WO2015086403A1 - Formation de faisceau pour système industriel - Google Patents

Formation de faisceau pour système industriel Download PDF

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Publication number
WO2015086403A1
WO2015086403A1 PCT/EP2014/076430 EP2014076430W WO2015086403A1 WO 2015086403 A1 WO2015086403 A1 WO 2015086403A1 EP 2014076430 W EP2014076430 W EP 2014076430W WO 2015086403 A1 WO2015086403 A1 WO 2015086403A1
Authority
WO
WIPO (PCT)
Prior art keywords
controller
machine
communication means
mcm
ccm
Prior art date
Application number
PCT/EP2014/076430
Other languages
English (en)
Inventor
Anthony Peter Hulbert
Ulrich Sinn
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2015086403A1 publication Critical patent/WO2015086403A1/fr

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/005—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using remotely controlled antenna positioning or scanning
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture

Definitions

  • the present invention relates to a system for industrial ap ⁇ plication including a machine capable of changing its position and having machine communication means for wireless communication, and a controller designed for controlling the machine and having controller communication means for wireless communication with the machine communication means. Furthermore, the present invention relates to a method of preparing a wireless communication in an industrial system between machine communication means of a machine capable of changing its position and controller communication means of a control- ler designed for controlling the machine.
  • the field of the invention concerns wireless industrial con ⁇ trol.
  • the normal wired connection between a machine and its controller implemented, for example, using Profinet is replaced by a bi-directional wireless connection.
  • Such an approach has advantages in flexibility of operation and re-configuration.
  • the required bandwidth for wired industrial communications is increased all the time. Furthermore, in a wireless context, it may often be advantageous to implement a star/broadcast topology using TDMA where one controller controls several ma ⁇ chines over a common air interface. Together these aspira ⁇ tions lead to increasing requirements for RF bandwidth. The bandwidth must be provided under the constraints of limited available spectrum and limited link budget to achieve the de ⁇ sired operating range.
  • An advantageous technology for providing additional bandwidth and range is beam forming. This is closely related to the choice of operating frequency. Considerably more spectrum is available at higher frequencies (e.g. 60 GHz) . However, path loss between omni-directional antennas is prohibitively high. Thus, beam forming is needed to achieve acceptable range per ⁇ formance. Fortunately, because antenna elements are small at high frequencies, the array of antenna elements required to achieve the necessary beam forming typically has practical size.
  • a wireless communication link is provided by arrang ⁇ ing for the antenna arrays at both ends of the link to point their beam in the direction of the other end of the link.
  • the link budget requires correct alignment of the antenna array beams to achieve communication, then it is not clear how to align the beams in the first place.
  • a reduced bit rate link can be achieved in one of a number of ways: - Reduce the occupied bandwidth of the transmitted signal - in this case the noise power will reduce in direct propor ⁇ tion to the occupied bandwidth.
  • adjustments can be made in the beam direction at either end of the link and the impact on the received signal level observed.
  • one ap ⁇ proach could be to provide each link end with a table of an ⁇ tenna element weightings to provide a set of overlapped beams. Each entry in the table is tested in turn and the en- try providing the highest signal level is selected. Once this process is completed, a further beam scan can be performed but with finer granularity of angle until the most favourable antenna pattern has been obtained.
  • This process can be performed at both ends of the link but in a coordinated fashion to avoid confusing signal level changes caused by antenna pattern changes at the opposite end of the link. For example, operation is effective if the transmitting end is able to establish an omni-directional pattern, perhaps using a single antenna element, while the receiving end is adjusting its beam.
  • either or both of the ends of the link can be mobile so it will be necessary to provide a capability to maintain alignment of the beams at both ends of the link as the ma ⁇ chine moves.
  • One approach to achieving this is to dither the pointing angle of the beam by a small amount to either side of its nominal pointing angle. When the dithering in a particular direction causes the received signal strength to ex ⁇ ceed the level for the nominal direction, the nominal point ⁇ ing angle is shifted to that direction. Again, coordination is required between the dithering at both ends of the link to avoid confusion of measurement.
  • Dithering in one angular di ⁇ mension is all that is required for a linear (one dimen ⁇ sional) array. If the array is two dimensional (azimuth and elevation) , then dithering will be required in both of these dimensions .
  • a system for industrial application including a machine capable of changing its position and having machine communication means for wireless communication and a controller designed for controlling the machine and having controller communication means for wireless communication with the machine commu- nication means, wherein the controller is capable of aligning the machine communication means and/or the controller communication means to each other on the basis of an instruction from the controller to the machine to change its position. Since the controller gives instructions to the machine to change its position, the new position or movement is known or inherently contained in the instruction. Thus, the movement or new position of the machine can be predicted with the con ⁇ tent of the instruction. Consequently, the communication means of the wireless communication can be aligned dynami ⁇ cally due to the available instructions of the controller.
  • the machine communication means includes a ma ⁇ chine antenna being designed for aligning to the controller communication means by control of the controller.
  • Such antenna may be an antenna array, the beam of which can be formed electronically.
  • the controller communication means may include a controller antenna being designed for aligning to the machine communications means by control of the controller.
  • the con ⁇ troller antenna may also be designed as array antenna for electronic beam forming.
  • each of the machine communication means and the controller communication means includes a transceiver for bidirectional communication. For such constellation, it is advantageous to align the beams in both communication di ⁇ rections .
  • the above object is also solved by a method of preparing a wireless communication in an industrial system between ma- chine communication means of a machine capable of changing its position and controller communication means of a controller designed for controlling the machine, and aligning the machine communication means and/or the controller communication means to each other by the controller on the basis of an instruction from the controller to the machine to change its position .
  • This method has the same advantage as the above described system, specifically the alignment of the communication means can be anticipated by the instructions of the controller.
  • the controller may give several in ⁇ structions to the machine, each to change its position, in a first calibration phase, one or both of the communication means are automatically aligned to one another at each posi ⁇ tion, and alignment values for each position are stored in a table.
  • a first calibration can be performed over the range of movement of the machine.
  • the table may contain alignment values of the controller and may be stored in the controller.
  • the alignment of the communication means can be performed with (nearly) no delay.
  • the table may contain alignment values of the machine and may be stored in the machine.
  • the machine itself can evaluate alignment data from the instructions re ⁇ ceived from the controller.
  • the wireless link is not stressed with the transmission of alignment data.
  • the controller gives several instructions to the machine, each to change its posi ⁇ tion, in a second calibration phase, one or both of the com- munication means are automatically aligned, where line of sight directions are excluded, and alignment values for each position are stored in an additional table.
  • Such second cali ⁇ bration phase has the advantage that the wireless communica ⁇ tion link is not limited to line of sight communication.
  • an omnidirectional signal may be transmitted and the receiving one of the machine communication means or controller communica ⁇ tion means may scan an angle region for a strongest signal.
  • first and second calibration can be performed fully automatically .
  • FIG 1 showing a principal block diagram of an inventive industrial system.
  • the claimed method can also be gathered from this figure.
  • the proposed solution to the beam alignment problem is to make use of known position or known movements of the machines that carry antennas or antenna arrays (in the following for simplification only "antenna arrays") .
  • the proposal is based on the assumption that means can be provided to locate the controller antenna array (part of controller communication means) and the machine antenna array (part of machine commu ⁇ nication means) in two or three dimensions as required (the additional dimension in the case of three dimensions being height above the floor) .
  • each movement is a direct re ⁇ sult of an instruction from the controller.
  • the controller can anticipate the movement that the machine will make in response to its instruction and adjust the antenna beam direction accordingly.
  • the movement-related beam pointing requirements can be determined through a calibration phase.
  • the controller can instruct the machine to move over its available movement space in slow time.
  • the beam can be aligned using an existing algorithm such as those described earlier.
  • the beam pointing information can be stored in two tables with entries corresponding to every position of the machine. In one embodiment, one table would reside in the wireless transceiver associated with the controller for the purposes of setting the controller beam angle (s) as a func ⁇ tion of machine position and the other would reside in the wireless transceiver associated with the machine for the pur ⁇ poses of setting the machine beam angle (s) as a function of machine position.
  • a further aspect of this invention is for a second calibra ⁇ tion phase to search for non line of sight paths.
  • a concrete embodiment of the present invention is shown in the block diagram of FIG 1. It shows a system for realizing wireless industrial control.
  • a controller C shall control ma ⁇ chine M.
  • the controller C includes a controller core CC, controller communication means CCM and controller storage means CSM.
  • the controller communication means CCM comprises a controller transceiver CT, a controller antenna array CA and an angle scan controller CAS.
  • the controller core CC is in bidirectional communication with the controller transceiver CT .
  • the controller transceiver CT in turn has a bidirectional multichannel connection with the controller antenna array CA.
  • the angle scan controller CAS of the controller C controls the character of the controller antenna or controller antenna array CA, respectively.
  • the angle scan control ⁇ ler CAS controls the controller antenna array CA such that the controller antenna array CA scans a pregiven angle region for finding the strongest signal during the first or second calibration phase.
  • the angle scan controller CAS may control the controller antenna array CA such that the reception or transmission beam is directed to a specific di- rection.
  • a position look-up table is stored in the controller storage means CSM. Such table is established during a calibration phase by the angle scan controller CAS. An instruction for moving the machine M will also be passed to the position look-up table in order to obtain the actual angle for the controller antenna array CA, which is transmit- ted via the angle scan controller CAS and the controller transceiver C .
  • the wireless communication is per ⁇ formed in the RF region.
  • other frequencies may be used.
  • the structure of the machine M is symmetrical to that of the controller C.
  • the machine M includes a ma ⁇ chine core MC (i.e. the classical machine), machine communi- cation means MCM and machine storage means MSM.
  • the machine communication means MCM comprises a machine transceiver MT, a machine antenna array MA and an angle scan controller MAS.
  • the functionality of the components of the machine M corre ⁇ sponds to the functionality of the components of the control- ler C. Thus, it is referred to the above description of the controller C.
  • the controller C may act as transmitter and the machine M as receiver, whereas in another stage the machine may act as transmitter and the controller as receiver.
  • Beam forming is accomplished if at least one of the antennas or antenna arrays CA and MA are directed to the other one. In such situation we simply say the one communications means is directed to the other communication means.
  • the functions involved in capturing the data for generating the table data are shown in FIG 1.
  • the controller C enforces a range of movements onto the machine M over a low data rate channel to the machine M.
  • the controller core CC For each position of the machine M the controller core CC first instructs the transceiver MT as ⁇ sociated with the machine M to transmit using an omni ⁇ directional antenna, where the machine antenna array MA has an omni-directional characteristic.
  • the controller core CC then instructs its transceiver CT to scan the angle of its antenna array CA and search for the angle that gives the strongest received signal.
  • the controller C associates the angle with the position in its position look-up table in the controller storage means CSM and then instructs its transceiver CT to transmit using the best angle just found and uses the low data rate channel to instruct the transceiver MT associated with the machine M to scan the an- gle of its antenna array MA and search for the strongest sig ⁇ nal.
  • the machine M associates the angle with the position in its position look-up table in the ma ⁇ chine storage means MSM. The controller C then repeats the process for the next position and so on.

Landscapes

  • Mobile Radio Communication Systems (AREA)
  • Radio Transmission System (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

Selon l'invention, une communication sans fil dans un système industriel dynamique doit être améliorée. Ainsi, il est fourni un système pour une application industrielle comprenant une machine (M) apte à modifier son emplacement et ayant un moyen de communication de machine (MCM) pour une communication sans fil et un dispositif de commande (C) conçu pour commander la machine (M) et ayant un moyen de communication de dispositif de commande (CCM) pour une communication sans fil avec le moyen de communication de machine (MCM). Le dispositif de commande (C) est apte à aligner le moyen de communication de machine (MCM) et/ou le moyen de communication de dispositif de commande (CCM) l'un par rapport à l'autre sur la base d'une instruction en provenance du dispositif de commande (C) à la machine (M) pour modifier son emplacement.
PCT/EP2014/076430 2013-12-13 2014-12-03 Formation de faisceau pour système industriel WO2015086403A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP13197225.9A EP2884583B1 (fr) 2013-12-13 2013-12-13 Formation de faisceau pour système industriel
EP13197225.9 2013-12-13

Publications (1)

Publication Number Publication Date
WO2015086403A1 true WO2015086403A1 (fr) 2015-06-18

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Application Number Title Priority Date Filing Date
PCT/EP2014/076430 WO2015086403A1 (fr) 2013-12-13 2014-12-03 Formation de faisceau pour système industriel

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EP (1) EP2884583B1 (fr)
WO (1) WO2015086403A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2795693T3 (es) * 2017-12-22 2020-11-24 Deutsche Telekom Ag Sistema de control de automatización para controlar una función de seguridad de una máquina remota
US20200406471A1 (en) 2018-06-12 2020-12-31 Telefonaktiebolaget Lm Ericsson (Publ) Technique for robotic device control
EP3588863A1 (fr) * 2018-06-29 2020-01-01 Siemens Aktiengesellschaft Procédé de fonctionnement d'un système de communication radio pour un système d'automatisation industrielle et dispositif de communication radio

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995011828A1 (fr) * 1993-10-28 1995-05-04 Skysat Communications Network Corporation Aeronef alimente par micro-ondes
JP2007002429A (ja) * 2005-06-21 2007-01-11 Hitachi Constr Mach Co Ltd 自走式の作業機械及び自走式の作業機械の遠隔操縦システム
US20080316133A1 (en) * 2006-12-19 2008-12-25 Ramon Guixa Arderiu Remote Control Device for Controlling the Angle of Inclination of the Radiation Diagram on an Antenna
US20110054690A1 (en) * 2009-08-25 2011-03-03 Ehud Gal Electro-mechanism for extending the capabilities of bilateral robotic platforms and a method for performing the same

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3612213B2 (ja) * 1998-04-22 2005-01-19 新キャタピラー三菱株式会社 遠隔無線操縦システム並びに無線移動式作業機械及び遠隔操縦装置並びに電波反射機構付きの無線装置
US8217843B2 (en) * 2009-03-13 2012-07-10 Ruckus Wireless, Inc. Adjustment of radiation patterns utilizing a position sensor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995011828A1 (fr) * 1993-10-28 1995-05-04 Skysat Communications Network Corporation Aeronef alimente par micro-ondes
JP2007002429A (ja) * 2005-06-21 2007-01-11 Hitachi Constr Mach Co Ltd 自走式の作業機械及び自走式の作業機械の遠隔操縦システム
US20080316133A1 (en) * 2006-12-19 2008-12-25 Ramon Guixa Arderiu Remote Control Device for Controlling the Angle of Inclination of the Radiation Diagram on an Antenna
US20110054690A1 (en) * 2009-08-25 2011-03-03 Ehud Gal Electro-mechanism for extending the capabilities of bilateral robotic platforms and a method for performing the same

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EP2884583A1 (fr) 2015-06-17
EP2884583B1 (fr) 2020-09-09

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