EP3999924A1 - Procédé pour faire fonctionner un système mobile et une passerelle d'alarme en tant que dispositifs utilisateurs d'un réseau sans fil - Google Patents

Procédé pour faire fonctionner un système mobile et une passerelle d'alarme en tant que dispositifs utilisateurs d'un réseau sans fil

Info

Publication number
EP3999924A1
EP3999924A1 EP20734832.7A EP20734832A EP3999924A1 EP 3999924 A1 EP3999924 A1 EP 3999924A1 EP 20734832 A EP20734832 A EP 20734832A EP 3999924 A1 EP3999924 A1 EP 3999924A1
Authority
EP
European Patent Office
Prior art keywords
alarm
message
network
mobile system
messages
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP20734832.7A
Other languages
German (de)
English (en)
Inventor
Maja Sliskovic
Christian Sauer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SEW Eurodrive GmbH and Co KG
Original Assignee
SEW Eurodrive GmbH and Co KG
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 SEW Eurodrive GmbH and Co KG filed Critical SEW Eurodrive GmbH and Co KG
Publication of EP3999924A1 publication Critical patent/EP3999924A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B27/00—Alarm systems in which the alarm condition is signalled from a central station to a plurality of substations
    • G08B27/005—Alarm systems in which the alarm condition is signalled from a central station to a plurality of substations with transmission via computer network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B27/00—Alarm systems in which the alarm condition is signalled from a central station to a plurality of substations
    • G08B27/006—Alarm systems in which the alarm condition is signalled from a central station to a plurality of substations with transmission via telephone network
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
    • G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Definitions

  • the invention describes a method for operating a mobile system and an alarm gateway as a participant in a wireless network.
  • Such mobile systems can be, for example, robots or autonomous industrial trucks that are located within a system, for example a warehouse or a
  • safety zones are usually firmly defined in the system, for example escape or rescue routes that are reserved for people and can only be used temporarily by mobile systems or only if the mobile systems can react promptly to dangerous situations.
  • Other and / or further zones for example areas at risk of explosion, can also be defined.
  • US 2018 0376357 A1 describes a self-organized fleet of autonomous vehicles to optimize future mobility and offers in cities.
  • US 2019 0049968 A1 describes a device and a method for improved autonomous operation of a motorized system.
  • US 2018 0132307 A1 describes a device and a method for inserting and controlling a node in a network of moving things.
  • US 2009 0037033 A1 describes autonomous behaviors for a remote-controlled vehicle.
  • US 10307909 B1 describes a method for the selective uploading of operating data generated by a robot based on an attribute of a physical one
  • WO 2017 205314 A1 describes a method and a device for providing radio signal coverage.
  • US 2017 0351254 A1 describes a method for controlling an unmanned aerial vehicle.
  • US 2017 0285633 A1 describes a method for registering remote controls.
  • US 2013 0268118 A1 describes a method for operating a robot.
  • US 2019 0171208 A1 describes a cloud-based and collaborative method for machine learning to optimize the planning and operation of smart city facilities.
  • US 2018 0017973 A1 describes a method for navigating a drone based on the connection quality of a WWAN radio link.
  • US 2018 0004211 A1 describes a device for autonomous vehicles for selecting and executing a route.
  • WO 2017 093839 A1 describes a flexible autonomous monitoring system.
  • US 2017 0257602 A1 describes a monitoring and control system.
  • the invention is based on the object of a method for operating mobile
  • the object is achieved by a method having the features specified in claims 1 and 12.
  • the method according to the invention for a mobile system is characterized by: detecting the current position of the mobile system within the zones, determining the
  • Connection quality of the mobile system in the wireless network and adapting the behavior of the mobile system based on the established connection quality and the determined position within the zones.
  • the zones are firmly defined in relation to the system and do not change during operation. Examples of such zones are escape routes, fire protection zones or the like.
  • the mobile systems have a connection to a wireless network via which they can receive control commands and, if necessary, alarm messages. Nevertheless, situations can arise in which not every mobile system has network access, for example because a wireless network signal is weakened by obstacles. In alarm situations in particular, there is a risk that a mobile system will not receive an alarm message and thus possibly fail to clear an escape area or endanger people there. For example, a mobile system can therefore adapt its behavior to the current network connection quality and depending on its position within the zones. In this way, a mobile system can adapt its behavior independently and possibly even without a network connection and, for example, leave a critical zone. It can thus be achieved that critical zones, for example in
  • connection quality can be determined by one or more network parameters, such as a signal transit time, a received signal strength, a
  • the invention also offers the advantage that the available area of the production facility can be better utilized, with simultaneously improved availability of the escape routes or other safety-critical zones in the event of an alarm. For example, it can be specified that these zones are allowed to be driven into if alarm notifications can be received with a short delay and thus safety-critical situations can be reacted to quickly. To do this, the mobile system first recognizes the zone in which it is located is located. This can be done both on the basis of a previous mapping and on the basis of features in the environment.
  • connection quality can take place periodically, regularly and / or continuously, depending on the requirement. It is important that current values for connection quality and position are available in order to adapt the behavior. Accordingly, the adaptation of the behavior can be a trigger for determining the connection quality and / or determining the position.
  • the network status of all mobile systems is monitored in parallel. It is new to flood the network with test messages that are sent as broadcast. The participants can determine their own network status, for example through the number of test messages received, their delay, the routes used and / or the order in which the test messages were received.
  • the determination of the connection quality comprises a repeated one
  • a check message contains at least a unique identifier, an unchangeable counter and an originator time stamp.
  • the counter is incrementally increased, for example by the creator or originator, usually an alarm gateway, of the test message and no longer changed afterwards, i.e. when it is forwarded.
  • the test message can contain further information about the originator of the test message, for example, a
  • Sender ID a sender position, a sender status and a sending time.
  • the check message can also, for example, a checksum and / or a
  • the message type can be, for example, an alarm message, a test message or a feedback message. Other message types are also possible and conceivable.
  • the message type can also contain further information and / or conditions.
  • an alarm message can define a temperature alarm from a certain alarm temperature.
  • the mobile system measures the temperature locally and activates the alarm status automatically, but only if the measured temperature exceeds or falls below the set alarm temperature.
  • an alarm can define that a person is present in a particular zone or sector. Mobile systems that are not in this zone or sector can therefore continue to operate normally. In this way, it is possible to react more specifically to individual states, so that, especially in large networks, all participants always receive an alarm but do not necessarily have to react to it.
  • a checksum has the advantage that it can be seen whether errors occurred during the transmission of the message and thus, for example, individual data in the message
  • the test message is evaluated in that the mobile system evaluates the delay, the transmission probability and / or the sequence of the test messages received and a redundancy of the routes via which the test messages were received. Such an evaluation can ultimately lead to a quantitative determination of the connection quality. This quantitative
  • Connection quality can be used as a basis for adapting behavior.
  • the behavior can be adapted preventively and / or reactively.
  • the determination of the connection quality comprises the sending of a test message from the mobile system, in particular the forwarding of a received test message, in particular wherein several conditions apply to the sending.
  • a delay in a test message can be determined, for example, from the difference between the time of receipt and the originator time stamp of the message.
  • a packet error rate for example, can be determined from the number of messages received within a test period and the number of expected messages. For example, the value of the counter of the test messages, which cannot be changed when forwarded, can be viewed. If individual values of the continuous counter are missing, then these must have been lost on the transmission path.
  • a period of validity for a test message can be defined as a condition, the message not being forwarded if a determined delay is greater than the period of validity. This prevents out-of-date and invalid messages from being spread across the network, which reduces network traffic and increases the information content in the network. Because the check messages have an incremental counter, it can be determined whether one or more failed check messages lie between two received check messages. In this way, for example, a latency of the network can be determined.
  • the advantage here is that the range in the network can be extended by forwarding messages through mobile systems. It is particularly important for the transmission of alarm messages to ensure complete network coverage. This is possible without significant installation effort. Depending on the size of the operational environment and the number of obstacles within the operational environment, such as shelves that obstruct the wireless network, a large number of stationary transmitter stations can be saved.
  • the invention accordingly offers wireless communication over large ranges without infrastructure, so that costs and installation effort are reduced.
  • the condition for forwarding can, for example, be that the delay of a message is not too long, this message has not yet been forwarded by the same sender and / or the maximum number of forwardings has not yet been reached. In these cases the participant can send the message again. This creates a network flood that significantly increases the range of the network test. It is also advantageous to increase the range of the network check by adding the
  • Test messages can forward the test messages. Forwarding the test messages increases the effective range without the need for a stationary network infrastructure. Every mobile and stationary subscriber can be configured to forward, so that a range extension is possible. This offers both the advantage of cost savings and more flexible application options for the mobile systems.
  • information about the mobile system is added to the test message before it is sent.
  • This information can include, for example, a subscriber address, a subscriber position, a subscriber status and a forwarding time stamp.
  • a forwarding counter for the test message can be incremented. In this way, a subscriber can, for example, determine whether he has already forwarded the same message. In such a case, the forwarding can be stopped in order to prevent an unnecessarily redundant flood of messages.
  • Predicting deterministic transmission delays is new.
  • the advantage is that each participant can estimate how long it would take to receive an alarm message and adapt his behavior accordingly.
  • the invention comprises adapting the behavior of the mobile system on the basis of the established connection quality and the determined position within the zones.
  • connection quality if the connection quality is determined to be inadequate, the mobile system does not travel through security-critical zones as a preventive measure. This ensures that no mobile system with poor connection quality is in a critical zone if an alarm message is triggered and the mobile system would not receive this alarm message due to its current poor network connection.
  • the mobile system leaves when it is determined
  • the mobile system can also increase its speed in order to leave the zone as quickly as possible. A mobile system can also bring itself to safety.
  • connection threshold value Inadequate within the meaning of the invention can be defined, for example, by the fact that the quantitative connection quality falls below a connection threshold value.
  • connection quality can be described, for example, by the fact that the connection quality exceeds a connection threshold value.
  • Connection thresholds apply, which prevent an undefined transitional state or a constant change in behavior.
  • a good connection quality is determined, normal operation is continued if the mobile system is in a non-critical zone. If the system is in a critical zone, the current task continues.
  • the current task is ended and a search is then made for network access if the mobile system is in a non-critical zone. If the mobile system is in a critical zone, the critical zone is left immediately and network access is sought. This ensures that a critical area has already been left in an alarm situation or that a mobile system is already leaving a critical zone.
  • An execution is characterized by the feedback of the status of the mobile
  • the feedback message contains at least a status of the mobile system.
  • This has the advantage that the alarm gateway is informed about all participants in the network at all times. Thus, for example, an average and / or longest running time can be determined with which messages reach all participants.
  • the gateway can also perform position monitoring and, for example, adapt the frequency, that is to say the frequency with which the check messages are sent, to the distances and / or the positions of the participants. The frequency can be at great distances, at great distances
  • Participant speeds and / or when staying in critical zones can be increased.
  • the frequency can be lower if the mobile systems move slowly, are close to the gateway and / or are not in critical zones.
  • the feedback message is sent as a broadcast or unicast message over a selected route. In this way the
  • the feedback message can contain a list of the addresses of the mobile systems of the selected route. This list contains the addresses of the forwarding mobile systems of the test message that was last received via the selected route in reverse order. In this way, the feedback message is sent back to the alarm gateway exactly on this route. So that is
  • the selected route can be a safest, a most reliable or a fastest route.
  • the selection can be fixed according to different criteria, for example depending on the application, or dynamically from the mobile system in
  • the method further comprises the following steps:
  • the adaptation of the behavior can include, for example, leaving a critical zone or not driving. Additional information or parameters of the alarm message can also be taken into account.
  • one or more wireless communication interfaces of a mobile system are used to receive and / or send messages. This can significantly increase the redundancy of possible routes for a message. It is possible that a message received on an interface is sent, that is, forwarded, via one or more interfaces.
  • the transmission interfaces can be different interfaces than the reception interface. It is also possible that a mobile system receives messages via several interfaces but only forwards them via one interface. In between, all M to N combinations of receiving and transmitting interfaces are conceivable and possible.
  • the messages are transmitted electromagnetically, optically, acoustically or inductively via a wireless communication interface, in particular with electromagnetic transmission via WLAN or Bluetooth.
  • Wireless is therefore by no means on
  • Radio interfaces are limited, but refers to any contactless transmission.
  • the zones are divided on the basis of previous mapping, for example using SLAM (Simultaneous Localization and Mapping; Simultaneous
  • a mobile system can therefore map its operational environment itself. However, it is also possible for a mobile system to receive a map of its operational environment.
  • the advantage here is that the subscriber can determine himself, based on his position, in which operational zone he is currently staying, and thus can adapt his behavior himself according to the invention according to the connection quality. It is crucial that the zones are firmly defined in relation to the system and cannot be changed. The zones are therefore particularly independent of the mobile systems that are located and moving within the system.
  • the primary object of the invention is to keep certain zones within the system free and not to protect people in the immediate vicinity of a mobile system, which is achieved by existing methods.
  • Another example includes a mobile system for operating as a subscriber in a multi-subscriber wireless network.
  • the system is characterized in that the mobile system has at least one wireless interface for receiving
  • Broadcast messages have that the mobile system has means for determining the position within an operational environment, that the mobile system has means for assigning the position to a zone and that the mobile system has a network evaluation unit for determining a connection quality and / or a network status .
  • the established connection quality can be derived from various metrics and serve as the basis for preventive and / or reactive behavior of the mobile system that includes the current position within a zone.
  • the mobile system is designed to send a broadcast message into the network, in particular with a received broadcast message is forwarded. In this way, the mobile system can forward a test message and / or alarm message to other participants in the wireless network and thereby increase the range beyond the physically available range.
  • the invention further comprises a method for operating an alarm gateway as a participant in a wireless network with several participants, characterized by the repeated transmission of a test message as a broadcast into the network.
  • the advantage here is that in this way each participant in the network can determine its connection status by evaluating the test messages.
  • One embodiment of the method is characterized by receiving and evaluating feedback from other participants to the alarm gateway.
  • the alarm gateway can react to different situations, for example, create a detailed network topology, adapt the transmission frequency of the test messages and / or send adapted control commands to subscribers.
  • the method includes the alarm gateway sending at least one alarm message as a broadcast into the network instead of the test messages.
  • an alarm message propagates in the network in the same way as a test message.
  • an alarm can be acknowledged, in particular by a user, as a result of which the alarm gateway is reset from the alarm state to the normal state and continues with the regular sending of test messages.
  • One embodiment of the invention is characterized by receiving an alarm signal via an alarm interface and sending an alarm message as a broadcast into the network.
  • An alarm gateway can in this way, for example via wired
  • Alarm interfaces with various alarm transmitters can for example be smoke alarms, fire alarms, motion alarms, moisture alarms or other environmental sensors.
  • An alarm signal from one of these sensors is expediently sent as an alarm message via broadcast into the wireless network. This is how it is received and forwarded by mobile systems.
  • the advantage here is that mobile systems that are outside the physical range of the alarm gateway can also receive the alarm message. This has the advantage that the alarm messages are distributed in the network in the same way as the test messages and that, for example, the runtime of the messages is known.
  • Alarm gateways can be designed redundantly and exist several times in an application or an operational environment. In this way a failure of an alarm gateway can be compensated. However, the test messages and alarm messages are expediently only sent by one alarm gateway, so that unnecessary network traffic is reduced. The alarm gateway can however with several
  • One example includes an alarm gateway as a stationary system in a wireless network with several participants.
  • the alarm gateway is characterized in that the alarm gateway has at least one wireless communication interface for sending broadcast messages into the network and that the alarm gateway has at least one
  • the advantage here is that alarm signals received via the alarm interface can be sent quickly and with a deterministic delay to all participants in the network.
  • the alarm gateway has means for evaluating the network status, in particular feedback from the participants. These means can be arranged in the alarm gateway or a device connected to the alarm gateway.
  • the advantage here is that a network topology can be created and that the status, position and other parameters of all participants can be known.
  • the invention comprises the control of mobile systems in an industrial environment, taking into account safety-critical zones and the current network status. This includes the recording of different operational zones in an industrial environment, the determination of the zones on the basis of previous mapping, for example using SLAM (Simultaneous Localization and Mapping) and / or the detection of the zone based on features in the environment.
  • SLAM Simultaneous Localization and Mapping
  • the invention also includes the permanent monitoring of the network status of all participants in an infrastructural multi-hop network. This can be done, for example, by monitoring a flood of test messages by means of broadcast and forwarding the test messages by subscribers for an increased range without a network infrastructure. Conditions for conduction can keep the tide loop free and the
  • the delay can be determined, for example, in that each test message contains the time of sending.
  • the previous delay of the message results from the difference between the current time when the message was received and the time it was sent.
  • the system times of all participants can be synchronized for this procedure. This can be achieved, for example, using software protocols such as NTP or PTP, or using hardware such as real-time clocks or GPS time sources.
  • each message contains a counter. This counter is continuously incremented by the sender of the test messages. The absence of a counter or the reception of an obsolete counter then indicates a wrong reception sequence. Over a certain period of time, the proportion of the test messages transmitted is calculated. The transmission probability is the ratio of the number of messages received and expected.
  • the counter can also be used to identify check messages received twice or more than once. Since every message contains the information from which subscribers it has already been forwarded, the route of every received message is known. If a message was transmitted over at least two routes in which there are no identical participants, these routes are redundant. To increase the
  • connection quality can be adapted depending on the combination of connection quality and current zone. If there is a good connection in a non-critical zone, normal operation can be continued. If there is no connection in a non-critical zone, the current task can be terminated and then network access sought. If there is a good connection in a critical zone, the task can be continued. If there is no connection in a critical zone, this must be left immediately and network access sought.
  • connection quality can basically be described in that it is quantified by one or more network parameters.
  • the received signal strength, the transit time and / or the latency can also be taken into account.
  • a good or sufficient connection quality therefore exists when the quantitative representation of the network parameters is a predetermined one
  • connection threshold exceeded The connection threshold value can be predefined in a fixed manner or from further environmental parameters, such as the
  • the invention also includes preventive non-entry into safety-critical zones when the connection quality is inadequate.
  • the connection quality is recorded preventively through permanent network monitoring. Security-critical zones are not entered if the connection quality is insufficient. Critical movements of the
  • Forwarded messages contain information about the forwarding message
  • Network participants including position and speed. Very large distances or rapidly increasing distances in the network can be detected at an early stage. Larger distances mean smaller ones in most environments
  • Alarm messages can correspond in length and structure to the test messages, whereby the previously determined
  • Transmission delay remains with a very high probability.
  • the constant network test enables a participant to predict the delay of an alarm transmission with a very high probability.
  • the invention comprises the feedback of the status of the terminals to a central point without the use of network infrastructure. This means that the data sent for the network check is used to provide feedback to the central system.
  • the flood of test messages creates a tree-like topology which is used for
  • Retransmission of the feedback is used.
  • the most reliable route for the retransmission can be selected.
  • redundant routes can also be used for transmission. In doing so, data such as transmission probabilities are preferably achieved
  • Delays for example the mean and the longest delay, and / or the most reliable route of the connection are sent back.
  • one or more of the following optional information can be transmitted: the number of direct neighbors of a subscriber; the location, battery status and / or the task being performed.
  • the advantage here is that the central system, such as an alarm gateway, is informed about all participants at all times and can accordingly distribute and adapt control commands and tasks to the participants.
  • the mobile system can be designed as a separate unit that can be connected to an existing mobile system.
  • an existing or existing robot can be equipped with the new functionality.
  • the mobile system can, however, also already be a robot in which the features according to the invention are integrated ex works.
  • the alarm gateway can be designed as a separate unit that can be connected to an existing alarm gateway.
  • an existing or existing alarm gateway can be equipped with the new functionality.
  • the alarm gateway can, however, also already have the features according to the invention ex works.
  • Figure 1 a schematic view of an operational environment with different zones
  • Figure 2 the operational environment of Figure 1 with a stationary alarm gateway and several mobile systems
  • FIG. 3 a flow chart of a reactive behavior of a mobile system
  • FIG. 4 a flow chart of a preventive behavior of a mobile system
  • FIG. 5 the operational environment of FIG. 1 to illustrate the forwarding of
  • FIG. 6 different versions of an alarm gateway
  • Figure 7 a schematic representation of the message processing in different
  • FIG. 8 a flow chart for generating a test message by an alarm gateway
  • FIG. 9 a flow chart for the distribution of a test message as a broadcast in the wireless network by an alarm gateway
  • FIG. 10 a flow chart for the generation of feedback by a mobile
  • FIG. 11 a flow chart for receiving, evaluating and presenting the
  • FIG. 12 a schematic representation of a wireless network with an alarm gateway according to the invention and several mobile systems
  • FIG. 13 a schematic representation of the information within a test message
  • FIG. 14 a schematic representation of the information within a feedback message.
  • FIG. 1 an exemplary application environment of a mobile system, for example a robot, is shown schematically.
  • the operational environment can be a warehouse or a production facility and is divided into different zones.
  • the zones are firmly defined in relation to the operational environment and are usually not dynamic.
  • These zones also include obstacles, which are denoted by 1. This can
  • zone 2 represents an escape route and zone 3 an area with a risk of explosion. These zones are therefore critical zones.
  • the operational environment that is not divided into one of these zones is the non-critical zone in which a mobile system can move without restriction.
  • a group of mobile systems 4 and a static system 5 act. This group is very heterogeneous. The only commonality of all participating systems 4 and 5 is the equipment with
  • the stationary system 5 is designed here as an alarm gateway, which is the source of test and alarm messages for the participants. All mobile subscribers 4 and the alarm gateway 5 form an alarm system 7 in connection with the functionality according to the invention.
  • the alarm system 7 is characterized in that, in particular, alarm messages can reach each subscriber 4 and that each subscriber responds to alarm Messages responded.
  • the alarm gateway 5 has alarm interfaces to peripheral monitoring units, which allow information from, for example, fire alarm systems,
  • the alarm gateway 5 has one or more of these monitoring units. Possible forms of these monitoring units are connecting network elements, central control units or emergency stop buttons with wireless communication interfaces.
  • the mobile systems 4 have a processing unit with a program with which the method according to the invention is implemented, so that they can react to the combination of the current location within the operational environment, i.e. the zone in which it is located, and incoming alarm messages . In relation to the operational environment shown in FIG. 2, this means, for example, that zone 3 may no longer be entered at elevated temperatures. Or in the event of a fire alarm, critical zone 2 must be left immediately by all autonomous mobile systems 4 in order to clear or keep the escape route free for a possible evacuation of people. The mobile systems can also increase their speed, for example, in order to leave the critical zone as quickly as possible.
  • FIG. 3 shows a flow chart for an exemplary, reactive behavior of a mobile system 4 based on its current zone and its network connection quality using the example of the transmission of a fire alarm.
  • a good connection quality within the meaning of the invention can be characterized, for example, by the fact that a quantitative representation of one or more network parameters exceeds a connection threshold value.
  • connection quality is good, it is checked in a next step S32 whether the mobile system is in a critical zone, in the example in an escape route 2.
  • step S33 If not, the current task of the mobile system is carried out further in step S33.
  • step S34 the current task is also continued in step S34.
  • the escape route 2 is left, however, if this does not hinder the task, the connection quality deteriorates or the task is completed.
  • connection quality is bad, that is to say inadequate, it is also checked in a next step S35 whether the mobile system is in a critical zone, in the example in an escape route 2.
  • a poor connection quality within the meaning of the invention can be characterized, for example, by the fact that a quantitative representation of one or more network parameters falls below the connection threshold.
  • escape route 2 that is to say the critical zone, is left immediately and access to the network is sought.
  • the network is accessed by looking for a position in the operational environment at which the connection quality is good.
  • step S37 Finding the current task is continued in the next step S37 and access to the network is then sought. In each case, the process continues with step S31. Finding the current task is continued in the next step S37 and access to the network is then sought. In each case, the process continues with step S31. Finding the current task is continued in the next step S37 and access to the network is then sought. In each case, the process continues with step S31. Finding the
  • connection quality is a permanently repeated activity, since the behavior of the mobile systems depends on it.
  • FIG. 4 shows a flow chart for an exemplary preventive behavior of a mobile system 4.
  • the mobile system 4 checks here whether a critical zone 2, 3 should be entered. This is done by comparing the current position with the zones of the operational environment.
  • step S42 it is first checked in a further step S42 whether the connection quality of the network is good.
  • step S43 the current task is continued in a step S43.
  • the critical zone can be entered.
  • the speed of the system can be reduced in step S43, for example.
  • the critical zone may not be entered.
  • the mobile system stops or it can find an alternative route bypassing the critical zone.
  • the current network status is reported to the alarm gateway 5.
  • a further mobile system 4 can be requested from the central controller in order to ensure a secure connection to the network.
  • the requested subscriber can position himself, for example, between the alarm gateway 5 and the requesting subscriber in order to serve as a range extension.
  • a further step S45 checks whether the connection quality of the network is good.
  • step S46 If so, the current task is continued in step S46. If not, the process continues in step S47, but a connection to the network is established if possible. How the mobile system behaves depending on the network status and location can be adapted to the respective situation. In addition to the behavior described in FIGS. 3 and 4, many other scenarios and procedures are also conceivable. The behavior can also depend on the type of critical zone and / or the type of current situation in the operational environment, for example on the time, ambient temperature, number of people and the like.
  • the periodicity or frequency with which the location and the network status are checked can preferably be adapted to the dynamics of the network under consideration and is typically in the range from Hz to kHz. If the network participants move quickly, a more frequent check can take place than with slow ones
  • a frequency of at least 1 / s is appropriate.
  • the frequency can be fixed or dynamically adapted to changing speeds of the participants.
  • the alarm gateway sends the
  • test messages are sent out at regular intervals. These test messages are received by the terminals and the delay during transmission is determined. Since the test messages are identical in size and modulation to the alarm messages, a subsequently sent alarm message has a very high
  • the network status is determined via the test messages and regularly transmitted to the control of the mobile systems.
  • Alarm messages are sent via the same interfaces as the test messages, but can also be transmitted with little delay regardless of their periodicity.
  • FIG. 5 shows an advantageous alarm system 7 based on the operational environment of FIG. 2.
  • the alarm system 7 comprises the alarm gateway 5 as a stationary subscriber and several terminals as a mobile subscriber 4.
  • the alarm system 7 is also activated by the
  • the interaction of the mobile subscribers 4 with the alarm gateway 5 according to the invention is formed and defined.
  • the alarm system 7 is independent of a network infrastructure.
  • the alarm gateway 5 sends the test and alarm messages 10 as a broadcast over all available communication interfaces. As a result, these messages 10 can also be transmitted without an infrastructure.
  • Each terminal 4 that receives this alarm or test message evaluates it, adds information about itself, and forwards it in turn as an infrastructure-independent broadcast.
  • measures are taken to limit the load on the wireless network.
  • the network is kept free of loops by no longer transmitting outdated messages.
  • Every terminal device that receives a message knows a route back to the alarm gateway. The end device sends via such a route
  • Information about its current status back to the alarm gateway. These can contain information on the network status, the position of the terminal and / or its
  • the alarm system In addition to the alarm transmission with minimal, deterministic delay, the alarm system also enables the most important information from all connected end devices to be monitored independently of the infrastructure.
  • the status information is preferably reported back at a lower frequency than the transmission of the test messages.
  • the alarm system 7 makes only minimal demands on the implementation of its elements.
  • Figure 6 three variants for the alarm gateway 5 are shown.
  • alarm signals are received through an external alarm interface 8.
  • Such alarm signals can, for example, be triggered by external sensors such as smoke detectors or moisture detectors.
  • the gateway 5 has one or more communication interfaces 9, as shown in FIG. These interfaces 9 are either internal components (a, c) of the gateway or also external elements (b).
  • Feedback messages 11 from the network are sent through one or more of the
  • Interfaces 9 received and forwarded to elements 13 12, which evaluate the current status of the network. This can be done by software components 13 on the gateway 5 itself, FIG. 6 (a), as well as parts of external devices 13, FIG. 6 (c). It is also possible for the evaluating elements 13 to be identical to the peripheral components which generate the alarm signals, FIG. 6 (b).
  • the integration of the alarm system 7 into the mobile terminals 4 is also flexible.
  • the system can be integrated into existing mobile systems 4 as additional hardware and / or software. It can bring along independent communication interfaces 9 as well as use existing interfaces 9 of the terminal.
  • the alarm system 7 is connected to various internal components of the terminal in order to inform them of the current network status and to receive information on generating the feedback messages.
  • the alarm system can, however, also already be integrated in the mobile terminal 4 ex works.
  • alarm gateways 5 and terminals 4 are also possible in the alarm system 7.
  • stationary elements for forwarding alarm and test messages stationary alarm indicators, such as emergency stop buttons, which also send local alarms into the network, with or without a prior network test.
  • the alarm system has at least one interface via which data is exchanged via the terminal device.
  • This preferably includes at least the following data: a unique address,
  • an IP address or a MAC address For example, an IP address or a MAC address, the current location of the device, the current status of the device, such as its current task or the battery level, and a system-wide synchronized time.
  • configurations were transferred at the time of the initialization of the alarm system, which describe the connection of the communication interfaces and further general information about the structure and function of the end device. This information is available to the local instances of the alarm system and is used for the further function of the alarm system.
  • the synchronization of the system times several participants are carried out using protocols such as NTP. In particular, there is a synchronization with a local time server.
  • Element A is a peripheral system that generates alarms.
  • Element B is the alarm gateway.
  • Element C is the alarm system on a mobile terminal and element D is the control of the mobile terminal.
  • data is sent 14 to the alarm system in the mobile terminal C via the mobile terminal.
  • the network monitoring phase (b) begins in which the alarm gateway B first generates test messages 15 and sends them to the mobile alarm systems C 16. These determine the status of the network based on the test messages received and report 17 this to the control of the mobile terminal. In addition, the test messages 15 are forwarded to other mobile terminals if the corresponding conditions are met 18. If the alarm system in the mobile terminal C generates a feedback message, it sends 19 this to the alarm gateway B. Feedback- Messages 22 that are received from other terminals are forwarded 23 if the current terminal is part of the route.
  • an alarm signal 24 is generated by the peripheral system A and sent to the alarm gateway B, this alarm signal can be sent 20 as an alarm message by the alarm system to the terminal.
  • the alarm message is immediately forwarded to the controller D of the mobile terminal 21. This is referred to as the alarm transmission phase (c).
  • the alarm messages like the test messages, are forwarded to other mobile terminals if corresponding conditions are met.
  • the pronounced minimum, deterministic delay in the alarm system relates to the delay T shown in FIG. 7. While the alarm is being spread, the network continues to be monitored.
  • a test message is generated by the alarm gateway.
  • the test message is distributed in the network by means of broadcast flooding.
  • the incoming test messages are evaluated by the end devices, such as the mobile systems. Among other things, the connection quality is determined.
  • the terminal generates a feedback message and, in a fifth step, sends this feedback message through the network to the alarm gateway.
  • the alarm gateway receives the feedback message and evaluates it.
  • Step 1 Generation of a test message by the alarm gateway / s
  • Each alarm gateway generates test messages 15 at a predetermined frequency 25.
  • the frequency is preferably in the range from Hz to kHz, but can also be lower or higher.
  • the test message contains, for example, the following information (see FIG. 13): a unique identifier which identifies the message as part of the alarm system; the unique address of the alarm gateway within the network, for example an IP address; the location of the alarm gateway; Status information about the alarm gateway; the
  • test message type for example test message or alarm message; the number of redirects to date; a checksum to check the integrity of the data and a list of terminals that have forwarded the check message so far. This list is initially empty.
  • the frequency 25 with which these test messages are generated 24 can be determined according to the respective application and can be communicated to the alarm system during initialization. A low frequency 25 influences the other
  • the test message generated is sent via all available communication interfaces 9.
  • the generation of the message 24 preferably includes information from alarm inputs 8, from a controller 26, from a navigation system 27 and from an energy management system 28 in order to obtain the above-mentioned information.
  • Step 2 Distribution of the test message by means of broadcast flooding in the network
  • FIG. 9 shows a flow chart of the second step, according to which the test messages are broadcast in the network.
  • step S99 Processing of the current test message ended in step S99. However, if it is a valid test message, it is immediately assessed whether this message should be forwarded. This immediate check allows a slight delay even if a message is forwarded several times. This test preferably tests three conditions:
  • a check message is only forwarded up to a certain maximum number of hops.
  • the maximum number of hops is selected on the basis of the available interfaces and the application.
  • the delay can be determined by comparing the time at which the message was sent with the current time, since all systems are time-synchronized. A test message is no longer forwarded if it has already exceeded a period of validity, i.e. a maximum permissible delay. This does not impair the functioning of the system, since the information can also be extracted from the absence of check messages that a terminal can no longer be reached with little delay.
  • test message is forwarded a maximum of once by a participant. To do this, the participant checks the combination of the address of the alarm gateway and the incrementing index. Together, these two parameters allow a clear identification of the
  • Step 3 Evaluation of incoming test messages by the terminals
  • a mobile subscriber preferably has a
  • Network rating unit Messages that are not forwarded or that have been received twice or late are also used to record the network status on the end device.
  • Various metrics can be used for the evaluation. For example, the mean and / or the highest measured delay can be determined.
  • a ratio between the numbers of received and non-received alarm messages can also be calculated. This can be done separately for each communication interface or as a common code for all
  • Communication interfaces are calculated together, the length and reliability of the routes used for transmission and / or the redundancy of the routes used can be further metrics.
  • a connection quality and / or a network status are derived from one or more of these quantitative metrics.
  • the network status derived in this way is passed on from the network evaluation unit to the control of the mobile subscriber.
  • the network status is also used to determine the optimal route back to the alarm gateway.
  • the information is used which each forwarding terminal had attached to the test message.
  • an assessment is made which of the routes is the most reliable. Have two routes the same
  • the shortest route is used. As a route, a number is off
  • Step 4 Generating a feedback message by each end device
  • each end device creates 25 feedback messages at a defined frequency, via which the alarm gateway is informed of the current status of the network.
  • Figure 10 shows an example of a sequence of such a method for Generation 29 of a feedback message.
  • the frequency 25 of the feedback generation is preferably less than or equal to the frequency 25 of the test message generation.
  • the following information is preferably stored in the feedback message (see FIG.
  • a unique ID which identifies the message as feedback; the address, location and status 44 of the sender; the average and maximum delay; the number of messages received; the ratio between the numbers of received and non-received messages, further features, such as detected time desynchronization, which characterize a network status, such as redundancy, critical routes and the like; the length 45 of the route to return the message; the current position 46 on the return route, as well as the addresses 47 of the
  • the generation of the message 29 includes information from the network evaluation unit 43, from a controller 26, from a navigation system 27 and from an energy management system 28.
  • Step 5 Sending the feedback messages through the network to the alarm gateway
  • a route is selected that, for example, the
  • the route accordingly contains a list of mobile systems that is taken in reverse order from the last test message received on the selected route.
  • a feedback message is sent as unicast or broadcast into the wireless network.
  • All end devices in the alarm system function both as sources of the feedback messages and as routers or relays for forwarding the feedback messages.
  • FIG. 11 shows an example of the process sequence.
  • a terminal receives a feedback message S111, it first checks, S112, whether it was transmitted without errors using the checksum. It is then checked, S113, whether the terminal is an element of the route that is to transmit the message. That means whether your own address is included in the list of the feedback message. If so, the routing information will be in the Message updated, S114, and the feedback message forwarded via the communication interface 9 specified in the route, S115.
  • Step 6 Receiving, evaluating and presenting the network status at the alarm gateway
  • the feedback messages are received by the alarm gateway.
  • the network can be observed and evaluated on the basis of the feedback messages received. It can be determined which end devices are no longer connected to the network or which topology the overall network has.
  • the alarm gateway is thus able to react accordingly to changes in the network.
  • FIG. 12 shows an exemplary implementation of an alarm system 7 according to the invention in an operational environment.
  • the system has several mobile systems 4 as terminals and a stationary alarm gateway 5.
  • the path of the test messages 10 is shown in FIG. 12; the feedback messages move accordingly in the opposite direction.
  • each terminal has a single-board computer which has a WLAN 9 and a Bluetooth interface 9..
  • the alarm gateway 5 sends the test messages 10 by means of WLAN, which are then forwarded by the terminals 4.
  • the status of the terminals is also reported back to the alarm gateway 5 via the same interfaces 9.
  • the terminals 4 can also forward messages that have been received via WLAN, for example, via Bluetooth or vice versa or via all available interfaces.
  • the network status is known locally for each terminal 4 from the test messages, information about the current zone in which the mobile terminal 4 is located is required.
  • the mobile systems 4 can be located in the vicinity.
  • zone information is available in a mapped form for the environment, or features in the environment allow an assignment to the zones.
  • the network and zone information can accordingly be combined in order to generate the reactive and / or preventive behaviors of the terminals described above.
  • FIG. 13 (a) shows by way of example elements of the test or alarm messages.
  • the message begins with an ID 30, which identifies the message as part of the protocol.
  • the ID 30 changes not during the term. This is followed by address 31 of the original sender, its position
  • Each transmitter has exactly one counter 35 which continuously increments. With the help of this counter 35 and the sender address 31, each alarm or test message is clearly identified.
  • the type 36 distinguishes between alarm and test messages. For example, an alarm can be of type 1 and a test message of type 0. Other types can describe special alarms or test messages.
  • a further counter 37 then indicates how often the message has already been forwarded.
  • the last field names a checksum 38 with the aid of which the integrity of the received data can be checked.
  • the forwarding subscriber Before each forwarding, the forwarding subscriber adds his address 39, his position 40, his status 41 and the current time 42 to the message, as shown in (b). After n forwarding, n of these subscriber information packets were accordingly attached, as shown in (c). Depending on the application, other, additional or less information can of course also be contained in the message. The invention is therefore in no way restricted to the exemplary embodiments shown here.
  • FIG. 14 shows elements of a feedback message by way of example.
  • the feedback message has a similar structure to a test message according to FIG. 13 and partly contains the same elements, which is why these elements are also provided with the same reference symbols.
  • the feedback message contains status information 44 of the mobile system, the length of the attached route 45, the current position 46 of the mobile system in the route and a list of the addresses 47 of the relays in the route.
  • address 47 also contains the interface via which the relay is to forward the feedback message. This ensures that the feedback message is transmitted quickly and reliably.

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Abstract

L'invention concerne un procédé pour faire fonctionner un système d'alarme (7) dans un réseau sans fil comprenant au moins une passerelle d'alarme (5) et au moins un système mobile (4). Au cours d'une première étape, un message de vérification est généré par l'intermédiaire de la passerelle d'alarme (5). Au cours d'une deuxième étape, ce message de vérification est répandu dans le réseau par l'intermédiaire de la passerelle d'alarme (5) au moyen d'une diffusion par inondation. Au cours d'une troisième étape, les messages de vérification entrants sont évalués par le système mobile (4). Au cours d'une quatrième étape, ce système mobile (4) génère un message de rétroaction. Au cours d'une cinquième étape, ce message de rétroaction est envoyé à la passerelle d'alarme (5) par l'intermédiaire du réseau. Au cours d'une sixième étape, la passerelle d'alarme (5) reçoit et évalue le message de rétroaction.
EP20734832.7A 2019-07-15 2020-06-22 Procédé pour faire fonctionner un système mobile et une passerelle d'alarme en tant que dispositifs utilisateurs d'un réseau sans fil Pending EP3999924A1 (fr)

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