WO2023015545A1

WO2023015545A1 - Interaction method for heavy-load ganrty robot and mes system

Info

Publication number: WO2023015545A1
Application number: PCT/CN2021/112437
Authority: WO
Inventors: �云杰; 金超超; 傅迪永
Original assignee: 宁波伟立机器人科技股份有限公司
Priority date: 2021-08-13
Filing date: 2021-08-13
Publication date: 2023-02-16

Abstract

An interaction method for a heavy-load gantry robot and an MES system, comprising the steps of: an automation device and a data service industrial personal computer carrying out dual-channel interconnection; the data service industrial personal computer acquiring data of the automation device and storing historical data of the automation device in a database; an MES system subscribing to data of interest by means of an MES docking server of the data service industrial personal computer; in the MES docking server, using a subscription publishing mode to establish a subscription pool of the automation device; and when the data service industrial personal computer acquires the data of the automation device, checking whether a data subscription is present in the subscription pool, and if so, distributing subscription data to the MES system.

Description

A method of interaction between heavy-duty truss manipulator and MES system

technical field

The invention relates to the technical field of flexible manufacturing, and more specifically relates to an interaction method between a heavy-duty truss manipulator and an MES system.

Background technique

The production process execution system (MES) of manufacturing enterprises is a production information management system oriented to the execution layer of the workshop of manufacturing enterprises. It plays an important role in data collection, production traceability, data analysis, and decision support. It plays a pivotal role in China's intelligent production workshops .

In the industrial field, how to interconnect automation equipment with external systems is a problem worthy of in-depth study. The MES system is not consistent with the design goals of automation equipment, especially manipulators. MES mainly plays a role for enterprises to manage production equipment, optimize production and provide information. The goal of automation equipment is to complete production tasks safely and quickly. In order to ensure the safety of production, most of the MES acts on the production data monitoring of automation equipment. If the MES system is directly allowed to directly control the automation equipment, it is easy to cause production safety problems.

The application number is CN201210308994.4, the petrochemical enterprise production process control system based on MES workflow, by receiving the external production instruction data and extracting the process link from the process model library, instantiate according to the user's initial configuration, and save it in the production process database The information is then handed over to the operator for processing and receiving operator feedback instructions during execution. The application number is CN201310625858.2, a device and method for collecting offline data in a manufacturing execution system (MES). Multiple collection units are set to collect data respectively, and there is a master node. When the MES server fails, each data acquisition unit starts to store the collected data offline. When the MES server replies, the acquisition unit uploads all the saved data to the MES server, and the master node uploads the business logic data of all data acquisition units. The application number is CN202010478190.3, an interconnection control method based on MES and AGV production line. MES, production line control system, and AGV system are connected through the network. When workers trigger the AGV release signal, the production line control system receives the trigger release. Signal, and send request signal to MES system and MES. MES and AGV judge whether the production line process is correct according to the request signal, and send a feedback signal. The production line control system receives the feedback confirmation signal and sends the confirmation signal to the AGV again, and the AGV enters the station to work. A MES-based data interaction method and device with the publication number CN111629026A, in an MES system including multiple data processing units, by receiving the data to be interacted sent by the data processing unit, the target is determined according to the subscription message path corresponding to the interactive data data processing unit. Build scheduling profiles based on attributes with interaction data and interaction datasets. According to the scheduling configuration file, it is judged whether the interaction data exists in the target data processing unit, and when the target data processing unit does not have the data to be interacted with, push the data to be interacted to the The target data processing unit, so as to simply and quickly complete the data interaction between different enterprise systems and reduce costs.

The above method describes several ways of interacting data with the MES system, and solves specific needs in different production scenarios, but there are the following problems: 1. The distinction between real-time data and historical record data is not provided, and the real-time data of the two data 2. The resource information description of the docking device is strongly coupled or unclear, and the description method can only be used in a specific scenario for limited devices or a single type of device; 3. Data transmission and information access security Security is not described, especially in the entire network group, if there is external network access, security also needs to be considered; 4. The equipment data is seriously centralized, and the data of the equipment is basically stored in the MES system in the end. When the equipment When historical data is required, there may be a need for MES data return.

Contents of the invention

In view of this, the present invention provides an interaction method between the heavy-duty truss manipulator and the MES system to solve the problems raised in the background technology. The automation equipment can conduct external access more safely and store the historical data of the automation equipment locally. MES Obtain the real-time status of automation equipment through subscription, which reduces the network load transmitted by the MES system.

In order to achieve the above object, the present invention adopts the following technical solution: an interaction method between a heavy-duty truss manipulator and an MES system, and the specific steps include the following:

Dual-channel interconnection between automation equipment and data service industrial computer;

The data service industrial computer acquires the data of the automation equipment, and stores the historical data of the automation equipment in a database;

The MES system subscribes to the concerned data through the MES docking server of the data service industrial computer;

In the MES docking server, adopt the subscription release mode to establish the subscription pool of the automation equipment; when the data service industrial computer obtains the data of the automation equipment, check whether there is a data subscription in the subscription pool , if it exists, distribute the subscription data to the MES system.

By adopting the above technical solution, it has the following beneficial technical effects: the network load of the MES system is greatly reduced through the publish-subscribe mode, and the maintenance requirements for network connections can be reduced to a certain extent.

Preferably, the communication steps between the automation equipment and the data service industrial computer are as follows:

The automation equipment and the data service industrial computer respectively establish a server and a client, and the client of the automation equipment is connected to the server of the data service industrial computer;

The automation device initiates request communication to the data service industrial computer, and the data service industrial computer sends a response message within a specified time;

After the request is completed, the sending port of the client sends task information to notify the automation equipment and the data service industrial computer of the execution result of the request.

Preferably, the automation equipment includes a heavy-duty truss manipulator, a cutting machine, a soldering robot, and a laser marking machine.

Preferably, the access to the data of the automation equipment is performed through a specified network address and port.

Preferably, the data forwarding and storage process of the automation equipment is as follows:

The data service industrial computer obtains the data of the automation equipment;

Check whether there is a data subscription in the subscription pool, and if so, publish the data to the subscription object; if it is production data or data that needs to be saved, store it in the database.

Preferably, the specific steps for the data service industrial computer to interact with the MES system are as follows:

The MES system obtains the key of the data service industrial computer, and sends a connection request signal;

The data service industrial computer randomly generates a string of characters, encrypts them into ciphertext with the key and transmits them to the MES system, and enters the timeout timer. If no feedback information is received after the timeout timer, the connection is disconnected;

The MES system uses the key to decrypt the ciphertext into plaintext, and sends it to the data service industrial computer;

The data service industrial computer compares the plaintext with the characters, confirms the connection if the comparison is successful, and disconnects if the comparison fails.

By adopting the above technical solution, it has the following beneficial technical effects: the legitimacy of both communication parties is guaranteed by way of authorization, the transmission of the key in the communication is avoided, and the security of the key is improved.

Preferably, when accessing the automation equipment, a security lock mechanism is set, and at the same time only one of the MES systems issues work tasks to the automation equipment.

By adopting the above technical solution, it has the following beneficial technical effects: when a task is obtained, the automation equipment is locked, and the task is not allowed to be dispatched again during the period when the automation equipment is locked, and the task is completed, canceled or executed by the automation equipment. When unlocking, it is guaranteed that only one MES system can issue work tasks to the automation equipment at the same time, and data security can also be guaranteed in a multi-threaded environment.

It can be seen from the above-mentioned technical solutions that, compared with the prior art, the present invention discloses a method for interacting between the heavy-duty truss manipulator and the MES system. The method of the present invention adds an industrial computer for each automation equipment, which is used for Data processing and storage can also add a remote control interface to many devices, so that more systems can access the device. The present invention has the following beneficial technical effects:

1. A key (DES TripleDES algorithm) is added for each access MES system to ensure access security and shield illegal access.

2. The database of the equipment is readable and writable for the industrial computer, and read-only for the external MES system to avoid external tampering of data.

3. The device security lock mechanism is added. Only one MES system can remotely access the device at the same time. The device security lock mechanism uses a mutual exclusion object to ensure data security in a multi-threaded environment.

4. The real-time data and historical record data are separated, and the frequent access of the MES system to the equipment is avoided by publishing and subscribing.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is a schematic flow chart of the method of the present invention;

Fig. 2 is a schematic diagram of the architecture of Embodiment 1;

Fig. 3 is the structural diagram of embodiment 2;

Fig. 4 is a communication frame diagram of the manipulator and the data service industrial computer;

Fig. 5 is a frame diagram of manipulator data forwarding and storage;

Figure 6 is a schematic diagram of the interaction between the data service industrial computer and the MES system;

Fig. 7 is a flow chart of dispatching tasks by the MES system.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The embodiment of the invention discloses an interaction method between a heavy-duty truss manipulator and an MES system.

Example 1

As can be seen from Figure 1, in the present embodiment, the specific steps include as follows:

The data service industrial computer obtains the data of the automation equipment, and stores the historical data of the automation equipment in the database;

In the MES docking server, the subscription release mode is adopted to establish the subscription pool of automation equipment; when the data service industrial computer obtains the data of automation equipment, it checks whether there is data subscription in the subscription pool, and if so, distributes the subscription data to The MES system.

It should be noted that real-time data is distinguished from historical data in the present invention, historical data is stored in a database, and real-time data is obtained through a subscription-publishing mode, which avoids frequent access to equipment by the MES system.

Further, automation equipment includes heavy-duty truss manipulators, slitting machines, soldering robots, laser marking machines, etc. In the embodiment of the present invention, the automation equipment is a heavy-duty truss manipulator.

The basic framework of Embodiment 1 is shown in Figure 2. Through the publish-subscribe model, the network load of the MES system is greatly reduced, which can reduce the maintenance requirements for network connections to a certain extent.

Further, as shown in Figure 4, the communication steps between the manipulator and the data service industrial computer are as follows:

The manipulator and the data service IPC each establish a server and client to realize dual-channel interconnection; the client of the manipulator is connected to the server of the data service IPC; the client of the manipulator and the data service IPC are respectively connected to the server of the other party;

The manipulator or the data service industrial computer initiates a request communication, and the receiver sends a response message within the specified time, indicating that the message has been received and processed by the other party;

After the request is completed, the sending port of the client sends the task information to notify the manipulator and the data service industrial computer of the execution result of the request.

After receiving the execution result, the other party sends back a response message, indicating that the feedback has been received.

Since the connection between the data service industrial computer and the manipulator is mutually confirmed port, access to the data of the manipulator can only be carried out through the determined network address and port.

Further, as shown in Figure 5, the data forwarding and storage process of the manipulator is as follows:

The data service industrial computer obtains the data of the manipulator;

Check whether there is a subscription for the data in the subscription pool, and if so, publish the data to the subscription object; if it is production data or data that needs to be saved, store it in the database.

Further, as shown in Figure 6, the specific steps for the data service industrial computer to interact with the MES system are as follows:

Before establishing a connection, the MES system first obtains the key of the data service industrial computer, and sends a request connection signal;

The data service industrial computer randomly generates a string of characters, encrypts them with a key and transmits them to the MES system, and enters the timeout timer. If no feedback information is received after the timeout timer, the connection will be disconnected;

The MES system uses the key to decrypt the ciphertext into plaintext and sends it to the data service industrial computer;

The data service industrial computer compares the plaintext with the character, if the comparison is successful, the connection is confirmed, and if the comparison fails, the connection is disconnected.

It should be further explained that when accessing the manipulator, a safety lock mechanism is provided to ensure that only one MES system can issue work tasks to the manipulator at the same time. As shown in Figure 7, the MES system dispatch task process is as follows:

The MES system requests the data server to dispatch tasks;

The data service industrial computer queries the current running status and task status (lock status) of the manipulator. If the manipulator cannot receive the task, the feedback fails.

The data service industrial computer locks the manipulator, feedbacks that the task is successfully delivered, and begins to wait for the manipulator to perform the task;

Wait for the manipulator to feedback the task execution information, if the feedback execution fails, send a message to the MES system; if the manipulator executes the task successfully, unlock the manipulator, indicating that it can continue to receive the task, and send the task execution success to the MES system;

When a task is obtained, the manipulator is locked. During the period when the manipulator is locked, it is not allowed to dispatch the task again. When the manipulator completes the task, cancels the task or fails to execute the task, it is unlocked.

Example 2

Embodiment 2 has only the following differences from Embodiment 1, and the rest are the same, see Embodiment 1 for the same parts.

The difference between Embodiment 2 and Embodiment 1 lies in the difference in the device data storage location. It can be seen from FIG. 2 that in Embodiment 1, a server is established locally on the industrial computer corresponding to each automation device to store the corresponding manipulator device information. However, in Embodiment 2, all equipment information is stored in a server, as shown in FIG. 3 , the MES system can access the server to obtain the information of each equipment. When the MES system needs to access the historical data of the equipment, it can be accessed through the database. If it is necessary to store the historical records of the equipment in the MES system, it does not need to occupy the network channel of real-time data.

The method of the present invention greatly reduces the network load of the MES system through the publish-subscribe mode, and can reduce maintenance requirements for network connections to a certain extent. The communication between the MES system and the industrial computer will not affect the historical data storage of the equipment. The MES system can obtain the historical data of each equipment by accessing the database at any time. The real-time data of the equipment also has two ways: active acquisition and passive acquisition through the subscription mode, which gives the MES system a certain degree of flexibility in accessing equipment. The MES system performs remote access through the MES docking server provided by the industrial computer. This method has a security verification mechanism and can access the manipulator device more securely. At the same time, the manipulator system does not need to provide data services to all MES systems, but only interacts with specific industrial computers, which greatly reduces the resource consumption of the manipulator system. Through the use of this method, more devices can be connected to the MES system. In the process of interacting with all devices, a unified MQTT communication protocol is used to complete more and more complex device topologies. In the data service program completed by the industrial computer, the hardware resources of the industrial computer can be replaced. When more functions are needed, such as adding email service, SMS notification service, equipment maintenance warning and other functions, the data service program of the industrial computer can be upgraded to complete, which also brings further potential for the entire data communication framework.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

An interactive method between a heavy-duty truss manipulator and an MES system, characterized in that the specific steps include the following:

Dual-channel interconnection between automation equipment and data service industrial computer;

The data service industrial computer acquires the data of the automation equipment, and stores the historical data of the automation equipment in a database;

The MES system subscribes to the concerned data through the MES docking server of the data service industrial computer;

In the MES docking server, adopt the subscription release mode to establish the subscription pool of the automation equipment; when the data service industrial computer obtains the data of the automation equipment, check whether there is a data subscription in the subscription pool , if it exists, distribute the subscription data to the MES system.
A method for interacting between a heavy-duty truss manipulator and an MES system according to claim 1, wherein the communication steps between the automation equipment and the data service industrial computer are as follows:

The automation equipment and the data service industrial computer respectively establish a server and a client, and the client of the automation equipment is connected to the server of the data service industrial computer;

The automation device initiates request communication to the data service industrial computer, and the data service industrial computer sends a response message within a specified time;

After the request is completed, the sending port of the client sends task information to notify the automation equipment and the data service industrial computer of the execution result of the request.
The interaction method between a heavy-duty truss manipulator and an MES system according to claim 1, wherein the automation equipment at least includes a heavy-duty truss manipulator, a cutting machine, a soldering robot, and a laser marking machine.
A method for interacting between a heavy-duty truss manipulator and an MES system according to claim 1, wherein accessing the data of the automation equipment is performed through a specified network address and port.
An interaction method between a heavy-duty truss manipulator and an MES system according to claim 1, wherein the data forwarding and storage process of the automation equipment is as follows:

The data service industrial computer obtains the data of the automation equipment;

Check whether there is a data subscription in the subscription pool, and if so, publish the data to the subscription object; if it is production data or data that needs to be saved, store it in the database.
A method for interacting between a heavy-duty truss manipulator and an MES system according to claim 1, wherein the specific steps for the interaction between the data service industrial computer and the MES system are as follows:

The MES system obtains the key of the data service industrial computer, and sends a connection request signal;

The data service industrial computer randomly generates a string of characters, encrypts them into ciphertext with the key and transmits them to the MES system, and enters the timeout timer. If no feedback information is received after the timeout timer, the connection is disconnected;

The MES system uses the key to decrypt the ciphertext into plaintext, and sends it to the data service industrial computer;

The data service industrial computer compares the plaintext with the characters, confirms the connection if the comparison is successful, and disconnects if the comparison fails.
A method for interacting between a heavy-duty truss manipulator and an MES system according to claim 1, wherein when accessing the automation equipment, a safety lock mechanism is set, and at the same time only one of the MES systems downloads the automation equipment Send work tasks.