Robot control system, control device, computer program, and control software update processing method

Abstract

The system includes: a robot control device; a base member connected to the control device by wired communication; and a portable communication terminal that can be attached to and detached from the base member and that can wirelessly communicate with an external device, and that downloads update control software from the external server to the portable communication terminal when the portable communication terminal is detached from the base member and the wired communication is released. When the portable communication terminal is attached to the base member and is connected to the base member by wired communication, the control software of the control device is updated using the downloaded update control software.

Description

Technical Field

[0001] The present disclosure relates to a robot control system, a control device, a computer program, and an update processing method for control software. Background Art

[0002] In factories where robot control systems are installed, there is no Internet access environment such as Wi-Fi (registered trademark). Therefore, when updating the control software of a control device of an industrial machine such as a robot, the new update control software is temporarily stored in a portable storage medium such as a memory card or a USB memory, and the portable storage medium is connected to the control device to perform the software update process.

[0003] For example, a robot system is known, comprising: a sending-side robot control device that sends update software; and a receiving-side robot control device that receives the update software from the sending-side robot control device, the sending-side robot control device and the receiving-side robot control device respectively comprising: a first storage unit that stores a software update processing program and robot motion control software; a second storage unit that stores the software update processing program read from the first storage unit; a third storage unit that stores the update software; and a communication unit that sends and receives the update software stored in the third storage unit (for example, refer to patent document 1).

[0004] For example, the following is stated in paragraph

[0016] of Patent Document 2: "The program can be provided in the form of an installable or executable file recorded on a computer-readable recording medium such as a CD-ROM, FD, CD-R, DVD, USB memory, etc. In addition, the program is stored in a storage unit of a computer connected to a communication network and imported by downloading from the network."

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: International Publication No. 2010 / 089951

[0008] Patent Document 2: Japanese Patent Application Publication No. 2020-075340 Summary of the invention

[0009] Problems to be solved by the invention

[0010] Generally speaking, portable storage media such as memory cards and USB memories are used to confirm the actions of major devices such as Windows (registered trademark) terminals, Android (registered trademark) terminals, and iOS (registered trademark) terminals. However, in special devices such as control devices in robot control systems, it is sometimes impossible to obtain action confirmation from portable storage media and to ensure the actions. Therefore, it is desirable to realize a robot control system and a computer program that can easily update the control software.

[0011] Means for solving problems

[0012] According to one embodiment of the present invention, a robot control system comprises: a control device of a robot; a base component, which is connected to the control device via wired communication; and a portable communication terminal, which can be loaded and unloaded from the base component and can wirelessly communicate with an external device, and when installed on the base component and connected to the base component via wired communication, the control device is instructed to perform actions of the robot according to the teaching operation content, and when the portable communication terminal is removed from the base component and the wired communication with the base component is released, update control software is downloaded from an external server as an external device to the portable communication terminal, and when the portable communication terminal is installed on the base component and connected to the base component via wired communication, the control software of the control device is updated using the downloaded update control software.

[0013] In addition, according to one embodiment of the present invention, a computer program is used in a robot control system to enable a computer to execute an update process of control software of a control device, the robot control system comprising: a base component, which is connected to the control device of the robot; and a portable communication terminal, which can be loaded and unloaded with the base component, and instructs the control device of the robot's movements according to the teaching operation content, the computer program comprising: a downloading step, when the portable communication terminal is removed from the base component and the wired communication with the base component is released, downloading the update control software from an external server as an external device to the portable communication terminal; and an updating step, when the portable communication terminal is installed on the base component and connected to the base component via wired communication, using the update control software downloaded in the downloading step to update the control software of the control device.

[0014] In addition, according to one embodiment of the present invention, a method for updating control software of a control device in a robot control system is provided, wherein the robot control system comprises: a base component connected to the control device of the robot; and a portable communication terminal capable of being loaded and unloaded from the base component and instructing the control device of the robot's movements according to the teaching operation content, wherein the method for updating the control software of the control device comprises: a downloading step, in which, when the portable communication terminal is removed from the base component and the wired communication with the base component is released, update control software is downloaded from an external server as an external device to the portable communication terminal; and an updating step, in which, when the portable communication terminal is installed on the base component and connected to the base component via wired communication, the control software of the control device is updated using the update control software downloaded in the downloading step.

[0015] In addition, according to one embodiment of the present invention, a control device having control software for controlling industrial machinery comprises: at least one memory; and at least one processor, wherein the at least one processor accepts a connection with a base component, accepts a connection with a portable communication terminal that can be loaded and unloaded with the base component, or accepts a connection with the portable communication terminal via the connection with the base component, obtains update control software from the portable communication terminal and stores it in the at least one memory after accepting the connection with the base component and the portable communication terminal, and updates the control software using the update control software stored in the at least one memory. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Detailed description of the invention is given in conjunction with a block diagram of a robot control system according to an embodiment of the present disclosure.

[0017] Figure 2 This is a diagram illustrating a schematic appearance of a robot control system according to an embodiment of the present disclosure.

[0018] Figure 3 This is a diagram for explaining a first downloading method in the robot control system according to the embodiment of the present disclosure.

[0019] Figure 4 It is a diagram for explaining the downloading method of the second mode in the robot control system according to the embodiment of the present disclosure.

[0020] Figure 5 This is a diagram for explaining a communication protocol between a portable communication terminal and a control device in a robot control system according to an embodiment of the present disclosure.

[0021] Figure 6 This is a flowchart showing the overall flow of a process for updating control software of a control device in a robot control system according to an embodiment of the present disclosure.

[0022] Figure 7This is a flowchart showing a detailed operation flow of a process for updating control software of a control device in a robot control system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] Hereinafter, the robot control system and computer program of the embodiment will be described with reference to the accompanying drawings. In addition, in the following description, the same symbols are marked on the structures having the same or similar functions. In addition, the repeated description of these structures is sometimes omitted. In addition, in the following description, "updated control software" refers to the latest version of the control software in the control software of the robot's control device.

[0024] <Overall structure of the robot control system>

[0025] Figure 1 : is a block diagram showing a robot control system according to an embodiment of the present disclosure. Figure 2 This is a diagram illustrating a schematic appearance of a robot control system according to an embodiment of the present disclosure.

[0026] The robot control system 100 includes a control device 11 , a base member 12 , and a general-purpose portable communication terminal 13 .

[0027] The robot 2 as an industrial machine is connected to the control device 11 via a cable 41 (hereinafter referred to as "robot cable 41") in a wired communication manner. The movement of the robot 2 is controlled by the control device 11. The control device 11 is not directly connected to the external Internet line, and therefore is not subject to threats on the Internet line. An operation processing device (at least one processor) and a storage device (at least one memory) are provided in the control device 11. As the operation processing device, there are, for example, IC, LSI, CPU, MPU, DSP, etc. As the memory, there are, for example, non-volatile memories that can be electrically erased / recorded such as EEPROM (registered trademark), or random access memories that can be read and written at high speed such as DRAM, SRAM, etc. The control device 11 having an operation processing device is, for example, a functional module implemented by control software (computer program) executed on a processor. By causing the operation processing device to operate according to the control software, each process of the control device 11 that controls the movement of the robot 2 can be realized.

[0028] The base member 12 is connected to the control device 11 via wired communication and has a communication interface (not shown) therefor. The base member 12 and the control device 11 are connected via a cable 33 (hereinafter referred to as "teaching operation device cable 33") in a wired communication manner. The base member 12 has a mounting base 30, an enabling switch 31 as a safety switch, and an emergency stop button 32.

[0029] The mounting base 30 is used to mount the portable communication terminal 13 on the base member 12 in a detachable manner. As a method of mounting the portable communication terminal 13 using the mounting base 30, there are, for example, a method of holding the portable communication terminal 13 by clamping with a spring mechanism provided on the base member 12, a method of screwing the portable communication terminal 13, a method of sticking the portable communication terminal 13 using an adhesive member, etc. The portable communication terminal 13 physically mounted via the mounting base 30 is connected to the base member 12 via a cable 23 (hereinafter referred to as a "terminal cable 23") in a wired communication manner.

[0030] The enabling switch 31 is a safety switch that allows the control of the actions of the robot 2 by the control device 11 via the portable communication terminal 13 while being continuously pressed (turned on), and does not allow the control of the actions of the robot 2 by the control device 11 via the portable communication terminal 13 when it is released from being pressed (turned on). A signal corresponding to the operation content of the enabling switch 31 is transmitted from the base unit 12 to the control device 11 via the teaching operation device cable 33. For example, while the enabling switch 31 is not pressed, the robot 2 does not move regardless of any operation performed via the portable communication terminal 13. While the enabling switch 31 is pressed, the robot 2 can be operated via the portable communication terminal 13.

[0031] The emergency stop button 32 is a safety switch for instructing the control device 11 to emergency stop the robot 2. When the emergency stop button 32 is pressed (turned on), an emergency stop signal is transmitted from the base member 12 to the control device 11 via the teaching operation device cable 33, and the robot 2 receives the signal and performs an emergency stop.

[0032] The portable communication terminal 13 is a general-purpose mobile information communication terminal capable of wireless communication with an external device. Examples of the portable communication terminal 13 include a tablet terminal (tablet PC), a smartphone, and the like.

[0033] The portable communication terminal 13 has, for example, a touch panel 21 having both the functions of screen display and input operation acceptance. In addition, the portable communication terminal 13 has a power button 22 for turning on the power of the portable communication terminal 13. By pressing (turning on) the power button 22 once, the portable communication terminal 13 is activated. In addition, the portable communication terminal 13 has a battery (not shown) inside.

[0034] The portable communication terminal 13 is a general-purpose information communication terminal, and therefore various application software can be installed therein, one of which is teaching software for instructing the control device 11 on the operation of the robot 2 according to the content of the teaching operation.

[0035] The portable communication terminal 13 is connected to the base unit 12 via a terminal cable 23 in a manner capable of wired communication, and has a communication interface (not shown) therefor. When the portable communication terminal 13 installed with teaching software is installed on the base unit 12 and connected to the base unit 12 via wired communication, a teaching operation device 1 composed of the portable communication terminal 13 and the base unit 12 is formed. When the teaching operation is performed by the portable communication terminal 13 in the teaching operation device 1, the portable communication terminal 13 is connected to the control device 11 via the base unit 12 in a manner capable of wired communication, so that the teaching operation for the robot 2 can be performed stably. When the operator operates the portable communication terminal 13 in the teaching operation device 1, the portable communication terminal 13 instructs the control device 11 on the action of the robot 2 according to the content of the teaching operation. The portable communication terminal 13 has a teaching software installed in its internal storage unit (not shown) for registering, editing, setting conditions, displaying status, teaching, and manually operating the action program related to the robot 2. Similarly, the internal operation processing device operates according to the teaching software installed in the storage unit, thereby realizing a wireless teaching operation function for operating (teaching) the robot 2. Examples of the operation processing device include IC, LSI, CPU, MPU, and DSP. The storage unit is composed of a non-volatile memory that can be electrically erased / recorded, such as EEPROM (registered trademark), or a random access memory that can read and write at high speed, such as DRAM and SRAM.

[0036] In addition, the portable communication terminal 13 can be connected to the Internet line via a wireless LAN such as Wi-Fi (registered trademark) or a mobile phone communication system (LTE, 3G line, 4G line, 5G line, etc.) to communicate data with an external device on the Internet line. In addition, the portable communication terminal 13 can also be connected to the Internet line via a wired cable such as a USB cable (not shown) to communicate data with an external device on the Internet line.

[0037] In the robot control system 100, in order to ensure efficiency and safety, the control software of the control device 11 of the robot 2 needs to be kept at the latest version. The "update control software" which is the latest version of the control software is stored in, for example, an external server 3 provided by the manufacturer or seller of the robot control system 100. The external server 3 is connected to the Internet line, and the operator of the robot control system 100 can access the external server 3 through the Internet line from the portable communication terminal 13 to obtain the update control software. The update control software downloaded from the external server 3 to the portable communication terminal 13 is temporarily stored in the storage unit in the portable communication terminal 13.

[0038] According to the embodiment of the present disclosure, the control software of the control device 11 is updated without using a portable storage medium such as a memory card or a USB memory as in the past. Therefore, even for special devices such as the control device in the robot control system, it is not necessary to obtain the action confirmation of the portable storage medium in advance. In addition, since the portable storage medium is not used, when downloading the updated control software, it will not be affected by the communication speed of the portable storage medium as a hardware device. In addition, since a general-purpose portable communication terminal 13 is used to update the control software of the control device 11, there is no need to add a new hardware device. Generally speaking, in factories where robot control systems are installed, most of them do not have an access environment to the Internet such as Wi-Fi (registered trademark). The general-purpose portable communication terminal 13 has a Wi-Fi (registered trademark) communication function for accessing the Internet, and it is also easy to remove the portable communication terminal 13 from the base component 12. Therefore, it is also easy to bring the portable communication terminal 13 into an environment where Internet communication can be performed, and download the updated control software in the portable communication terminal 13. As described above, according to the embodiment of the present disclosure, the control software of the control device 11 can be easily updated.

[0039] In the embodiment of the present disclosure, the portable communication terminal 13 is separated from the control device 11, and the update software is downloaded to the portable communication terminal 13 from the external server 3 in an environment where the Internet connection can be performed. Then, the portable communication terminal 13 is connected to the control device 11 connected to the Internet line by wire to perform software update processing. More specifically, when the portable communication terminal 13 is removed from the base unit 12 and the wired communication between the portable communication terminal 13 and the base unit 12 is released, the update control software is downloaded to the portable communication terminal 13 from the external server 3 as an external device. And when the portable communication terminal 13 is installed on the base unit 12 and the portable communication terminal 13 and the base unit 12 are connected via wired communication, the control software of the control device 11 is updated using the update control software stored in the portable communication terminal 13.

[0040] In the embodiment of the present disclosure, at least one processor provided in the control device 11 accepts connection with the base unit 12. In addition, at least one processor provided in the control device 11 accepts connection with the portable communication terminal 13 that can be attached to and detached from the base unit 12, or accepts connection with the portable communication terminal 13 via the connection with the base unit 12. After accepting the connection with the base unit 12 and the portable communication terminal 13, the at least one processor provided in the control device 11 obtains the update control software from the portable communication terminal 13 and stores it in at least one memory in the control device 11. The at least one processor provided in the control device 11 updates the control software using the update control software stored in the at least one memory.

[0041] <Downloading of the control software for update>

[0042] Several methods of downloading the update control software to the portable communication terminal 13 are listed below.

[0043] The first downloading method is based on wireless communication. Figure 3 1 is a diagram for explaining a first download method in a robot control system of an embodiment of the present disclosure. An external server 3 storing update control software is provided on an Internet line 4. A router 5, for example, composed of a Wi-Fi router (wireless LAN router), is connected to the Internet line 4. In the first download method, when the portable communication terminal 13 is removed from the base unit 12 and the wired communication between the portable communication terminal 13 and the base unit 12 is released, the portable communication terminal 13 is connected to the Internet line 4 via the router 5. Then, the update control software is downloaded to the portable communication terminal 13 from the external server 3 on the Internet line 4 via wireless communication (Wi-Fi connection). In addition, instead of (Wi-Fi connection), the portable communication terminal 13 may be connected to the Internet line 4 in a manner capable of wireless communication via a portable phone communication system (LTE, 3G line, 4G line, 5G line, etc.).

[0044] The downloading method of the second aspect is based on wired communication. Figure 4 1 is a diagram for explaining a second download method in a robot control system according to an embodiment of the present disclosure. An external server 3 storing update control software is provided on an Internet line 4. A router 5 is connected to the Internet line 4. In the second download method, when the portable communication terminal 13 is removed from the base unit 12 and the wired communication between the portable communication terminal 13 and the base unit 12 is released, the portable communication terminal 13 is connected to the router 5 via a USB cable 6, thereby connecting the portable communication terminal 13 to the Internet line 4. Furthermore, the update control software is downloaded from the external server 3 on the Internet line 4 to the portable communication terminal 13 via wired communication.

[0045] <Software update processing>

[0046] After the update control software is downloaded in the portable communication terminal 13 as described above, when the portable communication terminal 13 is mounted on the base unit 12 and the portable communication terminal 13 and the base unit 12 are connected via wired communication, the software update process is performed on the control device 11 .

[0047] Figure 5 This is a diagram for explaining a communication protocol between a portable communication terminal and a control device in a robot control system according to an embodiment of the present disclosure.

[0048] The base unit 12 and the control device 11 are connected via the teaching operation device cable 33 in a wired communication manner. In addition, when the control device 11 is subjected to software update processing, the portable communication terminal 13 storing the downloaded update control software is installed on the base unit 12, and the portable communication terminal 13 and the base unit 12 are connected via wired communication. That is, when the control device 11 is subjected to software update processing, the portable communication terminal 13 is connected to the control device 11 via the base unit 12 in a wired communication manner.

[0049] The communication protocol between the portable communication terminal 13 and the control device 11 used in the update process of the control software of the control device 11 is, for example, FTP and TFTP, but it may be a communication protocol other than these. For example, communication protocols such as SMTP, SMB, STP, MTP, SCP, SFTP, FTPS, etc. may also be used. Hereinafter, as an example, the case where FTP and TFTP are used as the communication protocol will be described. Software of an FTP client and a TFTP client are set in the control device 11. The portable communication terminal 13 functions as an FTP server and a TFTP server.

[0050] Figure 6 This is a flowchart showing the overall flow of a process for updating control software of a control device in a robot control system according to an embodiment of the present disclosure.

[0051] In step S100, the operator removes the portable communication terminal 13 from the base member 12, and removes the terminal cable 23 between the portable communication terminal 13 and the base member 12 to cancel the wired communication between the portable communication terminal 13 and the base member 12. In addition, the operator brings the portable communication terminal 13 into an environment where the Internet can be accessed, and connects the portable communication terminal 13 to the external server 3 via Wi-Fi (registered trademark). Then, the operator manually operates the portable communication terminal 13 to download the update control software from the external server 3 to the portable communication terminal 13.

[0052] In step S200, the operator installs the portable communication terminal 13 on the base member 12, and installs the terminal cable 23 between the portable communication terminal 13 and the base member 12 to enable wired communication between the portable communication terminal 13 and the base member 12. Then, the operator operates the portable communication terminal 13 to update the control software of the control device 11 using the update control software stored in the portable communication terminal 13.

[0053] The computer program for causing the computer to execute the update process of the control software of the control device 11 in the robot control system 100 has a downloading step and an updating step. The computer program for executing the downloading step is operated when the portable communication terminal 13 is removed from the base unit 12 and the wired communication between the portable communication terminal 13 and the base unit 12 is released. The computer program for executing the downloading step is specified to download the update control software from the external server 3 as an external device to the portable communication terminal 13. The computer program for executing the downloading step is installed in the portable communication terminal 13, for example, software including an FTP client. The computer program for executing the updating step is operated when the portable communication terminal 13 is installed in the base unit 12 and the portable communication terminal 13 and the base unit 12 are connected via wired communication. The computer program for executing the updating step is specified to update the control software of the control device 11 using the update control software stored in the portable communication terminal 13. The computer program for executing the updating step is installed in the portable communication terminal 13 and the control device 11 , the FTP client and TFTP client software are set in the control device 11 , and the FTP server and TFTP server software are set in the portable communication terminal 13 .

[0054] Figure 7 This is a flowchart showing a detailed operation flow of a process for updating control software of a control device in a robot control system according to an embodiment of the present disclosure.

[0055] An example will be described in which an old version of control software is already installed in the control device 11 and the old version of control software is updated using updated control software (ie, new version of control software) downloaded to the portable communication terminal 13 .

[0056] The operator installs the portable communication terminal 13 storing the update control software on the base member 12, and installs the terminal cable 23 between the portable communication terminal 13 and the base member 12 to enable wired communication between the portable communication terminal 13 and the base member 12. Then, in the update start request step S201, the operator operates the portable communication terminal 13 to send an update start request from the portable communication terminal 13 to the control device 11. The update start request is made, for example, by requesting the display of a specific address from the portable communication terminal 13 to the Web server in the control device 11, but may also be made by other methods.

[0057] Next, in the backup file sending step S202, the control device 11 sends the backup file of the control device 11 from the control device 11 to the portable communication terminal 13 through the FTP client included in the old version of the control program that has been installed. In the backup file, for example, various setting parameters of the control device 11 are specified. In order to prevent the setting parameters of the control device 11 from being overwritten and deleted due to the update process of the control software of the control device 11, the backup file is temporarily saved to the portable communication terminal 13 in the backup file sending step S202. In addition, a USB memory may be connected to the portable communication terminal 13, and the backup file stored in the portable communication terminal 13 may be written to the USB memory.

[0058] Next, in the boot software sending request step S203 , the control device 11 sends a boot software sending request of the control device 11 to the portable communication terminal 13 through the FTP client included in the installed old version of the control program.

[0059] Next, in the boot software downloading step S204, the control device 11 downloads new boot software from the portable communication terminal 13 to the control device 11 through the FTP client included in the installed old version of the control program. The new boot software includes the TFPT client software.

[0060] Next, in the boot software update step S205 , the existing old boot software is deleted from the control device 11 , and the new boot software downloaded in the boot software download step S204 is installed in the control device 11 .

[0061] Next, in the power reconnection step S206 , the operator temporarily turns off the power of the control device 11 and then turns it on again.

[0062] Next, in the boot software activation step S207 , new boot software is activated in the control device 11 .

[0063] Next, in the image backup sending step S208, the control device 11 sends the image backup of the control device 11 from the control device 11 to the portable communication terminal 13 through the TFTP client included in the new boot software. The image backup of the control device 11 is a copy of the old version of the control software (including core files, option files, and setting parameters) installed in the control device 11, which can be used to restore to the state before the software update process. When the software update process fails, the image backup stored in the portable communication terminal 13 can be used to restore the control device 11 to the state before the software update process. In addition, a USB memory can be connected to the portable communication terminal 13 to write the image backup stored in the portable communication terminal 13 to the USB memory.

[0064] Next, in the update control software transmission request step S209 , the control device 11 transmits an update control software transmission request to the portable communication terminal 13 via the TFTP client included in the new boot software.

[0065] Next, in the updating control software downloading step S210, the control device 11 downloads the updating control software from the portable communication terminal 13 to the control device 11 through the FTP client and the TFTP client. The updating control software in the updating control software downloading step S210 is downloaded in two steps. First, the control device 11 downloads the first part of the updating control software from the portable communication terminal 13 to the control device 11 through the TFTP client included in the new boot software. The first part of the downloaded updating control software includes the core file of the updating control software, a part of the option file, and the software of the FTP client. The core file of the updating control software also specifies the initial value of the setting parameter of the control device 11. In addition, the option file also specifies the initial value of the setting parameter of the control device 11. In addition, the software of the FTP client also specifies the initial value of the setting parameter of the control device 11. Next, the control device 11 downloads the second part of the updating control software from the portable communication terminal 13 to the control device 11 through the FTP client included in the first part of the downloaded updating control software. The remaining option files of the update control software are included in the second part of the downloaded update control software.

[0066] Next, in the backup file transmission request step S211, the control device 11 transmits a backup file transmission request to the portable communication terminal 13 via the FTP client included in the first part of the downloaded update control software.

[0067] Next, in the backup file downloading step S212, the control device 11 downloads the backup file from the portable communication terminal 13 to the control device 11 through the FTP client included in the first part of the downloaded update control software. The backup file downloaded in the backup file downloading step S212 is the file temporarily saved in the portable communication terminal 13 in the backup file sending step S202.

[0068] Next, in the setting step S213, the backup file downloaded in the backup file downloading step S212 is used to restore the setting parameters of the control software of the control device 11 to the state before the software update process. Initial values ​​are set as setting parameters in the core file, option file, and FTP client software of the update control software downloaded in the update control software downloading step S210. Therefore, by overwriting the initial values ​​with the setting parameters specified in the backup file, the setting parameters of the control software of the control device 11 are restored to the state before the software update process.

[0069] In addition, in reference Figure 5 to Figure 7 In the embodiment described, the control device 11 is provided with software of an FTP client and a TFTP client, and the portable communication terminal 13 functions as an FTP server and a TFTP server. As a variation thereof, the relationship between the client and the server may be reversed, and the portable communication terminal 13 is provided with software of an FTP client and a TFTP client, and the control device 11 functions as an FTP server and a TFTP server. In this variation, Figure 7 In the description, the descriptions related to “downloading” of the boot software, the update control software, and the backup file from the portable communication terminal 13 to the control device 11 are replaced with “uploading” and applied.

[0070] As described above, according to the embodiment of the present disclosure, it is possible to realize a robot control system and a computer program that can easily update the control software of the control device 11 .

[0071] The present disclosure has been described in detail, but the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the main purpose of the present disclosure, or without departing from the scope of the main purpose of the present disclosure derived from the contents recorded in the scope of the patent protection requested and its equivalents. In addition, these embodiments can also be implemented in combination. For example, in the above-mentioned embodiments, the order of each action and the order of each processing are shown as an example and are not limited to this. In addition, the same is true for the case where numerical values ​​or mathematical formulas are used in the description of the above-mentioned embodiments.

[0072] The following supplementary notes are further disclosed with respect to the above-mentioned embodiment and modified examples.

[0073] (Note 1)

[0074] A robot control system 100, wherein:

[0075] A control device 11 of the robot 2;

[0076] a base member 12 connected to the control device 11 via wired communication; and

[0077] The portable communication terminal 13 is detachable from the base unit 12 and can communicate wirelessly with an external device. When mounted on the base unit 12 and connected to the base unit 12 via wired communication, it instructs the control device 11 on the actions of the robot 2 according to the teaching operation content.

[0078] When the portable communication terminal 13 is removed from the base unit 12 and the wired communication with the base unit 12 is terminated, the update control software is downloaded from the external server 3 as an external device to the portable communication terminal 13.

[0079] When the portable communication terminal 13 is mounted on the base unit 12 and connected to the base unit 12 via wired communication, the control software of the control device 11 is updated using the downloaded update control software.

[0080] (Note 2)

[0081] The robot control system 100 according to Supplement 1, wherein:

[0082] When the portable communication terminal 13 is detached from the base member 12 and the wired communication with the base member 12 is terminated, the update control software is downloaded from the external server 3 to the portable communication terminal 13 via wireless communication.

[0083] (Note 3)

[0084] The robot control system 100 according to Supplement 1, wherein:

[0085] When the portable communication terminal 13 is detached from the base member 12 and the wired communication with the base member 12 is terminated, the update control software is downloaded from the external server 3 to the portable communication terminal 13 via the wired communication.

[0086] (Note 4)

[0087] The robot control system 100 according to any one of Supplementary Notes 1 to 3, wherein:

[0088] The base member 12 has:

[0089] an enabling switch 31 that allows the control of the motion of the robot 2 by the control device 11 while being pressed, and does not allow the control of the motion of the robot 2 by the control device 11 when being released;

[0090] an emergency stop button 32 for instructing the control device 11 to perform an emergency stop on the robot 2; and

[0091] The mounting base 30 is used to detachably mount the portable communication terminal 13 .

[0092] (Note 5)

[0093] The robot control system 100 according to any one of Supplementary Notes 1 to 4, wherein:

[0094] The communication protocol between the portable communication terminal 13 and the control device 11 for updating the control software of the control device 11 is FTP and TFTP.

[0095] (Note 6)

[0096] A computer program for causing a computer to execute an update process of a control software of a control device 11 in a robot control system 100, wherein the robot control system 100 comprises: a base unit 12 connected to the control device 11 of a robot 2; and a portable communication terminal 13 which can be attached to and detached from the base unit 12 and instructs the control device 11 on the action of the robot 2 according to the teaching operation content, wherein:

[0097] The computer program causes a computer to execute an update process, the update process comprising:

[0098] a downloading step of downloading the update control software from the external server 3 as an external device to the portable communication terminal 13 when the portable communication terminal 13 is removed from the base unit 12 and the wired communication with the base unit 12 is released; and

[0099] In the updating step, when the portable communication terminal 13 is mounted on the base unit 12 and connected to the base unit via wired communication, the control software of the control device 11 is updated using the updated control software downloaded in the downloading step.

[0100] (Note 7)

[0101] A computer program for causing a computer to execute an update process according to Supplementary Note 6, wherein:

[0102] The communication protocol between the portable communication terminal 13 and the control device 11 used for updating the control software of the control device 11 in the updating step is FTP and TFTP.

[0103] (Note 8)

[0104] A computer program for causing a computer to execute an update process according to Supplement 7, wherein:

[0105] The control device 11 is provided with software of an FTP client and a TFTP client, and the portable communication terminal 13 functions as an FTP server and a TFTP server.

[0106] (Note 9)

[0107] The computer program for causing a computer to execute update processing according to Supplementary Note 8, wherein:

[0108] The update step has:

[0109] A boot software downloading step, downloading new boot software from the portable communication terminal 13 to the control device 11 through an FTP client;

[0110] A boot software updating step, after executing the boot software downloading step, deleting the old boot software in the control device 11, and installing the new boot software downloaded in the boot software downloading step into the control device 11;

[0111] a boot software startup step, after the boot software update step is executed and the power of the control device 11 is turned on again, starting the new boot software in the control device 11;

[0112] an updating control software downloading step, after executing the boot software startup step, downloading the updating control software from the portable communication terminal 13 to the control device 11 through the FTP client and the TFTP client; and

[0113] The setting step restores the setting parameters of the control software of the control device 11 to the state before the updating step is executed.

[0114] (Note 10)

[0115] A computer program for causing a computer to execute update processing according to Supplementary Note 9, wherein:

[0116] The update step has:

[0117] An update start request step, sending an update start request from the portable communication terminal 13 to the control device 11;

[0118] a backup file sending step, after executing the update start request step, sending the backup file of the control device 11 from the control device 11 to the portable communication terminal 13 through the FTP client; and

[0119] The boot software sending request step, after executing the backup file sending step, sends the boot software sending request from the control device 11 to the portable communication terminal 13 through the FTP client,

[0120] After executing the boot software sending request step, the boot software downloading step is executed.

[0121] (Note 11)

[0122] The computer program for causing a computer to execute update processing according to Supplementary Note 10, wherein:

[0123] The update step has:

[0124] An image backup sending step, after executing the boot software startup step, sending the image backup of the control device 11 from the control device 11 to the portable communication terminal 13 through the TFTP client included in the new boot software; and

[0125] The update control software sending request step, after executing the image backup sending step, sends the update control software sending request from the control device 11 to the portable communication terminal 13 through the TFTP client included in the new boot software,

[0126] After the update control software transmission request step is executed, the update control software downloading step is executed.

[0127] (Note 12)

[0128] A computer program for causing a computer to execute an update process according to Supplementary Note 11, wherein:

[0129] The update step has:

[0130] a backup file sending request step, after executing the update control software download step, sending a backup file sending request from the control device 11 to the portable communication terminal 13 through the FTP client; and

[0131] The backup file downloading step is to download the backup file from the portable communication terminal 13 to the control device 11 through the FTP client after executing the backup file sending request step.

[0132] In the setting step, the setting parameters of the control software of the control device 11 are restored to the state before the updating step is performed based on the backup file downloaded in the backup file downloading step.

[0133] (Note 13)

[0134] A control software update processing method is a control software update processing method for a control device 11 in a robot control system 100, wherein the robot control system 100 comprises: a base component 12 connected to the control device 11 of a robot 2; and a portable communication terminal 13 which can be attached to and detached from the base component 12 and instructs the control device 11 on the action of the robot 2 according to the teaching operation content, wherein:

[0135] The control software update processing method comprises:

[0136] a downloading step of downloading the update control software from the external server 3 as an external device to the portable communication terminal 13 when the portable communication terminal 13 is removed from the base unit 12 and the wired communication with the base unit 12 is released; and

[0137] In the updating step, when the portable communication terminal 13 is mounted on the base unit 12 and connected to the base unit via wired communication, the control software of the control device 11 is updated using the updated control software downloaded in the downloading step.

[0138] (Note 14)

[0139] A control device 11 having control software for controlling industrial machinery, wherein:

[0140] The control device 11 has:

[0141] at least one memory; and

[0142] at least one processor,

[0143] At least one processor accepts a connection with the base component 12, accepts a connection with a portable communication terminal 13 that can be loaded and unloaded with the base component 12, or accepts a connection with the portable communication terminal 13 via the connection with the base component 12, and after accepting the connection with the base component 12 and the portable communication terminal 13, obtains update control software from the portable communication terminal 13 and stores it in at least one memory, and updates the control software using the update control software stored in the at least one memory.

[0144] (Note 15)

[0145] The control device 11 according to Supplement 14, wherein:

[0146] The communication protocol between the portable communication terminal 13 and the control device 11 for updating the control software is FTP and TFTP.

[0147] (Note 16)

[0148] The control device 11 according to Supplement 15, wherein:

[0149] The control device 11 is provided with software of an FTP client and a TFTP client, and the portable communication terminal 13 functions as an FTP server and a TFTP server.

[0150] Explanation of symbols

[0151] 1Teaching operation device,

[0152] 2Robots,

[0153] 3 External servers,

[0154] 4 Internet lines,

[0155] 5. Router,

[0156] 6USB cable,

[0157] 11. Control device,

[0158] 12 base parts,

[0159] 13Portable communication terminal,

[0160] 23Terminal cables,

[0161] 30 installation pedestal,

[0162] 31 enable switch,

[0163] 32 Emergency stop button,

[0164] 33 Cable for teaching operation device,

[0165] 41Robot cables,

[0166] 100 robot control systems.

Claims

1. A robot control system, characterized in that: have: Control device of the robot; a base component connected to the control device via wired communication; and a portable communication terminal which can be attached to and detached from the base member and can communicate wirelessly with an external device, and when mounted on the base member and connected to the base member via wired communication, instructs the control device on the movement of the robot according to the teaching operation content, When the portable communication terminal is detached from the base member and the wired communication with the base member is terminated, the update control software is downloaded from the external server as the external device to the portable communication terminal, When the portable communication terminal is mounted on the base member and connected to the base member via wired communication, the control software of the control device is updated using the downloaded update control software.

2. The robot control system according to claim 1, characterized in that: When the portable communication terminal is detached from the base member and wired communication with the base member is terminated, the update control software is downloaded from the external server to the portable communication terminal via wireless communication.

3. The robot control system according to claim 1, characterized in that: When the portable communication terminal is detached from the base member and wired communication with the base member is released, the update control software is downloaded from the external server to the portable communication terminal via wired communication.

4. The robot control system according to any one of claims 1 to 3, characterized in that: The base member has: an enabling switch that allows the control of the motion of the robot by the control device while being pressed, and does not allow the control of the motion of the robot by the control device when being released; an emergency stop button, used to instruct the control device to urgently stop the robot; and The mounting base is used to detachably mount the portable communication terminal.

5. The robot control system according to any one of claims 1 to 4, characterized in that: The communication protocol between the portable communication terminal and the control device used for updating the control software of the control device is FTP and TFTP.

6. A computer program for causing a computer to execute an update process of control software of a control device in a robot control system, wherein the robot control system comprises: a base component connected to the control device of the robot; and a portable communication terminal which can be attached to and detached from the base component and instructs the control device to perform actions of the robot according to teaching operation contents, characterized in that: The computer program is used to cause a computer to execute an update process, the update process comprising: a downloading step of downloading update control software from an external server as the external device to the portable communication terminal when the portable communication terminal is detached from the base member and the wired communication with the base member is released; as well as The updating step is to update the control software of the control device using the update control software downloaded in the downloading step when the portable communication terminal is mounted on the base member and connected to the base member via wired communication.

7. The computer program for causing a computer to execute update processing according to claim 6, characterized in that: In the updating step, the communication protocol between the portable communication terminal and the control device used for updating the control software of the control device is FTP and TFTP.

8. The computer program for causing a computer to execute update processing according to claim 7, characterized in that: The control device is provided with software of an FTP client and a TFTP client, and the portable communication terminal functions as an FTP server and a TFTP server.

9. The computer program for causing a computer to execute update processing according to claim 8, characterized in that: The updating step has: a boot software downloading step, downloading new boot software from the portable communication terminal to the control device via an FTP client; a boot software updating step, after executing the boot software downloading step, deleting the old boot software already in the control device, and installing the new boot software downloaded in the boot software downloading step into the control device; a boot software starting step, after the boot software updating step is executed and the power of the control device is turned on again, starting the new boot software in the control device; an updating control software downloading step, after executing the boot software startup step, downloading the updating control software from the portable communication terminal to the control device through an FTP client and a TFTP client; and A setting step is performed to restore the setting parameters of the control software of the control device to the state before executing the updating step.

10. The computer program for causing a computer to execute update processing according to claim 9, characterized in that The updating step has: An update start request step of sending an update start request from the portable communication terminal to the control device; a backup file sending step, after executing the update start request step, sending the backup file of the control device from the control device to the portable communication terminal through an FTP client; as well as a boot software sending request step, after executing the backup file sending step, sending a boot software sending request from the control device to the portable communication terminal through an FTP client, After executing the boot software sending request step, the boot software downloading step is executed.

11. The computer program for causing a computer to execute update processing according to claim 10, characterized in that: The updating step has: An image backup sending step, after executing the boot software startup step, sending the image backup of the control device from the control device to the portable communication terminal through the TFTP client included in the new boot software; as well as an update control software sending request step, after executing the image backup sending step, sending an update control software sending request from the control device to the portable communication terminal through the TFTP client included in the new boot software, After the update control software transmission request step is executed, the update control software downloading step is executed.

12. The computer program for causing a computer to execute update processing according to claim 11, characterized in that: The updating step has: a backup file sending request step, after executing the update control software download step, sending a backup file sending request from the control device to the portable communication terminal through an FTP client; and a backup file downloading step, after executing the backup file sending request step, downloading the backup file from the portable communication terminal to the control device through the FTP client, In the setting step, the setting parameters of the control software of the control device are restored to the state before the updating step is performed according to the backup file downloaded in the backup file downloading step.

13. A control software update processing method, which is a control software update processing method for a control device in a robot control system, wherein the robot control system comprises: a base component connected to the control device of the robot; and a portable communication terminal which can be attached to and detached from the base component, and instructs the control device to perform actions of the robot according to teaching operation contents, characterized in that: The control software update processing method comprises: a downloading step of downloading update control software from an external server as the external device to the portable communication terminal when the portable communication terminal is detached from the base member and the wired communication with the base member is released; as well as The updating step is to update the control software of the control device using the update control software downloaded in the downloading step when the portable communication terminal is mounted on the base member and connected to the base member via wired communication.

14. A control device having control software for controlling industrial machinery, characterized in that: The control device has: at least one memory; and at least one processor, The at least one processor accepts a connection with a base component, accepts a connection with a portable communication terminal that can be loaded and unloaded with the base component, or accepts a connection with the portable communication terminal via the connection with the base component, and after accepting the connection with the base component and the portable communication terminal, obtains update control software from the portable communication terminal and stores it in the at least one memory, and updates the control software using the update control software stored in the at least one memory.

15. The control device according to claim 14, characterized in that: The communication protocol between the portable communication terminal and the control device for updating the control software is FTP and TFTP.

16. The control device according to claim 15, characterized in that: The control device is provided with software of an FTP client and a TFTP client, and the portable communication terminal functions as an FTP server and a TFTP server.

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