details about the sender, the receiver or the data volume of the data packet, etc.
  • the devices connected to the network can detect whether a data packet is destined for this device or not.
  • the packaging of the data also means that the Ethernet 14 can not be called a real-time data network.
  • robot controllers may have interfaces, for example a standard Ethernet card, which allow regulated data traffic between the robot controller 16 and the Ethernet 14.
  • the robot controller 16 has a line filter 20 which is connected via the interface 12 to the Ethernet 14.
  • the network filter 20 monitors the data packets for those that are intended for the robot controller 16 and optionally reads them from the Ethernet 14.
  • the network filter 20 is also designed to examine the data read out as to whether they are treated as real-time data or as normal data under the standard IP protocol standard.
  • data which are to be treated as real-time data, carry an additional identifier, so that the filter can perform its task in a particularly simple manner. If a data packet does not carry a special identifier, it is treated as a packet with "normal IP data.”
  • the network filter 20 is connected to a real-time data receiver 25 and a standard IP data receiver 30. In this case, the real-time data receiver 25 has the task assigned to it In the figure, this is symbolized by a connection to an exemplary robot data function 35, which may also include several or many functions of the robot controller 16 ,
  • the method according to the invention of real-time data traffic between a real-time-based data system and a local network is implemented as follows.
  • the Ethernet 14 is the local network which operates as a non-real-time network using a standard TCP / IP protocol.
  • the line filter 20 is connected to the Ethernet 14 via the interface 12 and monitors the data packets for specific data intended for the robot controller 16. When such data is found, that particular data is also extracted from the network. On the basis of a parameter contained in the data packet, for example a numerical code, real-time data is detected and identified and forwarded to the real-time data receiver 25 for further processing of the data.
  • the line filter 20 determines that the data is destined for the robot controller 16 but does not contain real-time data
  • the data packet is forwarded to the standard data receiver 30.
  • all incoming and intended for the robot controller 16 data are directed to their intended location within the robot controller 16 for further processing.
  • the figure also illustrates a part of how to handle real-time data that may be sent to a device other than the robot controller 16 connected to the Ethernet 14 as real-time data.
  • the real-time data is produced by specific data functions 40 of the robot, for example position data, status data or application data of the robot.
  • These real-time data are sent to a real-time transmitter 45 for which the data functions are connected to it.
  • the real-time data transmitter 45 prepares the data for sending to the Internet.
  • This can, for example, contain filter functions that reduce the amount of data or remove only data intended for transmission from the data volume. If necessary, this also includes preparing the data and optionally providing it with further protocol data, such that a network transmitter 50 can devote itself in particular to the task of transferring the data packets via the interface 12 to the Ethernet 14 in a suitable manner.
  • a first range limit 52 and a second range limit 54 are also shown in the figure, which subdivides the robot controller 16 into three subregions.
  • a first portion 56 of the line filter 20 and the transmitting device 50 is arranged.
  • These elements can be designed as components, but also as programs or program parts of a data processing program. A preferred embodiment is when these elements 20, 50 are designed as so-called driver or driver programs.
  • a second area 58 contains the real-time data receiver 25, the standard data receiver 30 and the real-time data transmitter 45. These elements 30, 25, 45 can also be configured as programs or program parts, in particular as modules of the operating system of the robot controller 16.
  • a third area 60 contains the symbols for the real-time data function 35 and the robot function 40. These symbols 35, 40 are intended to stand for the functions of the robot.
  • functions for the reception of real-time data of the robot are, for example, control instructions for the individual motors or stepper motors of the axis drives of a robot into consideration.
  • Real-time data produced by the robot are, for example, position data of the robot axes, status data of drive, braking, currents or signals on the robot or tool data arising, for example, during a welding operation while the robot is in motion.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de commande de robot qui est conçu sous forme de dispositif de commande en temps réel et qui comporte un module de liaison à un réseau de données (14), un module filtre (20) permettant de sélectionner certaines données à partir d'un flux de données du réseau de données (14). Ce module filtre (20) permet d'identifier des données en temps réel dans le réseau de données (14) et de les extraire si nécessaire. L'invention porte également sur un procédé de transfert de données en temps réel entre un système de données basé sur le temps réel et un réseau.
PCT/EP2007/001895 2006-03-17 2007-03-06 Dispositif de commande de robot WO2007107236A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/282,417 US8289955B2 (en) 2006-03-17 2007-03-06 Robot control system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP06005480 2006-03-17
EP06005480.6 2006-03-17
EP06011998A EP1835699A1 (fr) 2006-03-17 2006-06-10 Contrôleur de robot
EP06011998.9 2006-06-10

Publications (1)

Publication Number Publication Date
WO2007107236A1 true WO2007107236A1 (fr) 2007-09-27

Family

ID=38201738

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/001895 WO2007107236A1 (fr) 2006-03-17 2007-03-06 Dispositif de commande de robot

Country Status (1)

Country Link
WO (1) WO2007107236A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6104696A (en) * 1998-07-08 2000-08-15 Broadcom Corporation Method for sending packets between trunk ports of network switches
DE10058524A1 (de) * 2000-11-24 2002-06-13 Siemens Ag System und Verfahren zur parallelen Übertragung von echtzeitkritischen und nicht echtzeitkritischen Daten über schaltbare Datennetze, insbesondere Ethernet
DE10147421A1 (de) * 2001-03-16 2002-09-26 Siemens Ag Anwendungen eines schaltbaren Datennetzes für Echtzeit- und Nichtechtzeitkommunikation
WO2003027784A2 (fr) * 2001-09-26 2003-04-03 Siemens Aktiengesellschaft Procede pour transmettre un telegramme de donnees entre un domaine en temps reel et un domaine non en temps reel et unite de couplage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6104696A (en) * 1998-07-08 2000-08-15 Broadcom Corporation Method for sending packets between trunk ports of network switches
DE10058524A1 (de) * 2000-11-24 2002-06-13 Siemens Ag System und Verfahren zur parallelen Übertragung von echtzeitkritischen und nicht echtzeitkritischen Daten über schaltbare Datennetze, insbesondere Ethernet
DE10147421A1 (de) * 2001-03-16 2002-09-26 Siemens Ag Anwendungen eines schaltbaren Datennetzes für Echtzeit- und Nichtechtzeitkommunikation
WO2003027784A2 (fr) * 2001-09-26 2003-04-03 Siemens Aktiengesellschaft Procede pour transmettre un telegramme de donnees entre un domaine en temps reel et un domaine non en temps reel et unite de couplage

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
BUCHWITZ M ET AL: "DAS NETZ IST DIE STEUERUNG TECHNOLOGIESPRUNG IN DER STEUERUNGSTECHNIK", ELEKTRONIK, WEKA FACHZEITSCHRIFTENVERLAG, POING, DE, vol. 48, no. 8, 20 April 1999 (1999-04-20), pages 38,51 - 52,54, XP000902697, ISSN: 0013-5658 *
MONTEIRO F ET AL: "Teleoperating a mobile robot. A solution based on JAVA language", INDUSTRIAL ELECTRONICS, 1997. ISIE '97., PROCEEDINGS OF THE IEEE INTERNATIONAL SYMPOSIUM ON GUIMARAES, PORTUGAL 7-11 JULY 1997, NEW YORK, NY, USA,IEEE, US, vol. 1, 7 July 1997 (1997-07-07), pages SS263 - SS267, XP010265177, ISBN: 0-7803-3936-3 *

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