WO2014146692A1

WO2014146692A1 - Compatibility control of components connected to work machine

Info

Publication number: WO2014146692A1
Application number: PCT/EP2013/055679
Authority: WO
Inventors: Arttu RANTANEN; Janne VIITALA
Original assignee: Sandvik Mining And Construction Oy
Priority date: 2013-03-19
Filing date: 2013-03-19
Publication date: 2014-09-25

Abstract

The present invention relates to a method for controlling compatibility of components connected to a work machine comprising a control system. A compatibility check request message is transmitted to a server in response to detecting that identification information of a component attached to the work machine is unknown. The server comprises compatibility information on component identifiers allowed for a plurality of work machines. A compatibility check response message is receive from the server, the response message comprising compatibility information associated with the work machine. Use of the component in the work machine is allowed or rejected on the basis of the compatibility information in the response message.

Description

Compatibility control of components connected to work machine

TECHN ICAL FI ELD

The present invention relates to controll ing compatibil ity of component connected to working machines, such as mobile mining machines. BACKGROUN D

Many modern work machines comprise an intell igent on-board control system controll ing operation of various sub-systems of the work machine, such as a hydraulic system , a motor, a rock drill , etc. Such work machine control systems are often distributed and include many independent modules. These modules contain various parameters and they may contain some version of some software. I n order for the entire system to work properly it is crucial to ensure that all components are compatible with each other.

Com mercial off the shelf (COTS) com ponents are typically used as actuators and sensors for such control systems. These components typically comprise a bus interface, a processor and firmware executed by the processor.

Since the operation of firmware of a component of a work machine has an effect on the operation of the work machine, the operation of the firmware needs to be known and tested with the control system software.

COTS component providers develop their products further and change the firmware as well as other product properties. For example, such changes may be small code corrections, changes or additions of new functions, and new versions may be repeatedly released. A complex work machine may comprise a large nu mber of such COTS components from different manufacturers. It may be very challenging and burdensome task to ensure that a work machine and its control system operate with various COTS components avai lable at the market. There may be situations where a control system of a work machine prevents installation of a COTS component having e. g. recently released firmware.

SU M MA RY

Various aspects and embodi ments of the invention are set out in the clai ms.

According to an aspect of the invention , a compatibility check request message is transmitted to a server in response to detecting that identification information of a component attached to the work machine is unknown . The server comprises compatibility i nformation on component identifiers allowed for a plurality of work machines. A compatibility check response message is receive fro m the server, the response message comprising compatibil ity information associated with the work machi ne. Use of the component in the work machine is allowed or prevented on the basis of the compatibil ity information in the response message.

According to an embodi ment of the invention , the identification information of the component comprises a combination of two or more of a vendor identifier, a product code, a firmware version , a serial nu mber and a device type.

According to another embodi ment, configuration i nformation associated with the component is received from the server in the response or another message after the response message, and after receiving the response message, the component is configured in accordance with the configuration information

An advantage is that it is not necessary to update work machine control system software and/or control parameters when new machine component versions are released. An up-to-date white list comprising component identifiers verified by manufacturer may be stored in a network server and applied for ensuring compatibility of a new component or a new firmware of a component. Further advantages as well as advantageous features of the invention will appear from the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

With reference to the appended drawings, below follows a specific description of embodiments of the invention cited as examples.

In the drawings:

Fig 1 is a simplified view illustrating work machine controlled according to an embodiment,

Fig 2 is a simplified view of work machine control system according to an embodiment,

Fig 3 is a flow chart according to an embodiment;

Fig 4 is a flow chart according to an embodiment, and

Fig 5 is a block diagram illustrating configuration checking related elements according to an embodiment.

DETAILED DESCRIPTION

Figure 1 illustrates a work machine 10 comprising a control system 12. The work machine 10 may comprise at least one wireless communications unit for establishing wireless connection with an access point or base station 14, for connecting with further devices 18 via one or more intermediate networks 16, such as the Internet. A portable device 20, such as a laptop, tablet, smartphone or another type of electronic device with memory comprising an application may be connected to the work machine and the control system wirelessly or by wire. Some features of the control system may be controlled by such electronic device, e.g. control system components may be configured. The work machine 1 0 may be a mining and/or construction apparatus and comprise different elements to enable mining operations, such as rock excavation . For example, a mini ng apparatus may comprise a rock dri ll , a rock bolting machine, a bucket, or another type of tool which is controlled by the control system . The tool may be mounted in a carrier of the mining apparatus. Work machines may further comprise an engine to generate power for moving the machine, for running a generator to generate electricity for the machine, and for operating e. g. one or more hydraul ic pu mps, which may be used to generate pressure for a hydraulic system of the machine. The hydraulic system may include valves, pipes, hydrau lic cyli nders etc. The hydraul ic cylinders may be used e.g . to move different parts of the work machine, in case of a mining apparatus e.g. a drill boom . A rock dri ll may also use the hydraul ic system for drilling. The control system of may comprise elements for controll ing the operation of the hydraulic cylinders and other actuators which may be present in the mining apparatus.

Figure 2 il lustrates an example of a control system , such as the control system 1 2 of the work machine 1 0. Control system components, such as computers 52, 54, controllers 60, 62, 64 (e.g. program mable logic devices PLCs), sensors 56, and actuators 58, are com municating via a com munication system 50, such as a fieldbus or a CAN bus (Controller Area Network). The com munication may use a hig her level protocol , such as CANopen or J 1 939. The control system components may be connected to the bus system 50 as nodes of the network, or they may be connected with a com munication device wh ich is connected to the system to operate as a node. A node may receive from the network e. g. com mands to be delivered to the actuators and/or to send to the network information obtained, for example, from the sensors. It is to be appreciated that further sub-systems 66 and/or devices may be connected to the control system . The control system may comprise a supervisor level element providing visual and/or audible information to a user by a user interface (U l) , to control the operation of the actuators, to analyze sensor signals, parameters etc. possible needed in determining the status of the mining apparatus. The user interface may be provided by/via the PC 52 and may control the operation of the work machine e.g. by a control panel wh ich may comprise a wheel , a joystick, switches and/or some other means for moving the mining apparatus, for positioning the tool , for switching the tool on and off , etc.

Various COTS components may be used as part of the control system 1 2. One or more system integrity checking procedures may be carried out by the control system to ensure that all components are compatible with each other. However, there may be situations where compatibility information on most recent component versions is not available and hence newly connected component may not be used in the work machine. The component version is defined by identification information comprising at least one identifier, but typically the identification information comprises a combi nation of specific identifiers, such as a vendor identifier, a product code, a firmware version , a serial nu mber and a device type.

There is now provided a procedure applying also external resources. With reference to Figure 3, the control system may detect 31 0 identification information of components connected to the work machine, such as the control system 1 2. The identification information may be compared 320, 330 to at least one list of identifiers of tested and approved component stored in the memory of the work machine. If one or more of the identifiers from a control system component are not on the list, the use of that component is typically prevented, which may prevent use of the work machine for the intended purpose. I n some cases even the control system software needs to be updated in order to support a new COTS component version .

However, according to an aspect of the present invention , compatibility information of tested and approved co mponent versions is maintained in centralized fashion by a server, such as the server 1 8. I n case the identification information (set to be checked) of/from the component is not recognized, i .e. an unrecogn ized version is detected during work machine integrity check, the server is connected 340 to check if the version is supported. For example, the external confirmation is obtained if one of the identifiers in the identification information , such as the firmware version is not found in a list of supported firmware versions stored on the work machine. The server may store a white list of allowed component version identifiers and/or identifier combinations. A compatibi lity check request message is transmitted 340 from the work machine to the server for this purpose.

A compatibil ity check response is received 350, comprising compatibility information associated with the work machine. The compatibility check response message is to be understood broadly to refer generally to a message enabling to obtain com ponent version related compatibility information relevant for the work machine (control system) from the server, some further embodi ments being illustrated below. It is to be appreciated that the compatibility information does not need to be linked with work machine identification information in the response message. The work machine checks 350, 360 the received compatibility information . On the basis of the received compatibility i nformation it is detected if the component with the identification information is approved, and thus the use of the component is either allowed 380 or prevented 370.

The present features enable to avoid continuously updating of all new COTS component version identifiers in each working machine, and stil l enable to ensure that only tested and approved versions of COTS components can be installed in work machines as spare parts or during production . I n some embodi ments, the most recent list(s) of identifiers of allowed versions may be updated from the server to the work machine upon detecting unknown component identification information in the work machine. The present features enable to substantially reduce the burden of maintenance of work machines in the field. It is also easier to start to use new versions of COTS components at production . When the version of a COTS component is released, tested and approved for use with the work machine, it is enough to update the list on the server. The procedure illustrated in Figure 3 may be entered (A) in connection with start-up run , before or during instal lation of a new component, and/or during run-ti me operation , e.g . periodically. The presently disclosed server compatibility checking related features may be applied as part of system integrity checking procedures by the control system 1 2 software, for example.

It wi ll be appreciated that a plural ity of servers may be dedicated for maintaining compatibility information , e.g. for different product categories and/or geographical areas. The identification information may be received from the component via the bus system 50 of the work machine.

I n an embodi ment, the response message comprises a list of allowed identifiers or identifier combinations. The identification information of the component is thus compared in block 350, 360 to the identifiers in the received list. This may be arranged such that a complete list of all allowed identifiers or identifier combi nations for the component is transferred, in which case the earlier stored list associated with the component in the work machine may be replaced with the received list.

I n another embodi ment, the work machine compatibility check request message 340 comprises the identification information obtained from the component. With reference to an embodi ment illustrated in Figure 4, the server maintains 41 0 l ist(s) of approved identifiers, such as work-machine specific white lists of a plural ity of combinations of identifiers associated with the com ponent and allowed for the work machine. After receiving 420 the co mpatibility check request, the server checks 430, 440, based on the list(s), if the use of the identification information is allowed for the work machine. The compatibility check response message 450, 460, 350 may thus directly specify if e.g . the firmware version 1 .2.2 of component 41 789832 of manufacturer XYZ, as identified in the check request, is approved for the work machine. I n an embodi ment, the work machine user interface prompts an operator of the work machine to connect the server to check the compatibility of the component in response to detecting in block 330 that the identification information is unknown . The compatibility check request message 340 may thus be sent in response to an input of the operator from the work machine or a portable computer by a wireless connection . The compatibility information , originated from the server, may thus be transferred to the memory of the work machine from an access point of a wireless network, a portable computer, or a portable memory mediu m comprising a configuration application . Thus, it is not required to have e.g. I nternet connectivity in the work machine itself in order to utilize the server. Fu rthermore, it is to be noted that the compatibility check response message from the server is not necessari ly transmitted instantly in response to a received request message 340. The server may be configured to transmit updated compatibility information in response to receiving the updated compatibil ity information and request to update from the manufacturer, or in response to an earlier received request to send any updated compatibil ity information . The compatibility information may be associated with certain control system (s) and/or work machines, such as certain control system platform , control system software version , or work machine product family. The compatibility check request may comprise at least one of a work machine identifier and a control system identifier, on the basis of which appropriate compatibility information is retrieved.

I n an embodi ment, a compatibility manager in the work machine checks 320, 350 the identification information , such as firmware version identifier from the component and the compatibility information in the response message. The compatibility manager then allows 380 or rejects the use of the component in the work machine on the basis of the compatibility information .

As il lustrated in Figure 5, the work machine control system may comprise a specific configuration checker 500 performing control system integrity checking and operating according to a checker configuration 502. The checker configuration defines wh ich modules to check and what (configuration data) to check from each module 520, 522, e.g. a CANopen node. I n particular, the checker configuration 502 specifies which identifier(s) or identifier combinations are to be checked. Module configuration values data 51 0 defines expected values for each module. For example, the values data 51 0 comprises the supported vendor identifiers, product codes, firmware version I Ds, serial nu mbers and device types, etc. The authorization checker checks, i nter alia, values of defined identifiers of modules included as the part of the distributed control system of the work machine. I n one example embodi ment, the checker functionality in provided in a CANopen checker running as a background process and monitoring CANopen nodes. A (supervisory) application 530 may provide user interface and control and trigger the configuration checker 500.

The authorization checker 500 may be in com munication with the compatibility control server 1 8, directly or indirectly, and carry out features as illustrated in connection with Figure 3. I n an alternative embodi ment there is a further control unit com municating with the compatibility control server and providing information to the configuration checker or updating the module configuration value data.

The compatibility information maintained on the work machine may be updated to incl ude the identification information after receiving 350 the response message indicati ng that the component as identified by the identification information is approved. For example, the configuration checker 500 may add the firmware version I D in a list of approved firmware versions in the module configuration values data 51 0. I n another example, the configuration checker 500 replaces a wh ite list stored in memory 51 0 with an updated list received from the server. Configuration information associated with the component may be received from the server in the response 350 or another message after the response message. After receiving the configuration information (and detecting that the use of the component is allowed) , the component is configured in accordance with the configuration information . I n a further embodi ment, a l ist of in itialization parameters associated with the version identifier is transferred from the server. The co mponent may then be initialized according the received initialization parameters For example, the server may store and transfer to the work machine a component specific CANopen extended mark-up language XM L device configuration (XDC) file, on the basis of which the component is initialized into compati ble state.

I n one example, the direction of axel of position sensor must be known in order to securely use it for feedback. The firmware of the sensor may change the direction , or a certain version of the firmware may allow change of the direction e.g . based on parametrization . The version must be known so that the direction is ensured, and also it must be known if a parameter affecting the direction must be set to a certain value. Such additional information properties of the component and associated with the firmware version may be transmitted from the server in the response message or later.

A control apparatus for a work machine comprises one or more control interfaces for receiving control i nput from an operator, one or more processors, one or more memories. The processors and memory may be in one part of the system or distributed across different parts and different devices. The control interface is connected to the processor and may accept input throug h buttons, physical controls li ke levers and joysticks, and/or throug h a touch screen . For example, a work machine control interface may have its own processor and/or memory, a computer connected to the work machine its own processor and memory, and other parts of the system their own . The memory and the computer program code may be configured to, with the processor, cause the work machine to perform at least some of the features for component compatibility checking as il lustrated above and in connection with Figure 3. A part or all of the features of an embodi ment may be carried out in software, and a part or al l of the features may be carried out by control circuitry. The software may reside on a computer-readable non-transitory medi u m such as a USB stick or a data disc, and the computer program code is stored on said mediu m . The system may comprise com munication modules for sending and receiving data between the different parts and apparatuses of the system . The work machine also comprises at least one com munications module for external data transfer, such as a wireless local area network or cellular com munications transceiver.

At least some of the above illustrated features may be applied in (a control apparatus in) a mining or construction work machine, such as a dril ling rig , a bolti ng device, a load and haul device or another type of transportation and/or loading veh icle, a crusher, a screen , a conveyor system .

The invention is not restricted to the embodi ments described above, but many possibilities to modifications thereof would be apparent to a person with ordi nary skill in the art without departing from the scope of the invention as defined in the appended clai ms. Single features of different embodi ments may also be combined to provide other embodi ments. If desired, at least so me of the different functions discussed herein may be performed in a different order and/or concurrently with each other. Furthermore, if desired, one or more of the above-described functions may be optional .

Althoug h various aspects of the invention are set out in the independent clai ms, other aspects of the invention comprise other combinations of features from the described embodi ments and/or the dependent claims with the features of the independent claims, and not solely the combinations explicitly set out in the claims.

Claims

1 . A method for controlling compatibil ity of components connected to a work machine comprising a control system and a plurality of components, the method comprising

- detecting identification information of a component attached to the work machine, and

- checking on the basis of the identification information if the component is allowed for the work machine,

characterized by

- transmitting , for a server, a compatibil ity check request message in response to detecting that the identification information is unknown , the server comprising compatibility information on component identifiers allowed for a plurality of work machines,

- receiving a compatibil ity check response message from the server, the response message comprising compati bility information associated with the work machine, and

- allowing or preventing use of the component in the work machine on the basis of the compatibility information in the response message.

2. A method according to clai m 1 , characterized in that the identification information of the component comprises a combination of two or more of a vendor identifier, a product code, a firmware version , a serial nu mber and a device type.

3. A method according to clai m 1 or 2, characterized in that the server has access to a white list of a plurality of sets of identifiers associated with the component and allowed for the work machine.

4. A method according to any preceding clai m , characterized in that, configuration information associated with the component is received from the server in the response or another message after the response message, and

after receiving the response message, the component is configured in accordance with the configuration information .

A method according to clai m 4, characterized in that the identification information is checked in connection with installation of the component,

initialization parameters associated with the identification information is transferred from the server, and

the component is initial ized according to the received initialization parameters.

A method according to any preceding clai m , characterized in that at least one of a work machine identifier and a control system identifier is transmitted in the request message.

A method according to any of the preceding clai ms, characterized in that the component is a computer, a program mable logic controller, a sensor, or an actuator, and the identification information is received from the component via a bus system of the work machine.

A method according to any of the preceding clai ms, characterized in that the response message co mprises a l ist of allowed identifiers, and

the identification information of the component is compared to the identifiers in the received list.

A method according to any of the preceding clai ms, characterized in that the compatibility check request message co mprises the identification information , and

the compatibility check response message indicates that the component as identified by the identification information is approved for the work machine. A method according to any of the preceding claims, characterized in that a user interface of the work machine prompts an operator of the work machine to connect the server to check the compatibility of the component in response to detecting that the identification information is unknown ,

the compatibility check request message is sent in response to an input of the operator from the work machine or a portable computer by a wireless connection , and

the compatibility information is transferred to a memory of the work machine from an access point of a wireless network, a portable computer, or a portable memory mediu m comprisi ng a configuration application .

A control apparatus for a work machine comprising a control system and a plurality of components, the control apparatus comprising

a control interface for receiving control input from an operator, a processor, and

memory comprising computer program code, the memory and the computer program code configured to, with the processor, cause the work machine to :

- detect identification information of a component attached to the work machine, and

- check on the basis of the identification information if the component is allowed for the work machine,

characterized by further causing the work machine to

- transmit, for a server, a compatibility check request message in response to detecting that the identification information is unknown , the server comprising compatibil ity information on component identifiers al lowed for a plurality of work machines,

- receive a compatibility check response message from the server, the response message comprising compati bility information associated with the work machine, and - allow or prevent use of the component in the work machine on the basis of the compatibility information in the response message.

The control apparatus of clai m 1 1 , characterized in that the identification information of the component comprises a combination of two or more of a vendor identifier, a product code, a firmware version , a serial nu mber and a device type.

The control apparatus of clai m 1 1 or 1 2, characterized i n that the server has access to a white list of a plurality of sets of identifiers associated with the component and allowed for the work machine. 1 4. The control apparatus of any preceding clai m 1 1 to 1 3, characterized in that the control apparatus is configured to receive configuration information associated with the component from the server in the response or another message after the response message, and

the control apparatus is configured to configure the component in accordance with the configuration information after receiving the response message.

The control apparatus of clai m 1 4, characterized in that the control apparatus is configu red to check the identification information in connection with instal lation of the component, the control apparatus is configu red to receive from the server initialization parameters associated with the identification information , and

the control apparatus is configu red to initial ize the component according to the received initialization parameters.

The control apparatus of any preceding clai m 1 1 to 1 5, characterized in that the control apparatus is configured to transmit in the request message at least one of a work machine identifier and a control system identifier.

1 7. The control apparatus of any preceding clai m 1 1 to 1 6, characterized in that the component is a computer, a program mable logic controller, a sensor, or an actuator, and the control apparatus is configured to receive the identification information from the component via a bus system of the work machine.

1 8. The control apparatus of any preceding clai m 1 1 to 1 7, characterized in that the response message co mprises a l ist of allowed identifiers, and

the control apparatus is configu red to compare the identification information of the component to the identifiers in the received list.

1 9. The control apparatus of any preceding clai m 1 1 to 1 8, characterized in that the compatibility check request message comprises the identification information , and

the compatibility check response message indicates that the component as identified by the identification information is approved for the work machine.

20. The control apparatus of any preceding clai m 1 1 to 1 9, characterized in that a user interface of the work machine is configured to prompt an operator of the work machine to connect the server to check the compatibil ity of the component in response to detecting that the identification information is unknown , the control apparatus is configu red to send the compatibility check request message in response to an input of the operator from the work machine or a portable computer by a wireless connection , and

the control apparatus is configured to store to a memory of the work machine the compatibility information from an access point of a wireless network, a portable computer, or a portable memory mediu m comprising a configu ration application .

21 . A construction or mining work machine, wherein the work machine comprises a control apparatus according to any one of clai ms 1 1 to 20. 22. A computer program comprising code for causing, when the

computer program is run on a processor of an apparatus, the apparatus to perform the method of any one of clai ms 1 to 1 0.