CN107277742A - Industrial wireless communication system - Google Patents
Industrial wireless communication system Download PDFInfo
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- CN107277742A CN107277742A CN201710214647.8A CN201710214647A CN107277742A CN 107277742 A CN107277742 A CN 107277742A CN 201710214647 A CN201710214647 A CN 201710214647A CN 107277742 A CN107277742 A CN 107277742A
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- master radio
- wireless device
- child wireless
- radio device
- transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/0001—Arrangements for dividing the transmission path
- H04L5/0003—Two-dimensional division
- H04L5/0005—Time-frequency
- H04L5/0007—Time-frequency the frequencies being orthogonal, e.g. OFDM(A), DMT
- H04L5/0012—Hopping in multicarrier systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mobile Radio Communication Systems (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
A kind of industrial wireless communication system (10), the industrial wireless communication system includes PLC (12), the PLC (12) at least performs monitoring in industrial equipment, at least one master radio device (18), the master radio device (18) is connected to PLC (12) by fieldbus (16), multiple child wireless devices (22), multiple child wireless devices (22) are mounted according to respective hardware device (20), and perform radio communication with master radio device (18), connect processing unit (30), the connection processing unit (30) performs wireless connection processing between master radio device (18) and child wireless device (22), with transmission/reception processing unit (36), the transmission/reception processing unit (36) is wirelessly transmitted between master radio device (18) and child wireless device (22) with receiving data.
Description
Technical field
The present invention relates to a kind of industrial wireless communication system, relating more specifically to one kind can be in FA (factory automation) ring
The industrial wireless communication system of radio communication is realized in border in a stable manner.
Background technology
So far, it is known that the network system that Japan is opened flat disclosed in patent gazette No.05-073795 is set as industry
Apply.Within the system, multiple sequencers are connected to network system by bus.The driving source of actuator and robot is by leading
Electric components and signal wire are electrically connected to each corresponding sequencer.In addition, driving source is connected to actuating by electric wire
Device and robot.
The content of the invention
Incidentally, traditionally with the need for the amount of wiring for reducing industrial equipment.For example, as Japan is opened flat patent gazette
Shown in No.05-073795, according to industrial communication standard, higher level's console controller and respective control device are connected by fieldbus
Connect., it is necessary to will be attached between supply line and communication line in each control device.Therefore, in large-scale equipment or
Distribution install in, it is necessary to connect the signal wire from console controller, and on install the free degree of control device also by
Limit.
In addition, in order that industrial plants intelligence, in addition it is also necessary to arrange communication line with robot or such as rotating mechanism
Movable part connection.In such a case it is necessary to using expensive slip ring, or there is the risk of signal wire disconnection, because
And have to abandon that this communication equipment is installed, and abandon making industrial plants intelligence in itself.
The present invention is to propose in view of the above problems, its object is to provide a kind of industrial wireless communication system, wherein,
The risk of the disconnections such as the signal wire that is connected with the movable part of the various hardware devices in the industrial equipment can be reduced,
And the system can improve the design freedom in this industrial equipment.
【1】According to the industrial wireless communication system of the present invention, its feature is as follows：Computer, the computer is configured to
Monitoring is at least performed in industrial equipment, at least one master radio device, the master radio device is connected to meter by fieldbus
Calculation machine, multiple child wireless devices, multiple child wireless devices correspond to respective hardware device and be mounted, and be configured to and
Master radio device performs radio communication, connects processing unit, and the connection processing unit is configured in master radio device and sub- nothing
Connection processing, and transmission/reception processing unit are wirelessly performed between line equipment, the transmission/reception processing unit is configured to
Data are wirelessly transmitted and received between master radio device and child wireless device.
In the present invention, it is being connected to the master radio device of computer (for example, PLC etc.) and installed in various hardware devices
Between child wireless device in (such as robot, welding gun, rolling clamp, motor etc.), wirelessly perform connection processing and believe
Number transmission and reception.The risk of the disconnections such as the signal wire therefore, it is possible to reduce the movable part in hardware device, and energy
Enough improve the design freedom in industrial equipment.This is equally improved the intelligence system in industrial equipment.
【2】In the present invention, connection processing unit can with below 500msec time interval and with synchronizing frequency,
Radio communication is performed from master radio device to multiple child wireless devices by broadcast system, and transmits/reception processing unit energy
It is enough that radio communication is performed by frequency-hopping method between master radio device and child wireless device.
According to this feature, for example, when being attached assembling fixture, due to passing through broadcast with below 500msec time interval
System performs connection processing processing, can shorten since turning on the power to the time communicating with.Further, due to
Radio communication is performed by frequency-hopping method between master radio device and child wireless device, can prevent from disturbing other channel radios
Letter.
【3】In the present invention, it is preferred to, 24GHz wave bands are used as wireless frequency, and preferably, wireless power is less than
Or equal to 1mW.
Due to noise source (such as supply line, robot, the weldering of industrial equipment of the wireless frequency higher than factory etc. of use
Rifle, rolling clamp, motor etc.) noise frequency that produces, therefore, it is possible to reduce interference to radio communication by noise frequency.Enter one
Step ground, because wireless power is suppressed to be less than or equal to 1mW, can be reduced to other communication equipments present in same area
Interference.
【4】In the present invention, it can further include connection and keep processing unit, the connection keeps processing unit by structure
Cause, relative to the child wireless device that executed connects processing, by periodically transmitting the clock information of master radio device, come
The connection holding with master radio device is performed to handle.
According to this feature, junction has been completed because the clock information from master radio device is transmitted periodically
The child wireless device of reason, thus the clock information between child wireless device and master radio device is consistent.Therefore, it is possible to easily same
The time of step data transmission and reception etc..
【5】In the present invention, connection confirmation process unit can further be included, the connection confirmation process unit is by structure
Cause transmission by being cyclically repeated child wireless device and master radio device to receive, come confirm master radio device and many height without
The foundation of radio communication between line equipment.
Due to this feature, it can easily determine which is at connection status, which child wireless device in child wireless device
In off-state, further, it is possible to perform connection relative to the child wireless device for having been determined as being off in the starting stage
The processing such as processing or holding.
According to the industrial wireless communication system of the present invention, it can reduce and the various hardware devices being arranged in industrial equipment
The disconnection such as the connected signal wire of movable part risk, and the design freedom in this industrial equipment can be improved.
Above-mentioned and other purpose, the feature and advantage of the present invention will be apparent by following description together with accompanying drawing,
Wherein the preferred embodiments of the present invention are shown by illustrative example.
Brief description of the drawings
Fig. 1 is the schematic diagram for the construction for showing the industrial wireless communication system according to the present embodiment；
Fig. 2 is the functional-block diagram for showing industrial wireless communication system；
Fig. 3 is the operating concept figure for showing to connect processing example；
Fig. 4 A are the explanatory views for the multiplexing for showing the radio frequency in 2.4GHz wave bands；
Fig. 4 B are the explanatory views for showing the difference of transmission frequency between network；
Fig. 4 C are the time diagrams for the example for showing frequency hopping；
Fig. 5 is the schematic diagram of the example for the synchronizing frequency distribution for showing each network.
Fig. 6 is the schematic diagram for showing the relation between frequency hopping quantity and FH transmission frequencies；
Fig. 7 is to show that connection keeps the operating concept figure of the example of processing；
Fig. 8 is the operating concept figure for the example for showing connection confirmation process；
Fig. 9 is to show the operating concept figure from master radio device to the transmission process from wireless device；
Figure 10 is to show the operating concept figure from child wireless device to the transmission process of main wireless device；
Figure 11 is shown in the case where packet is transferred to two child wireless devices from master radio device successively, transmission
Time diagram of the frequency relative to the change of time；
Figure 12 is the organigram for the exemplary embodiment for showing the industrial wireless communication system according to the present embodiment；With
Figure 13 is to show the explanatory view by transmission/reception processing unit transmission and received data packet.
Embodiment
The industrial wireless communication system embodiment of the present invention will be described according to Fig. 1 to 13 below.In this manual, use
Indicating the symbol "-" (to or to) of number range means that the numerical value write before and after the symbol is included therein,
It is used as the lower limit and higher limit of number range.
As shown in figure 1, being included according to the industrial wireless communication system (hereinafter referred to as wireless communication system 10) of the present embodiment
PLC 12 (can compile flow logic controller), and the PLC 12 at least performs monitoring, and multiple networks 14 in industrial equipment, multiple
Network 14 is connected to PLC 12.
In each network 14, including a master radio device 18 that PLC 12 is connected to by fieldbus 16, and it is many
Individual child wireless device 22, it corresponds to respective hardware device 20 and is mounted, and performs radio communication with master radio device 18.
As the embodiment for the hardware device 20 for being provided with child wireless device 22, the end movable part (example of manipulator can be enumerated
Such as welding gun), assembling fixture and rotary table etc..
In addition, as shown in Fig. 2 functional-block diagram, wireless communication system 10 includes connection processing unit 30, connection is kept
Processing unit 32, connection confirmation process unit 34, and transmission/reception processing unit 36.These units, i.e. connection processing unit
30, connection keeps processing unit 32, and connection confirmation process unit 34, and transmission/reception processing unit 36 are configured in main nothing
The functional unit cooperated with each other between line equipment 18 and multiple child wireless devices 22.
Connect the wireless connection processing between the execution master radio device 18 of processing unit 30 and child wireless device 22.
More specifically, as shown in figure 3, with below 500msec time interval and with synchronizing frequency, and according to this reality
Example is applied, with 250msec time interval, is performed by broadcast system from master radio device 18 to the nothing of multiple child wireless devices 22
Line communicates.
The purpose of this connection processing is the progress time adjustment between master radio device 18 and child wireless device 22, and is held
The exchange of the initial value of row master radio device 18 and the initial value of child wireless device 22.
Communication process under normal operation will be described according to Fig. 3, and in the case of abnormal operation
Communication process.
<Normal operating>
(a-1) the synchronous package Pa including clock information is passed through broadcast by master radio device 18 for example with 250msec interval
System is transferred to all child wireless devices 22 under the master radio device 18 control.By such transmission means, according to frequency hopping
Method performs synchronous transfer.
(a-2) child wireless device 22, which is received, includes the synchronous package Pa of clock information, and calibrate child wireless device 22 when
Clock information.
(a-3) the packet Pb including link order and initial value is transferred to master radio device 18 by child wireless device 22.
By such transmission means, performed according to frequency-hopping method from child wireless device 22 to the transmission of master radio device 18.
(a-4) master radio device 18 is from the received data packet Pb of child wireless device 22, at the beginning of then including master radio device 18
The packet Pc of initial value and link order is transferred to child wireless device 22.By such transmission means, according to frequency-hopping method
Perform from master radio device 18 to the transmission of child wireless device 22.
(a-5) child wireless device 22 is from the received data packet Pc of master radio device 18 and completes connection.In other words, terminate and master
Wireless device 18 sets up connection.
<Abnormal operation>
After reception includes the synchronous package Pa of clock information, each child wireless device 22 shows overtime measurement.For example, such as
Fruit completes to set up with master radio device 18 to be connected not in 4 seconds, then again attempts to receive clock information.
Frequency-hopping method (FHSS) is briefly described according to Fig. 4 A to 6.
As shown in Figure 4 A, in frequency-hopping method, perform communication and synchronously change one by one between transmitter and receiver simultaneously
Become channelized frequencies.
According to the present embodiment, as shown in Figure 4 B and 4C, for each network, using the frequency-hopping method of different mode.First
Network 14A uses such as 2402MHz, the frequency-hopping method of 2455MHz, 2421MHz ... frequency.Second network 14B is using for example
The frequency-hopping method of 2412MHz, 2465MHz, 2405MHz ... frequency.3rd network 14C uses such as 2432MHz, 2445MHz,
The frequency-hopping method of 2471MHz ... frequency.
In addition, as shown in Figure 4 C, by each transmission time (t0, t0+ t, t0+ 2t, t0+ 3t ...) each network of jump
In transmission frequency perform communication.Further, interval Fa indicates the bandwidth that WLAN is used.
In the above described manner, by using this frequency-hopping method, the power attenuation caused by multipath weakens can be reduced,
And the wave interference between network 14 and the interference to WLAN can be reduced.
The example explained below for being used to calculate the computational methods of synchronizing frequency used in frequency-hopping method.
When initial, by frequency range to be used with 1MHz Conversion of measurement unit into channel.For example it is assumed that minimum frequency is
2403MHz and highest frequency is 2481MHz, can use from 79 channels of 0 channel to 78 channels.
It is assumed that it is considered as one turn for example to perform three radio communications by broadcast from master radio device 18, then Mei Yizhuan
In the channel spacings of three radio communications limited by JAMP, and the channel spacing between each turn is limited by SPACE.This
Outside, range of channels to be used (maximum channel-(minimum channel -1)) makes the deviation of minus sign into and limited by CHm, and network number is (from 0
The consecutive number of beginning) limited by Nn, the quantity of the radio communication in one turn is limited by Nc (=0,1,2).
In addition, the synchronizing frequency channel number SYNC_CH of each radio communication is calculated by following operational formula.In formula,
Percent symbol % indicates complementation operator.
SYNC_CH=Nn*SPACE+JAMP*Nc%CHm
The result of calculation of synchronizing frequency channel number is as shown in table 1 below, and synchronizing frequency channel number is converted to synchronizing frequency
Result it is as shown in table 2 below.In addition, figure 5 illustrates the distribution of the synchronizing frequency based on table 2 to network number.
Table 1
| Nm | SYNC_CH1 | SYNC_CH2 | SYNC_CH3 |
| 0 | 0 | 29 | 58 |
| 1 | 5 | 34 | 63 |
| 2 | 10 | 39 | 68 |
| 3 | 15 | 44 | 73 |
| 4 | 20 | 49 | 78 |
| 5 | 25 | 54 | 4 |
| 6 | 30 | 59 | 9 |
| 7 | 35 | 64 | 14 |
| 8 | 40 | 69 | 19 |
Table 2
| Nm | SynFrq1 | SynFrq2 | SynFrq3 |
| 0 | 2403 | 2432 | 2461 |
| 1 | 2408 | 2437 | 2466 |
| 2 | 2413 | 2442 | 2471 |
| 3 | 2418 | 2447 | 2476 |
| 4 | 2423 | 2452 | 2481 |
| 5 | 2428 | 2457 | 2407 |
| 6 | 2433 | 2462 | 2412 |
| 7 | 2438 | 2467 | 2417 |
| 8 | 2443 | 2472 | 2422 |
From Tables 1 and 2 and Fig. 5 be appreciated that due to synchronizing frequency between network 14 it is not overlapping, so can pass through
The mode simultaneous transmission of broadcast system is respectively allocated to the synchronizing frequency of each network 14.
It is described below for the computational methods by frequency-hopping method calculating transmission frequency (being referred to as FH transmission frequencies)
Example.
When initial, similar to the computational methods as described above for being used to calculate synchronizing frequency, frequency range to be used with
1MHz unit is converted into channel.For example it is assumed that minimum frequency is 2403MHz and highest frequency is 2481MHz, from 0 letter
79 channels of road to 78 channels can use.
Stepped-frequency interval indicates by JAMP, and the deviation (maximum channel-(minimum channel -1)) of range of channels to be used is by CHm
Indicate, network number (consecutive number since 0) is limited by Nn, the number of times for performing frequency hopping is indicated by FHn.
Then, the channel number FH_CH of each FH transmission frequencies is calculated using following operational formula.In formula, percentage symbol
Number % indicates complementation operator.
FH_CH=Nn+JAMP*FHn%CHm
The relation between frequency hopping quantity and FH transmission frequencies is shown in Fig. 6.From Fig. 6 it is appreciated that performing frequency hopping every time,
The fact that changed due to FH transmission frequencies with stepped-frequency interval Δ f (such as 22MHz), can prevent from disturbing other radio communications.
In addition, anti-tampering function (CCA) is preferably used in child wireless device 22, it is dry between radio wave to prevent
Disturb.In this case, CCA needs the stand-by period due to random number.According to the present embodiment, because child wireless device 22 has
Four transmission times, transmission time is determined based on subaddressing using random function.
It is described below connection and keeps processing unit 32.By the child wireless device 22 that processing is connected relative to executed
The clock information of master radio device 18 is transmitted periodically, and the connection that connection keeps processing unit 32 to perform with master radio device 18 is protected
Hold processing.
More precisely, for the foundation completed with master radio device 18 be connected it is multiple from child wireless device 22,
With the time interval more shorter than the time interval of above-mentioned connection processing unit 30 and with synchronizing frequency, according in the present embodiment
In, with such as 100msec time interval, performed by broadcast system from master radio device 18 to the wireless of child wireless device 22
Communication.
The connection keep processing purpose be by from master radio device 18 transmit clock information to child wireless device 22 come
Update the clock information of child wireless device 22.
Communication process under normal operation will be described according to Fig. 7, and in the case of abnormal operation
Communication process.
<Normal operating>
(b-1) including clock information synchronous package Pd by broadcast system with such as 100msec interval transmission.By this
The transmission means of sample, synchronous transfer is performed according to frequency-hopping method.
(b-2) child wireless device 22, which is received, includes the synchronous package Pd of clock information, and proofread child wireless device 22 when
Clock information.
<Abnormal operation>
In the case where child wireless device 22 can not be from the reception synchronous package Pd of master radio device 18 (clock information), during delay
The calibration of clock information, and child wireless device 22 again attempts to reception clock information after 100msec.
It is described below connection confirmation process unit 34.Connection confirmation process unit 34 is by periodically repeating sub- nothing
The transmission of line equipment 22 and the reception of master radio device 18 are wireless between master radio device 18 and child wireless device 22 to confirm
The foundation of communication.
Next the communication process of connection confirmation process unit 34 is described according to Fig. 8.
First, master radio device 18 for example confirms the connection between child wireless device 22 every 5msec.Child wireless device
22 for example transmit signals to master radio device 18 every 2msec.Description connects the example of confirmation process below.
<Connection confirms>
(c-1) child wireless device 22 is by frequency-hopping method, relative to master radio device 18 every 2msec from master radio device
18 receive, or transmit the packet Pe for confirmation.
(c-2) master radio device 18 is confirmed whether the transmission or reception for having child wireless device 22 per 5msec, and without biography
In the case of defeated or reception, determine that child wireless device 22 is off.
(c-3) in master radio device 18, in packet Pe by being determined to be in the child wireless device 22 of off-state
Transmission, and packet Pe is by the case that master radio device 18 is received, master radio device 18 determines that child wireless device 22 is in
Connection status.
It is described below connecting transmission/reception processing unit 36.
Transmission/reception processing unit 36 performs the data transfer between master radio device 18 and child wireless device 22 and connect
Receive.
In more detail, transmission/reception processing unit 36 passes through frequency hopping between master radio device 18 and child wireless device 22
Method performs radio communication.More specifically, being performed with the frequency of FH transmission frequencies from master radio device 18 to child wireless device 22
Transmission, and performed with the frequencies of FH transmission frequencies from child wireless device 22 to the transmission of master radio device 18.
It is related to the communication from master radio device 18 to the transmission of child wireless device 22 with reference next to Fig. 9 and Figure 10 descriptions
Journey, and the communication process from child wireless device 22 to the transmission of master radio device 18.
<From master radio device 18 to the transmission of child wireless device 22>
(d-1) as shown in figure 9, master radio device 18 transmits the packet Pf including the use of explanation data with FH transmission frequencies
To the child wireless device 22 with the address specified by transmission request.
(d-2) child wireless device 22 is from the received data packet Pf of master radio device 18.
(d-3) if the normally received data packet Pf of child wireless device 22, child wireless device 22 is with the level of three phases
Determine receiving power.
(d-4) based on the operation instruction including packet Pf, child wireless device 22 indicates that connection hardware device 20 is held
Row operation.
(d-5) stage of the operation of its instruction is completed in hardware device 20, will at least include indicating to complete this operation
The packet Pg of the judgement information of information and receiving power returns to master radio device 18 with FH transmission frequencies.
(d-6) after packet Pf is normally received, packet Pg is replied to master radio device 18 in child wireless device 22
Before, from the case that packet Pf is transmitted several times in master radio device 18, child wireless device 22 repeatedly ignores packet Pf first,
Packet Pg is returned only to by the stage for then having completed its expection operation in hardware device once arrives master radio device 18.
(d-7) in the case of bust this, if for example, not from the reply of specific child wireless device 22, master
Wireless device 18 for example reattempts transmission 250 times with 5msec time interval.If number of retries exceedes the upper limit (250 times), main
State as the child wireless device 22 of transmission objectives is set to disconnect by wireless device 18.
<From child wireless device 22 to the transmission of master radio device 18>
(e-1) as shown in Figure 10, child wireless device 22 is included with FH transmission frequencies transmission packet Ph, wherein packet Ph
Data of the master radio device 18 according to needed for its transmission request, for example, be connected to the measured value of the sensor of child wireless device 22,
Number of retries etc..
(e-2) master radio device 18 is from the received data packet Ph of child wireless device 22.
(e-3) such as the normally received data packet Ph of fruit master radio device 18, master radio device 18 is with the water of three phases
It is flat to determine receiving power.
(e-4) master radio device 18 will at least include the information that instruction is normally received, and receiving power with FH transmission frequencies
The packet Pi of judgement information return to child wireless device 22.
(e-5) after packet Ph is normally received, packet Pi quilts from master radio device 18 to child wireless device 22
Before reply, in the case that packet Ph is transmitted several times in child wireless device 22, master radio device 22 repeatedly ignores data first
Wrap Ph.Then in the stage completed in the request reception processing of master radio device 18, packet Pi is only once returned into master
Wireless device 18.
(e-6) in the case of bust this, if for example, do not returned from master radio device 18 on packet Pi
Multiple, involved child wireless device 22 for example again attempts to transmission 250 times with 5msec time interval.If number of retries surpasses
The upper limit (250 times) is crossed, the state as the child wireless device 22 of transmission objectives is set to disconnect by master radio device 18, Ran Houzhuan
Shift to connection processing.
Packet Pf is described below with reference to Figure 11 and is transferred to two child wireless devices 22 successively from master radio device 18
Situation.
When initial, at the t0 moment, master radio device 18 is with FH transmission frequency transmission packets Pf.It is used as the son of transmission objectives
Wireless device 22 receives the packet Pf from master radio device 18 in the normal fashion, and relative to being connected to child wireless device 22
Hardware device perform the operation of its instruction, or alternatively, perform the input/output operations for obtaining sensor values etc..
From t1 at the time of the moment, t0 was after 5msec, child wireless device 22 is referred to FH transmission frequency transmission packet Pg
Show that its operation is completed.In this example, due to even without being repeated once transmission, therefore terminate to be wirelessly transferred in most fast mode
(transmission and reception).More specifically, the most fast response time from moment ta to moment tb time cycle by limiting, wherein,
Moment ta, master radio device 18 has completed packet Pf transmission, and in moment tb, child wireless device 22 has completed packet Pg's
Transmission.Radio communication is carried out with different FH transmission frequencies in another network, therefore will not be done due to other networks
Disturb.
Then, at the t2 moment, master radio device 18 is with FH transmission frequency transmission packets Pf.Pass through from moment t2
T3 at the time of after 5msec, child wireless device 22 indicates that its operation is completed with FH transmission frequency transmission packet Pg.Now, if
FH transmission frequencies are in used in such as WLAN in frequency range, and perform radio communication by WLAN, then son is wireless
The radio communication of equipment 22 and the radio communication of WLAN are disturbed, and can not be completed to the transmission of master radio device 18.Cause
This, from t4 at the time of the moment, t3 was after 5msec, master radio device 18 is with FH transmission frequency transmission packets Pf.More specifically
Ground, again attempts to transmit the packet Pf of same content.From t5 at the time of the moment, t4 was after 5msec, child wireless device 22
With FH transmission frequency transmission packet Pg, indicate that its operation is completed.Now, entered in another network with different FH transmission frequencies
Row radio communication, therefore will not be disturbed due to other networks.Further, in this example, once retried due to existing,
Tc to packet Pf completes the time cycle of td at the time of transmission at the time of being transmitted from the packet Pf of master radio device 18,
It is added to as response time cycle T d.
Additionally, it should be noted that NFC (near-field communication) communication technology is bonded to master radio device 18 and child wireless device 22
Deng among.Thus, for example, the setting on the inner parameter in master radio device 18 and child wireless device 22, master radio device
Pairing (ID check and correction etc.) between 18 and child wireless device 22, between child wireless device 22 and hardware device 20 (sensor etc.)
Pairing (ID check and correction etc.), is set or adjusted without carrying out machinery.Therefore, it is possible to easily implement arrange parameter and with equity, and
And the time needed for adjustment operation can be shortened and the quantity of process step is reduced.
Secondly, an exemplary embodiment of wireless communication system will be described according to Figure 12 and 13.
As shown in figure 12, exemplary embodiment is the wireless communication system applied to rotary production facility 42, wherein from
The unloading that is loaded into of workpiece 40 performs four steps.In rotary production facility 42, the rotation work at the center of being installed on is provided with
Make platform 44, and correspond respectively to first step (46a is extremely to four mechanical arms or manipulator 46 of four steps (step 1 to 4)
46d) with four assembling fixtures 48 (48a to 48d).In addition, electric power and air from power supply are by being arranged on rotary work
The feed unit 50 at the center of platform 44 and supply corresponding manipulator 46 and assembling fixture 48.
Before rotary production facility 42 is assembled, it is respectively mounted accordingly corresponding to each manipulator 46 and assembling fixture 48
Child wireless device 22.In fig. 12 in shown example, the first child wireless device 22A is installed in corresponding to load step
The first manipulator 46a of (step 1), and the 5th child wireless device 22E is installed in the first assembling fixture 48a.Second sub- nothing
Line equipment 22B is installed in the second manipulator 46b corresponding to the first installation step (step 2), and the 6th child wireless device
22F is installed in the second assembling fixture 48b.3rd child wireless device 22C is installed in corresponding to the second installation step (step 3)
The 3rd manipulator 46c, and the 7th child wireless device 22G is installed in the 3rd assembling fixture 48c.4th child wireless device
22D is installed in the 4th manipulator 46d corresponding to unloading step (step 4), and the 8th child wireless device 22H is installed in
4th assembling fixture 48d.
Further, before rotary production facility 42 is assembled, correspondence is set in each corresponding child wireless device 22
In product label information and mapping I/O points quantity.
Pre-recorded the first child wireless device 22A used in rotary production facility 42 is extremely in master radio device 18
8th child wireless device 22H number, and the not Tongfang for enabling to child wireless device 22 may be needed during safeguarding
Formula is rearranged or combined.Set content can be stored hereof as needed, and if child wireless device 22 is weighed
New arrangement, then can be from the file access pattern set content of preservation.
Storable set content includes label information, the number of I/O points, and other arrange parameters.
Further, the master radio device 18 outside rotary production facility 42 is installed in for example from main frame is incorporated in
PLC 12 receive signal, and with FH transmission frequencies transmit signals in rotary production facility 42 son wirelessly set
Standby 22.
Figure 13 that lower basis is connect on step 1 to step 4 is described.
<Step 1：Load step>
Based on the input of the insertion start signal from PLC 12, master radio device 18 is passed to the first child wireless device 22A
The packet Pfa of the defeated insertion for indicating workpiece 40.Based on packet Pfa, the first child wireless device 22A issues instructions to the first machine
Tool hand 46a is to clamp workpiece 40.Based on child wireless device 22A instruction, the first manipulator 46a clamps workpiece 40 and by workpiece 40
Inwardly it is transported to rotary table 44.Complete to transport the stage of workpiece 40, the first child wireless device 22A in the first manipulator 46a
Transmission indicates to transport packet Pga that workpiece 40 completes to master radio device 18.
Based on the packet Pga received from the first child wireless device 22A, the transmission of master radio device 18 indicates positioning instruction
Packet Pfe to the 5th child wireless device 22E.Send slotting based on the packet Pfe, the 5th child wireless device 22E received
Fashionable positioning instruction is to the first assembling fixture 48a.First assembling fixture 48a is held based on the instruction from the 5th child wireless device 22E
The positioning of row workpiece.Completed the stage that workpiece 40 is positioned in the first assembling fixture 48a, the 5th child wireless device 22E transmission is indicated
The packet Pge that the positioning of workpiece 40 is completed is to master radio device 18.Master radio device 18 is based on connecing from the 5th child wireless device 22E
The packet Pge of receipts, which will be inserted, completes signal output to PLC 12.
<Step 2：First installation step>
Based on the input of the first assembling signal from PLC 12, master radio device 18 is passed to the second child wireless device 22B
The packet Pfb of the defeated supply for indicating first component.Packet Pfb, the second child wireless device 22B based on reception are to the second machine
Tool hand 46b sends instruction to supply the part.Based on from the second child wireless device 22B come instruction, the second manipulator 46b should
Part is supplied to the second assembling fixture 48b.The stage of part supply, the second child wireless device 22B are completed in the second manipulator 46b
Transmission indicates the packet Pgb of the supply completion of first component to master radio device 18.
Based on the packet Pgb received from the second child wireless device 22B, the transmission of master radio device 18 indicates assembling instruction
Packet Pff to the 6th child wireless device 22F.Packet Pff, the 6th child wireless device 22F based on reception send assembling
Instruct to the second assembling fixture 48b.Second assembling fixture 48b is performed relative based on the instruction from the 6th child wireless device 22F
In the first assembly manipulation of workpiece 40.Completed the stage to the first assembly manipulation of workpiece 40 in the second assembling fixture 48b, the
Six child wireless device 22F transmit the packet Pgf for indicating to have completed the first assembly manipulation to master radio device 18.Master radio device
18 complete signal to PLC12 based on the assembling of packet Pgf outputs first received from the 6th child wireless device 22F.
<Step 3：Second installation step>
Based on the input of the second assembling signal from PLC 12, master radio device 18 is passed to the 3rd child wireless device 22C
The packet Pfc of the defeated supply for indicating second component.Packet Pfc, the 3rd child wireless device 22C based on reception are to the 3rd machine
Tool hand 46c sends instruction to supply the part.Based on the instruction from the 3rd child wireless device 22C, the 3rd manipulator 46c supplies
The part is to the 3rd assembling fixture 48c.Completed the stage of part supply in the 3rd manipulator 46c, the 3rd child wireless device 22C is passed
The packet Pgc that the defeated supply for indicating second component is completed is to master radio device 18.
Based on the packet Pgc received from the 3rd child wireless device 22C, the transmission of master radio device 18 indicates assembling instruction
Packet Pfg to the 7th child wireless device 22G.Packet Pfg, the 7th child wireless device 22G based on reception send assembling
Instruct to the 3rd assembling fixture 48c.3rd assembling fixture 48c is performed relative based on the instruction from the 7th child wireless device 22G
In the second assembly manipulation of workpiece 40.Completed the stage to the second assembly manipulation of workpiece 40 in the 3rd assembling fixture 48c, the
Seven child wireless device 22G transmit the packet Pgg for indicating to have completed the second assembly manipulation to master radio device 18.Master radio device
18 complete signal to PLC 12 based on the assembling of packet Pgg outputs second received from the 7th child wireless device 22G.
<Step 4：Unloading step>
Based on the input for transporting start signal from PLC 12, master radio device 18 is passed to the 8th child wireless device 22H
The defeated packet Pfh for indicating positioning instruction.Based on the packet Pfh received, the 8th child wireless device 22H is sent to be determined when transporting
Bit instruction is to the 4th assembling fixture 48d.4th assembling fixture 48d performs work based on the instruction from the 8th child wireless device 22H
The positioning of part.Completed the stage of positioning workpiece 40 in the 4th assembling fixture 48d, the 8th child wireless device 22H transmission indicates to complete
The packet Pgh of workpiece 40 is positioned to master radio device 18.It is main based on the packet Pgh received from the 8th child wireless device 22H
The transmission packet Pfd of wireless device 18 is to indicate that the 4th child wireless device 22D outwards transports workpiece 40.Based on packet Pfd,
Four child wireless device 22D transmit instructions to the 4th manipulator 46d to clamp workpiece 40.Finger based on the 4th child wireless device 22D
Order, the 4th manipulator 46d clamps workpiece 40 and outwards transports workpiece 40 from rotary table 44.It is complete in the 4th manipulator 46d
Into the outside stage for transporting workpiece 40, the 4th child wireless device 22D transmission indicates that workpiece 40 outwards transports the number that (unloading) is completed
According to bag Pgd to master radio device 18.Master radio device 18 is based on the packet Pgd outputs received from the 4th child wireless device 22D
Assembling completes signal to PLC 12.
Signal is completed by being transported from the output of master radio device 18, the outside transport of workpiece 40, and installation step is completed
Terminate.
Due to the order according to the various command signals produced of PLC 12 in master radio device 18 and child wireless device 22
Between exchange data packets, and child wireless device 22 needs packet to be carried out effectively as response, thus child wireless device 22
Operation.More specifically, it is not necessary to the communication between unnecessary child wireless device 22 is performed, therefore, it is possible to improve response
Speed.
In the present embodiment, despite the fact that channel number is 79, however, treat with bluetooth (registration mark) frequency-hopping method
The information data capacity for the packet that identical mode is transmitted is small, e.g., less than or equal to 50 bytes.Therefore, it is possible to which work(will be transmitted
Rate is suppressed to less than or equal to 1mW.
In the above described manner, in the industrial wireless communication system 10 according to the present embodiment, it includes PLC 12, the PLC 12
Monitoring is at least performed in industrial equipment, at least one master radio device 18, the master radio device 18 is connected by fieldbus
To PLC 12, and multiple child wireless devices 22, the plurality of child wireless device 22 is mounted according to respective hardware device 20,
And wirelessly perform and communicate with master radio device 18.In addition, wireless communication system 10 includes connection processing unit 30, the connection
Processing unit 30 is configured to perform wireless connection processing between master radio device 18 and child wireless device 22, and transmits/connect
Processing unit 36 is received, the transmission/reception processing unit 36 is wirelessly transmitted between master radio device 18 and child wireless device 22
With receiving data.
More specifically, wirelessly carrying out the connection processing of signal between master radio device 18 and child wireless device 22 and passing
Defeated and reception, wherein, master radio device 18 is connected to PLC 12, and child wireless device 22 is installed in various hardware devices 20
(such as robot, welding gun, rolling clamp, motor etc.).Therefore, it is possible to the signal wire for the movable part for reducing hardware device 20
Deng disconnection risk, and the design freedom in industrial equipment can be improved.This is again resulted in such industrial equipment
The lifting of middle intelligence system.
In addition, connection processing unit 30 passes through broadcast system with below 500msec time interval and with synchronizing frequency
Radio communication is performed from master radio device 18 to multiple child wireless devices 22.Transmission/reception processing unit 36 is in master radio device
Radio communication is performed by frequency-hopping method between 18 and child wireless device 22.
More specifically, connection processing unit 30 is wireless relative to sub with the frequency (synchronizing frequency) set according to frequency-hopping method
Equipment 22 performs transmission from master radio device 18, and is transmitted with FH transmission frequencies from child wireless device 22 to master radio device
18.On the other hand, transmission/reception processing unit 36 with the FH transmission frequencies that are set according to frequency-hopping method relative to child wireless device
22 perform transmission from master radio device 18, and are wirelessly set relative to master with the newly-installed FH transmission frequencies according to frequency-hopping method
Standby 18 perform transmission from child wireless device 22.
In this way, due to for example when installing or removing assembling fixture, by broadcast system with below 500msec
Time interval performs wireless connection processing, can shorten since turning on the power to the time communicating with.Further,
Due to performing radio communication by frequency-hopping method between master radio device 18 and child wireless device 22, it can prevent from disturbing other
Radio communication.
Further, according to the present embodiment, 2.4GHz wave bands are used as wireless frequency, and wireless power be adjusted to it is small
In or equal to 1mW.Due to noise source (such as supply line, machine of industrial equipment of the wireless frequency higher than factory etc. of use
People, welding gun, rolling clamp, motor etc.) noise frequency that produces, interference to radio communication can be reduced by noise frequency.
Further, because wireless power is suppressed to be less than or equal to 1mW, it can be reduced in same area to other communication equipments
Interference.
In addition, keeping processing unit 32 according to the present embodiment, including connection, connection keeps processing unit 32 to be configured to lead to
Cross and connect the child wireless device 22 of processing relative to executed and periodically transmit the clock information of master radio device 18 to hold
The connection holding of row and master radio device 18 is handled.
The sub wireless of connection processing has been completed because the clock information from master radio device 18 is transferred to periodically
Equipment 22, thus the clock information between child wireless device 22 and master radio device 18 is consistent.Therefore, it is possible to easily same step number
According to the time of transmission and reception etc..
Further, in the present embodiment, including connection confirmation process unit 34, the connection confirmation process unit 34 is by structure
The transmission by being cyclically repeated child wireless device 22 and master radio device 18 is caused to receive, to confirm master radio device 18 and many
The foundation of radio communication between individual child wireless device 22.
Although, it should transmitted periodically from child wireless device 22, but the feelings of the transmission are not received in master radio device 18
Under condition, determine that child wireless device 22 is off.If from the child wireless device 22 for having been determined as being off
Transmission is received by master radio device 18 later, it is determined that child wireless device 22 is in connection status., can be easy due to this feature
Determine which child wireless device 22 is in connection status, which child wireless device 22 is off.Therefore, it is possible to initial
Stage is that the child wireless device 22 for being determined to be in off-state performs the processing such as connection processing or holding.
Above-described embodiment is not limited to according to the industrial wireless communication system of the present invention, appended claim is not being departed from
In the case of the scope of the present invention and essence that are illustrated in book, it is clear that can be using various additional or modification structure.
Claims (5)
1. a kind of industrial wireless communication system (10), it is characterised in that including：
Computer (12), the computer (12) is configured in industrial plants at least perform monitoring；
At least one master radio device (18), the master radio device (18) is connected to the computer by fieldbus
(12)；
Multiple child wireless devices (22), the multiple child wireless device (22) corresponds to respective hardware device and is mounted, and
And be configured to perform radio communication with the master radio device (18)；
Processing unit (30) is connected, the connection processing unit (30) is configured in the master radio device (18) and the son
Connection processing is wirelessly performed between wireless device (22), and
Transmission/reception processing unit (36), the transmission/reception processing unit (36) is configured in the master radio device
(18) it is wirelessly transmitted and receives data between the child wireless device (22).
2. industrial wireless communication system (10) as claimed in claim 1, it is characterised in that
The connection processing unit (30) is configured to below 500msec time interval and with synchronizing frequency, by wide
Broadcast system performs radio communication from the master radio device (18) to the multiple child wireless device (22)；And
The transmission/reception processing unit (36) is configured to by the master radio device (18) and the child wireless device
(22) radio communication is performed by frequency-hopping method between.
3. industrial wireless communication system (10) as claimed in claim 1, it is characterised in that 2.4GHz wave bands are used as wireless frequency
Rate, and wireless power is less than or equal to 1mW.
4. industrial wireless communication system (10) as claimed in claim 1, it is characterised in that further including connecting at holding
Unit (32) is managed, the connection keeps processing unit (32) to be configured to, it is wireless relative to the son that executed connects processing
Equipment (22), by periodically transmitting the clock information of the master radio device (18), to perform and the master radio device
(18) connection holding processing.
5. industrial wireless communication system (10) as claimed in claim 1, it is characterised in that further comprise connection confirmation process
Unit (34), the connection confirmation process unit (34) is configured to by periodically repeating the child wireless device (22)
Transmission and the reception of the master wireless device (18), to confirm that the master radio device (18) and the multiple son are wirelessly set
The foundation of radio communication between standby (22).
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-075489 | 2016-04-04 | ||
| JP2016075489 | 2016-04-04 | ||
| JP2016-250469 | 2016-12-26 | ||
| JP2016250469A JP6508538B2 (en) | 2016-04-04 | 2016-12-26 | Industrial wireless communication system |
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| Publication Number | Publication Date |
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| CN107277742A true CN107277742A (en) | 2017-10-20 |
| CN107277742B CN107277742B (en) | 2020-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710214647.8A Active CN107277742B (en) | 2016-04-04 | 2017-04-01 | Industrial wireless communication system |
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| Country | Link |
|---|---|
| JP (1) | JP6508538B2 (en) |
| KR (1) | KR101912134B1 (en) |
| CN (1) | CN107277742B (en) |
| AU (1) | AU2017202093B2 (en) |
| MX (1) | MX370841B (en) |
| TW (1) | TWI633801B (en) |
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|---|---|---|---|---|
| CN113170296A (en) * | 2019-01-25 | 2021-07-23 | 株式会社安川电机 | Industrial machine system, communication method, and wireless access point |
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| MX2020009170A (en) | 2018-03-06 | 2020-10-15 | Smc Corp | Wireless communication system, slave wireless device and master wireless device. |
| WO2020049744A1 (en) * | 2018-09-07 | 2020-03-12 | Smc株式会社 | Wireless antenna module and wireless system |
| DE102018129189B4 (en) | 2018-11-20 | 2021-03-04 | Beckhoff Automation Gmbh | METHOD FOR OPERATING A NETWORK SUBSCRIBER IN AN AUTOMATION COMMUNICATION NETWORK |
| DE102019123348A1 (en) * | 2019-08-30 | 2021-03-04 | Beckhoff Automation Gmbh | Automation system, radio device and method for the wireless integration of a radio subscriber into an automation system |
| JP7263208B2 (en) | 2019-10-28 | 2023-04-24 | 株式会社東芝 | Electronic device and method |
| CN112423197A (en) * | 2020-11-19 | 2021-02-26 | 四川长虹电器股份有限公司 | Method and device for realizing multipath Bluetooth audio output |
| CN116803151A (en) * | 2021-01-25 | 2023-09-22 | Smc 株式会社 | Industrial wireless communication system |
| JP2022178775A (en) | 2021-05-21 | 2022-12-02 | Smc株式会社 | Base radio device and communication method for base radio device |
| JP2022178774A (en) | 2021-05-21 | 2022-12-02 | Smc株式会社 | Remote radio device and communication method for remote radio device |
| JP2022178977A (en) | 2021-05-21 | 2022-12-02 | Smc株式会社 | Base wireless device and wireless communication method |
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| Publication number | Publication date |
|---|---|
| CN107277742B (en) | 2020-12-01 |
| MX2017004336A (en) | 2018-08-16 |
| AU2017202093A1 (en) | 2017-10-19 |
| JP6508538B2 (en) | 2019-05-08 |
| MX370841B (en) | 2020-01-08 |
| JP2017188868A (en) | 2017-10-12 |
| KR101912134B1 (en) | 2018-10-26 |
| TW201739304A (en) | 2017-11-01 |
| TWI633801B (en) | 2018-08-21 |
| KR20170114981A (en) | 2017-10-16 |
| AU2017202093B2 (en) | 2018-06-28 |
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