Robot control system, control unit, computer program and procedure for updating the control software

Abstract

The present invention comprises a controller for a robot, a base unit connected to the controller via wired communication, and a mobile communication terminal which can be attached to or detached from the base unit and can communicate wirelessly with an external device, wherein: when the mobile communication terminal is detached from the base unit and the wired communication is terminated, update control software is downloaded from an external server to the mobile communication terminal; and when the mobile communication terminal is attached to the base unit and connected to the base unit via wired communication, control software for the controller is updated by the downloaded update control software.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a robot control system, a controller, a computer program, and a control software updating method. BACKGROUND

[0002] A facility equipped with a robot control system does not have an internet access environment such as Wi-Fi (registered trademark). Therefore, when updating the control software of a controller of an industrial machine, such as a robot, the newly updated control software is temporarily stored on a portable storage medium, such as a memory card or USB flash drive, and the software update processing is performed by connecting the portable storage medium to the controller.

[0003] For example, a robot system is known including: a transmitting-side robot controller that transmits update software; and a receiving-side robot controller that receives the update software from the transmitting-side robot controller, wherein each of the transmitting-side robot controller and the receiving-side robot controller includes: a first storage unit configured to store a software update processing program and robot motion control software; a second storage unit configured to store the software update processing program read from the first storage unit; a third storage unit configured to store the update software; and a communication unit configured to send and receive the update software stored in the third storage unit (see, for example, PTL 1).

[0004] For example, paragraph

[0016] in PTL 2 states, "Any program can be provided by recording it on a computer-readable recording medium such as a CD-ROM, a FD, a CD-R, a DVD, or a USB memory, as a file in an installable format or an executable format. The program can be introduced by storing it in a storage unit in a computer connected to a communication network and downloading it over the network." [CITATION LIST][PATENT LITERATURE] [PTL 1] WO 2010 / 089951A1 [PTL 2] JP2020-075340A SUMMARY OF THE INVENTION [TECHNICAL PROBLEM]

[0005] In general, the operation of portable storage media, such as memory cards and USB flash drives, is confirmed for major devices, such as Windows terminals (registered trademark), Android terminals (registered trademark), and iOS terminals (registered trademark). However, for special devices, such as controllers in robot control systems, the operation of portable storage media is not confirmed, and no guarantee of operation can be provided. Accordingly, it is desirable to provide a robot control system and computer program that can easily update the control software. (SOLUTION OF THE PROBLEM)

[0006] According to one aspect of the present disclosure, a robot control system comprises: a controller of a robot; a base part connected to the controller via wired communication;and a mobile communication terminal that is attachable to and detachable from the base part, capable of wirelessly communicating with an external device, and instructs the controller about a movement of the robot based on teaching operation content when attached to the base part and connected to the base part via wired communication. Update control software is downloaded from an external server that is the external device to the mobile communication terminal when the mobile communication terminal is detached from the base part and wired communication with the base part is enabled, and the control software of the controller is updated with the downloaded update control software when the mobile communication terminal is attached to the base part and connected to the base part via wired communication.

[0007] According to one aspect of the present disclosure, a computer program for causing a computer to execute update processing of the control software of a controller of a robot in a robot control system comprising: a base part connected to the controller; and a mobile communication terminal that can be attached to and detached from the base part and instructs the controller about a movement of the robot based on teaching operation content, comprises: a downloading step of downloading update control software from an external server, which is an external device, to the mobile communication terminal when the mobile communication terminal is removed from the base part and wired communication with the base part is enabled;and an updating step of updating control software of the controller with the updating control software downloaded in the downloading step when the mobile communication terminal is attached to the base part and connected to the base part by wired communication;

[0008] According to one aspect of the present disclosure, an update processing method for control software of a controller of a robot in a robot control system, including: a base part connected to the controller; and a mobile communication terminal that can be attached to and detached from the base part and instructs the controller about a movement of the robot based on teaching operation content, comprises: a downloading step of downloading update control software from an external server, which is an external device, to the mobile communication terminal when the mobile communication terminal is removed from the base part and wired communication with the base part is enabled;and an updating step of updating control software of the controller with the updating control software downloaded in the downloading step when the mobile communication terminal is attached to the base part and connected to the base part by wired communication;

[0009] According to one aspect of the present disclosure, a controller equipped with control software for controlling an industrial machine comprises: at least one memory; and at least one processor, wherein the at least one processor accepts a connection to a base part, a connection to a mobile communication terminal attachable to and detachable from the base part, or accepts a connection to the mobile communication terminal via a connection to the base part, acquires update control software from the mobile communication terminal and stores the update control software in the at least one memory after accepting connections to the base part and the mobile communication terminal, and updates the control software with the update control software stored in the at least one memory. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a robot control system according to an embodiment of the present disclosure. Fig. 2 is a diagram showing a schematic appearance of the robot control system according to the embodiment of the present disclosure. Fig. 3 is a diagram showing a downloading method with a first configuration in the robot control system according to the embodiment of the present disclosure. Fig. 4 is a diagram showing a downloading method with a second configuration in the robot control system according to the embodiment of the present disclosure. Fig. 5 is a diagram showing the communication protocols between a mobile communication terminal and a controller in the robot control system according to the embodiment of the present disclosure. Fig. 6 is a flowchart illustrating an overall flow of update processing of the control software of the controller in the robot control system according to the embodiment of the present disclosure. Fig. 7 is a flowchart showing a detailed operation of the update processing of the control software of the controller in the robot control system according to the embodiment of the present disclosure. DESCRIPTION OF THE EMBODIMENTS

[0010] A robot control system and a computer program according to an embodiment are described below with reference to the drawings. In the following description, components with the same or similar functions are designated by the same symbol. This allows redundant descriptions of the components to be omitted. In the following description, "control software update" refers to the latest version of the control software of a robot controller. <Gesamtkonfiguration des Robotersteuerungssystems>

[0011] Fig. 1 is a block diagram illustrating the robot control system according to the present embodiment. Fig. 2 is a diagram showing a schematic appearance of the robot control system according to the present embodiment.

[0012] The robot control system 100 includes a controller 11, a base part 12 and a mobile communication terminal 13.

[0013] A robot 2, which is an industrial machine, is wired to the controller 11 via a cable 41 (hereinafter referred to as "robot cable 41"). The movement of the robot 2 is controlled by the controller 11. The controller 11 is not directly connected to an external internet line and is therefore not exposed to any threat via the internet line. An arithmetic processing device (at least one processor) and a storage device (at least one memory) are provided in the controller 11. Examples of the arithmetic processing device include an IC, an LSI, a CPU, an MPU, and a DSP. Examples of memories include electrically erasable / writable non-volatile memories such as EEPROM (registered trademark) and random access memories capable of high-speed read / write, such as DRAM and SRAM.The controller 11 with the arithmetic processing device is, for example, a functional module provided by control software (a computer program) running on a processor. By operating the arithmetic processing device in accordance with the control software, any type of processing that controls the movement of the robot 2 can be provided in the controller 11.

[0014] The base unit 12 is connected to the controller 11 via a wired communication link and includes a communication interface (not shown) for the connection. The base unit 12 is connected to the controller 11 via a cable 33 (hereinafter referred to as the "training device cable 33") in a wired, communicative manner. The base unit 12 includes a mounting base 30, as well as an enable switch 31 and an emergency stop switch 32 as safety switches.

[0015] The attachment base 30 is used to attach and detach the mobile communication terminal 13 to the base 12. Examples of a method for attaching the mobile communication terminal 13 by the attachment base 30 include a method of gripping the mobile communication terminal 13 by clamping the mobile communication terminal 13 with a spring mechanism provided on the base 12, a method of securing the mobile communication terminal 13 with screws, and a method of fixing the mobile communication terminal 13 using a fastener. The mobile communication terminal 13, which is physically fixed by the attachment base 30, is connected to the base 12 in a wired, communicable manner through a cable 23 (hereinafter referred to as "connection cable 23").

[0016] The release switch 31 is a safety switch that allows the controller 11 to control the movement of the robot 2 via the mobile communication terminal 13 while it remains pressed (on), and prohibits the controller 11 from controlling the movement of the robot 2 via the mobile communication terminal 13 when the pressed (on) state is released. A signal based on an operation content for the release switch 31 is transmitted from the base part 12 to the controller 11 via the cable of the teaching operation device 33. For example, the robot 2 will not move by any operation via the mobile communication terminal 13 as long as the release switch 31 is not pressed. Operation of the robot 2 via the mobile communication terminal 13 is enabled when the release switch 31 is pressed.

[0017] The emergency stop switch 32 is a safety switch that instructs the controller 11 to cause the robot 2 to perform an emergency stop. When the emergency stop switch 32 is pressed (turned on), an emergency stop signal is transmitted from the base unit 12 to the controller 11 via the cable of the teaching device 33, and the robot 2 then performs an emergency stop.

[0018] The mobile communication terminal 13 is a portable, multi-purpose information communication terminal that can communicate wirelessly with an external device. Examples of the mobile communication terminal 13 include a tablet terminal (tablet PC) and a smartphone.

[0019] For example, the mobile communication terminal 13 includes a touch panel 21 that serves both as a screen display and as an input acceptor. The mobile communication terminal 13 also includes a power button 22 for turning on the power of the mobile communication terminal 13. The mobile communication terminal 13 is started by pressing the power button 22 once (turning on). Furthermore, the mobile communication terminal 13 contains a battery (not shown) internally.

[0020] Since the mobile communication terminal 13 is a multi-purpose information communication terminal, various types of application software can be installed on the terminal. One type of application software is teaching software for instructing the controller 11 on the movement of the robot 2 based on teaching operation content.

[0021] The mobile communication terminal 13 is connected to the base 12 in a wired communicable manner through the connecting cable 23 and includes a communication interface (not shown) for connection. When the mobile communication terminal 13, on which the teaching software is installed, is attached to the base 12 and connected to the base 12 via wired communication, a teaching device 1 comprising the mobile communication terminal 13 and the base 12 is formed. When a teaching operation is performed by the mobile communication terminal 13 in the teaching device 1, the mobile communication terminal 13 is connected to the controller 11 in a wired communicable manner through the base 12 and can therefore stably perform a teaching operation on the robot 2.When a worker operates the mobile communication terminal 13 in the teaching operation device 1, the mobile communication terminal 13 instructs the controller 11 on the movement of the robot 2 based on a teaching operation content. A storage unit (not shown) within the mobile communication terminal 13 is installed with teaching software that performs registration and editing of an operation program related to the robot 2, state setting, state display, teaching of the robot 2, manual operation, etc., and an arithmetic processing device, also included within the mobile communication terminal 13, provides a wireless teaching operation function for operating (teaching) the robot 2 by operating in accordance with the teaching software installed on the storage unit. Examples of the arithmetic processing device are an IC, an LSI, a CPU, an MPU, and a DSP.The storage unit is equipped, for example, with an electrically erasable / writable non-volatile memory such as an EEPROM (registered trademark) or a high-speed read / write random access memory such as a DRAM or an SRAM.

[0022] For example, the mobile communication terminal 13 is connected to an internet line via a wireless LAN such as Wi-Fi (registered trademark) or a mobile phone communication system (such as LTE, a 3G line, a 4G line, or a 5G line), and can perform data communication with an external device via the internet line. The mobile communication terminal 13 can be connected to an internet line via a cable such as a USB cable (not shown) and can perform data communication with an external device via the internet line.

[0023] To ensure efficiency and safety, the control software of the controller 11 of the robot 2 in the robot control system 100 is preferably always kept up to date. For example, the "control software update," that is, the latest version of the control software, is stored on an external server 3 provided by a manufacturer or a dealer of the robot control system 100. The external server 3 is connected to an internet line, and an operator of the robot control system 100 can acquire the updated control software by accessing the external server 3 from the mobile communication terminal 13 via the internet line. The updated control software downloaded from the external server 3 to the mobile communication terminal 13 is temporarily stored in a storage unit in the mobile communication terminal 13.

[0024] According to the embodiment of the present disclosure, the control software of the controller 11 is not updated using a portable storage medium such as a memory card or USB memory as in the past. Accordingly, the operation of a portable storage medium does not need to be confirmed in advance even for special devices such as a controller in a robot control system. Since a portable storage medium is not used, when downloading updated control software, the download is not affected by the communication speed of a portable storage medium that is a hardware device. Since the control software of the controller 11 is updated using the mobile communication terminal 13, there is no need to add a new hardware device. Generally, in a facility equipped with a robot control system, an environment for accessing the Internet, such as a network, is often lacking.Wi-Fi (registered trademark). The mobile communication terminal 13 has a Wi-Fi (registered trademark) communication function for accessing the Internet, and it is easy to remove the mobile communication terminal 13 from the base 12. Accordingly, it is easy to bring the mobile communication terminal 13 into an Internet communication environment and download updated control software to the mobile communication terminal 13. Thus, the control software of the controller 11 according to the embodiment of the present disclosure can be easily updated.

[0025] According to the embodiment of the present disclosure, the mobile communication terminal 13 is disconnected from the controller 11, and the update software is downloaded from the external server 3 to the mobile communication terminal 13 in an internet-enabled environment; and then, the mobile communication terminal 13 is wired to the controller 11, which is not connected to an internet line, and the software update processing is performed. Specifically, when the mobile communication terminal 13 is removed from the base unit 12 and the wired communication between the mobile communication terminal 13 and the base unit 12 is enabled, the updated control software is downloaded from the external server 3, which is an external device, to the mobile communication terminal 13.Then, the control software of the controller 11 is updated with the updating control software stored in the mobile communication terminal 13 when the mobile communication terminal 13 is attached to the base part 12 and the mobile communication terminal 13 is connected to the base part 12 by wired communication.

[0026] According to the embodiment of the present disclosure, the at least one processor provided in the controller 11 accepts a connection with the base part 12. Further, the at least one processor provided in the controller 11 accepts a connection with the mobile communication terminal 13 that can be attached to and detached from the base part 12, or a connection with the mobile communication terminal 13 via a connection with the base part 12. After the at least one processor provided in the controller 11 accepts connections to the base part 12 and the mobile communication terminal 13, updated control software is acquired from the mobile communication terminal 13 and stored in the at least one memory in the controller 11. The at least one processor provided in the controller 11 updates the control software with the update control software stored in the at least one memory. <Aktualisierung der Steuersoftware>

[0027] Several configurations for downloading the updated control software to the mobile communication terminal 13 are listed.

[0028] A download procedure with an initial configuration is based on wireless communication. Fig. 3 is a diagram showing the download method with the first configuration in the robot control system according to the embodiment of the present disclosure. The external server 3 on which the updated control software is stored is installed on an internet line 4. The internet line 4 is connected, for example, to a router 5 configured with a Wi-Fi (wireless LAN) router. In the download method with the first configuration, when the mobile communication terminal 13 is removed from the base unit 12 and wired communication between the mobile communication terminal 13 and the base unit 12 is released, the mobile communication terminal 13 is connected to the internet line 4 via the router 5. Then, the updated control software is downloaded from the external server 3 via the internet line 4 to the mobile communication terminal 13 via wireless communication (Wi-Fi connection).The mobile communication terminal 13 may be connected to the Internet line 4 in a wireless, communicable manner through a mobile phone communication system (such as LTE, a 3G line, a 4G line, or a 5G line) instead of the Wi-Fi connection.

[0029] A download procedure with a second configuration is based on wired communication. Fig. 4 is a diagram illustrating the download method with the second configuration in the robot control system according to the embodiment of the present disclosure. The external server 3 on which the updated control software is stored is installed on the internet line 4. The internet line 4 is connected to the router 5. In the download method with the second configuration, when the mobile communication terminal 13 is removed from the base unit 12 and wired communication between the mobile communication terminal 13 and the base unit 12 is enabled, the mobile communication terminal 13 is connected to the internet line 4 by connecting the mobile communication terminal 13 to the router 5 via a USB cable 6. Then, the updated control software is downloaded from the external server 3 to the mobile communication terminal 13 via the internet line 4 via wired communication. <software-update-verarbeitung>

[0030] The software update processing is performed on the controller 11 when the mobile communication terminal 13 is attached to the base 12 and the mobile communication terminal 13 is connected to the base 12 via wired communication after the update control software is downloaded into the mobile communication terminal 13 as described above.

[0031] Fig. 5 is a diagram showing the communication protocols between the mobile communication terminal and the controller in the robot control system according to the embodiment of the present disclosure.

[0032] The base unit 12 is connected to the controller 11 in a wired, communicable manner via the cable 33 of the teaching device. When software update processing is performed on the controller 11, the mobile communication terminal 13, in which the downloaded update control software is stored, is attached to the base unit 12, and the mobile communication terminal 13 is connected to the base unit 12 via wired communication. In other words, when software update processing is performed on the controller 11, the mobile communication terminal 13 is connected to the controller 11 in a wired, communicable manner via the base unit 12.

[0033] The communication protocols used between the mobile communication terminal 13 and the controller 11 when updating the control software of the controller 11 include FTP and TFTP, for example, but other communication protocols may also be used. For example, communication protocols such as SMTP, SMB, STP, MTP, SCP, SFTP, and FTPS can be used. As an example, the following describes a case where FTP and TFTP are used as communication protocols. The controller 11 is equipped with FTP client software and TFTP client software. The mobile communication terminal 13 functions as an FTP server and TFTP server.

[0034] Fig. 6 is a flowchart showing an overall flow of update processing of the control software of the controller in the robot control system according to the embodiment of the present disclosure.

[0035] In step S100, a worker removes the mobile communication terminal 13 from the base 12 and terminates the wired communication between the mobile communication terminal 13 and the base 12 by removing the connecting cable 23 between the mobile communication terminal 13 and the base 12. Then, the worker brings the mobile communication terminal 13 into an environment where Internet access is possible and connects the mobile communication terminal 13 to the external server 3 via Wi-Fi (registered trademark), for example. The worker then manually operates the mobile communication terminal 13 so that the updated control software is downloaded from the external server 3 to the mobile communication terminal 13.

[0036] In step S200, the worker attaches the mobile communication terminal 13 to the base 12 and brings the mobile communication terminal 13 and the base 12 into a wired, communicable state by attaching the connection cable 23 between the mobile communication terminal 13 and the base 12. Then, the worker operates the mobile communication terminal 13 to update the control software of the controller 11 with the update control software stored in the mobile communication terminal 13.

[0037] In the robot control system 100, a computer program that causes a computer to execute update processing of the control software of the controller 11 includes a download step and an update step. A computer program that executes the download step operates when the mobile communication terminal 13 is removed from the base 12 and the wired communication between the mobile communication terminal 13 and the base 12 is released. The computer program that executes the download step is specified to download the update control software from the external server 3, which is an external device, to the mobile communication terminal 13. The computer program that executes the download step is installed on the mobile communication terminal 13 and includes, for example, FTP client software.A computer program that executes the update step operates when the mobile communication terminal 13 is attached to the base 12 and the mobile communication terminal 13 is connected to the base 12 through wired communication. The computer program that executes the update step is specified to update the control software of the controller 11 with the update control software stored in the mobile communication terminal 13. The computer program that executes the update step is installed on the mobile communication terminal 13 and the controller 11; the controller 11 is equipped with FTP client software and TFTP client software, and the mobile communication terminal 13 is equipped with FTP server software and TFTP server software.

[0038] Fig. 7 is a flowchart showing a detailed operation of the update processing of the control software of the controller in the robot control system according to the embodiment of the present disclosure.

[0039] An example of an old version of the control software already installed on the controller 11 and the updating of the control software with an updated control software downloaded to the mobile communication terminal 13 (ie, a new version of the control software) is described.

[0040] A worker attaches the mobile communication terminal 13, in which the update control software is stored, to the base 12, and brings the mobile communication terminal 13 and the base 12 into a state where wired communication is enabled by attaching the connection cable 23 between the mobile communication terminal 13 and the base 12. Then, in an update start request step S201, the worker operates the mobile communication terminal 13 so that an update start request is sent from the mobile communication terminal 13 to the controller 11. For example, the update start request is made by the mobile communication terminal 13 by requesting a web server in the controller 11 to display a specific address; however, the request may be made by another method.

[0041] Next, in a backup file transfer step S202, the controller 11 transfers a backup file of the controller 11 from the controller 11 to the mobile communication terminal 13 via an FTP client included in the already installed old version of the control program. The backup file specifies, for example, various setting parameters of the controller 11. To prevent the setting parameters of the controller 11 from being overwritten and deleted by the update processing of the control software of the controller 11, the backup file is temporarily stored in the mobile communication terminal 13 in the backup file transfer step S202. A USB storage device may be connected to the mobile communication terminal 13, and the backup file stored in the mobile communication terminal 13 may be written to the USB storage device.

[0042] Next, in a boot software transfer request step S203, the controller 11 transmits a boot software transfer request of the controller 11 from the controller 11 to the mobile communication terminal 13 through the FTP client included in the already installed old version of the control program.

[0043] Next, in a boot software download step S204, the controller 11 downloads new boot software from the mobile communication terminal 13 to the controller 11 via the FTP client included in the already installed old version of the control program. The TFTP client software is included in the new boot software.

[0044] Subsequently, in a boot software update step S205, the existing old boot software is deleted from the controller 11 and the new boot software, which was downloaded in the boot software download step S204, is installed on the controller 11.

[0045] Subsequently, in a reconnection step S206, the worker temporarily switches off the power supply to the controller 11 and then switches it on again.

[0046] Subsequently, in a step of the boot software start S207, the new boot software is started in the controller 11.

[0047] Next, in an image backup transmission step S208, the controller 11 transfers an image backup of the controller 11 from the controller 11 to the mobile communication terminal 13 through a TFTP client included in the new boot software. The image backup of the controller 11 is a copy of the old version of the control software (including a core file, optional files, and setting parameters) installed in the controller 11 to enable restoration to the state before the software update processing. If the software update processing fails, the controller 11 can be restored to the state before the software update processing using the backup copy stored in the mobile communication terminal 13. A USB storage device can be connected to the mobile communication terminal 13, and the image backup stored in the mobile communication terminal 13 can be written to the USB storage device.

[0048] Next, in a control software update request step S209, the controller 11 transmits a request to transfer the control software from the controller 11 to the mobile communication terminal 13 through the TFTP client included in the new boot software.

[0049] Next, in an update control software download step S210, the controller 11 downloads the update control software from the mobile communication terminal 13 to the controller 11 through the FTP client and the TFTP client. The update control software is downloaded in two parts in the update control software download step S210. First, the controller 11 downloads a first part of the update control software from the mobile communication terminal 13 to the controller 11 through the TFTP client, which is included in the new boot software. A core file and part of the optional files of the update control software, as well as the FTP client software, are included in the downloaded first part of the update control software. The initial values ​​of the setting parameters of the controller 11 are also specified in the core file of the update control software.In addition, the initial values ​​of the setting parameters of the controller 11 are also specified in the optional files. Furthermore, the initial values ​​of the setting parameters of the controller 11 are also specified in the FTP client software. Next, the controller 11 downloads a second part of the update control software from the mobile communication terminal 13 to the controller 11 via the FTP client, which is included in the downloaded first part of the update control software. The remaining optional files of the update control software are included in the downloaded second part of the update control software.

[0050] Next, in a backup file transfer request step S211, the controller 11 sends a transfer request for backup files from the controller 11 to the mobile communication terminal 13 via the FTP client included in the downloaded first part of the update control software.

[0051] Next, in a backup file download step S212, the controller 11 downloads the backup file from the mobile communication terminal 13 to the controller 11 through the FTP client included in the downloaded first part of the update control software. The backup file downloaded in the backup file download step S212 is a file temporarily stored on the mobile communication terminal 13 in the backup file transfer step S202.

[0052] Next, in a setting step S213, the setting parameters of the control software of the controller 11 are reset to the state before the software update processing based on the backup file downloaded in the backup file download step S212. Since initial values ​​are set as setting parameters in the core file, optional files, and FTP client software in the update control software downloaded in the update control software download step S210, the setting parameters of the control software of the controller 11 are reset to the state before the software update processing by overwriting the initial values ​​with the setting parameters specified in the backup file.

[0053] According to the regulation with reference to Fig. 5 to Fig. In the embodiment described in Figure 7, the controller 11 is equipped with FTP client software and TFTP client software, and the mobile communication terminal 13 functions as an FTP server and TFTP server. As a modified example of the embodiment, a client-server relationship can be reversed such that the mobile communication terminal 13 is equipped with FTP client software and TFTP client software, and the controller 11 functions as an FTP server and TFTP server. The descriptions relating to "downloading" the startup software, updating the control software, and a backup file from the mobile communication terminal 13 to the controller 11 in Fig. 7 are read as "upload" in this modified example.

[0054] As described above, the embodiment of the present disclosure can provide a robot control system and a computer program that can easily update the control software of the controller 11.

[0055] Although the present disclosure has been described in detail, the present disclosure is not limited to each of the above-described embodiments. Various additions, replacements, changes, partial deletions, etc. can be made to the embodiments without departing from the spirit of the present disclosure or the scope of the present disclosure, which is understood from the contents described in the claims and their equivalents. Furthermore, the embodiments can be implemented in combination. For example, the order of operations or processing in the aforementioned embodiments is described as an example and is not limited thereto. Furthermore, the above applies when a numerical value or a mathematical expression is used in the description of the aforementioned embodiments.

[0056] The following additional information is provided for the above-mentioned embodiments and their modified examples (Supplementary Note 1)

[0057] A robot control system 100 comprising: a controller 11 for a robot 2; a base part 12 connected to the controller 11 via a wired connection; and a mobile communication terminal 13 that can be attached to and detached from the base part 12, that is capable of wirelessly communicating with an external device, and that instructs the controller 11 about a movement of the robot 2 based on a teaching operation content when it is attached to the base part 12 and connected to the base part 12 by wired communication, wherein Update control software is downloaded from an external server 3, which is the external device, to the mobile communication terminal 13 when the mobile communication terminal 13 is removed from the base part 12 and a wired connection with the base part 12 is released, and the control software of the controller 11 is updated with the downloaded update control software when the mobile communication terminal 13 is attached to the base part 12 and connected to the base part 12 via wired communication. (Supplementary Note 2)

[0058] The robot control system 100 according to Additional Note 1, wherein the update control software is downloaded from the external server 3 to the mobile communication terminal 13 via wireless communication when the mobile communication terminal 13 is removed from the base part 12 and wired communication with the base part 12 is released. (Supplementary Note 3)

[0059] The robot control system 100 according to Additional Note 1, wherein the update control software is downloaded from the external server 3 to the mobile communication terminal 13 via wired communication when the mobile communication terminal 13 is removed from the base part 12 and wired communication with the base part 12 is released. (Supplementary Note 4)

[0060] The robot control system 100 according to any one of Supplementary Notes 1 to 3, wherein the base part 12 includes: an enable switch 31 that allows control of a movement of the robot 2 by the controller 11 while it is pressed, and prohibits control of a movement of the robot 2 by the controller 11 when the pressing is released; an emergency stop switch 32 for instructing the controller 11 to cause the robot 2 to make an emergency stop; and a mounting base 30 for attachably and detachably mounting the mobile communication terminal 13. (Supplementary Note 5)

[0061] The robot control system 100 according to any one of Supplementary Notes 1 to 4, wherein

[0062] Communication protocols between the mobile communication terminal 13 and the controller 11, wherein the communication protocols used for updating the control software of the controller 11 are FTP and TFTP. (Supplementary Note 6)

[0063] A computer program for causing a computer to execute update processing of the control software of a controller 11 of a robot 2 in a robot control system 100, comprising: a base part 12 connected to the controller 11; and a mobile communication terminal 13 that can be attached to and detached from the base part 12 and instructs the controller 11 about a movement of the robot 2 based on a teaching operation content, the computer program comprising: a download step of updating control software downloading from an external server 3, which is an external device, to the mobile communication terminal 13 when the mobile communication terminal 13 is removed from the base part 12 and wired communication with the base part 12 is enabled; and a controller control software update step of updating the controller 11 with the update control software downloaded in the download step when the mobile communication terminal 13 is attached to the base part 12 and connected to the base part by wired communication. (Supplementary Note 7)

[0064] The computer program for causing the computer to perform the update processing according to Supplementary Note 6, wherein, the communication protocols in the update step between the mobile communication terminal 13 and the controller 11, wherein the communication protocols used for updating the control software of the controller 11 are FTP and TFTP. (Supplementary Note 8)

[0065] The computer program that causes the computer to carry out the update processing in accordance with Additional Note 7, where the controller 11 is equipped with FTP client software and TFTP client software, and the mobile communication terminal 13 functions as an FTP server and TFTP server. (Supplementary Note 9)

[0066] The computer program that causes the computer to carry out the update processing in accordance with Additional Note 8, where The update step includes: a boot software download step in which new boot software is downloaded from the mobile communication terminal 13 to the controller 11 through an FTP client; a boot software update step in which, after the boot software download step is executed, old boot software already present in the controller 11 is deleted and the new boot software downloaded in the boot software download step is installed on the controller 11; a boot software startup step for starting the new boot software in the controller 11 after the boot software update step is executed and the power supply of the controller 11 is turned on again; a step of downloading update control software from the mobile communication terminal 13 to the controller 11 through an FTP client and a TFTP client after the step of booting software startup has been executed; and a setting step in which a setting parameter of the control software of the controller 11 is reset to a state before the execution of the update step. (Supplementary Note 10)

[0067] The computer program that causes the computer to carry out the update processing in accordance with Additional Note 9, where The update step includes: an update start request step of transmitting an update start request from the mobile communication terminal 13 to the controller 11; a backup file transfer step of transferring a backup file of the controller 11 from the controller 11 to the mobile communication terminal 13 through an FTP client after the update start request step is executed; and a boot software transfer request step of transmitting a boot software transfer request from the controller 11 to the mobile communication terminal 13 through an FTP client after the backup file transfer step is executed, and the boot software download step is executed after the boot software transfer request step. (Supplementary Note 11)

[0068] The computer program that causes the computer to perform the update processing in accordance with Additional Note 10, where The update step includes: a backup image transfer step of transferring a backup image of the controller 11 from the controller 11 to the mobile communication terminal 13 through a TFTP client included in the new boot software after the boot software start step has been executed; and an update control software transmission request step of transmitting an update control software transmission request from the controller 11 to the mobile communication terminal 13 through a TFTP client included in the new boot software after the image backup transmission step is executed, and the update control software download step is executed after the update control software transmission request step is executed. (Supplementary Note 12)

[0069] The computer program that causes the computer to perform the update processing in accordance with Additional Note 11, where The update step includes: a backup file transfer request step of transmitting a backup file transfer request from the controller 11 to the mobile communication terminal 13 through an FTP client after the update control software download step has been executed; and a step of downloading a backup file from the mobile communication terminal 13 to the controller 11 by an FTP client after the backup file transfer request step is executed, and,in the setting step, a setting parameter of the control software of the controller 11 is reset to a state before the execution of the updating step based on the backup file downloaded in the backup file download step. (Supplementary Note 13)

[0070] An update processing method for control software of a controller 11 of a robot 2 in a robot control system 100, comprising: a base part 12 connected to the controller 11; and a mobile communication terminal 13 attachable to and detachable from the base part 12 and instructing the controller 11 about a movement of the robot 2 based on a teaching operation content, the update processing method comprising: a download step of updating control software downloading from an external server 3, which is an external device, to the mobile communication terminal 13 when the mobile communication terminal 13 is removed from the base part 12 and wired communication with the base part 12 is enabled; and a controller control software update step of updating the controller 11 with the update control software downloaded in the download step when the mobile communication terminal 13 is attached to the base part 12 and connected to the base part by wired communication. (Supplementary Note 14)

[0071] A controller 11 equipped with control software for controlling an industrial machine, the controller 11 comprising: at least one memory; and at least one processor, where which has at least one processor a connection with a basic element 12, accepts a connection to a mobile communication terminal 13 that can be attached to and detached from the base part 12, or a connection to the mobile communication terminal 13 through a connection to the base part 12, acquires the update control software from the mobile communication terminal 13 and stores the update control software in the at least one memory after accepting connections with the base part 12 and the mobile communication terminal 13, and the control software is updated with the update control software stored in the at least one memory. (Supplementary Note 15)

[0072] The control 11 according to Additional Note 14, wherein

[0073] The communication protocols between the mobile communication terminal 13 and the controller 11 used for updating the control software are FTP and TFTP. (Supplementary Note 16)

[0074] The control 11 according to Additional Note 15, wherein the controller 11 is equipped with FTP client software and TFTP client software, and the mobile communication terminal 13 functions as an FTP server and TFTP server. LIST OF REFERENCE SYMBOLS 1 training device 2 robots 3 External Server 4 Internet connection 5 routers 6 USB cables 11 Control 12 Base part 13 Mobile communication device 23 connection cables 30 mounting base 31 Release switch 32 emergency stop switches 33 Cable of the training device 41 robot cables 100 robot control system QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2010 / 089951A1

[0004] JP 2020-075340A

[0004]

Claims

[1] A robot control system comprising: a controller for a robot; a base part connected to the controller via a wired connection; and a mobile communication terminal that is attachable to and detachable from the base part, that is capable of wirelessly communicating with an external device, and that instructs the controller about a movement of the robot based on a teaching operation content when attached to the base part and connected to the base part by wired communication, wherein Update control software is downloaded from an external server, which is the external device, to the mobile communication terminal when the mobile communication terminal is removed from the base unit and wired communication with the base unit is enabled, and the control software of the controller is updated with the downloaded update control software when the mobile communication terminal is attached to the base unit and connected to the base unit via wired communication. [2] The robot control system according to claim 1, wherein the update control software is downloaded from the external server to the mobile communication terminal via wireless communication when the mobile communication terminal is removed from the base part and wired communication with the base part is released. [3] The robot control system according to claim 1, wherein the update control software is downloaded from the external server to the mobile communication terminal via wired communication when the mobile communication terminal is removed from the base part and wired communication with the base part is released. [4] The robot control system according to any one of claims 1 to 3, wherein the base part comprises: an enable switch that allows control of a movement of the robot by the controller while pressed and prevents control of a movement of the robot by the controller when released; an emergency stop switch to instruct the controller to cause the robot to make an emergency stop; and a mounting base for attachable and removable mounting of the mobile communications terminal. [5] The robot control system according to any one of claims 1 to 4, wherein communication protocols between the mobile communication terminal and the controller, the communication protocols used for updating the control software of the controller, are FTP and TFTP. [6] A computer program for causing a computer to execute update processing of control software of a controller of a robot in a robot control system, comprising: a base part connected to the controller; and a mobile communication terminal that can be attached to and detached from the base part and instructs the controller about a movement of the robot based on a teaching operation content, the computer program comprising: a download step of downloading update control software from an external server, which is an external device, to the mobile communication terminal when the mobile communication terminal is removed from the base unit and wired communication with the base unit is enabled; and an update step of updating the control software of the controller with the update control software downloaded in the download step when the mobile communication terminal is attached to the base part and connected to the base part by wired communication. [7] The computer program for causing the computer to execute the update processing according to claim 6, wherein, in the update step, the communication protocols between the mobile communication terminal and the controller, the communication protocols used for updating the control software of the controller, are FTP and TFTP. [8] The computer program that causes the computer to execute the update processing according to claim 7, wherein the controller is equipped with FTP client software and TFTP client software, and the mobile communication terminal functions as an FTP server and a TFTP server. [9] The computer program that causes the computer to execute the update processing according to claim 8, wherein the updating step comprises: a boot software download step in which new boot software is downloaded from the mobile communication terminal to the controller via an FTP client; a boot software update step, in which, after the boot software download step has been executed, old boot software already present in the controller is deleted and the new boot software downloaded in the boot software download step is installed on the controller; a boot software start step to start the new boot software in the controller after the boot software update step has been executed and the controller power has been turned on again; a step of downloading update control software from the mobile communication terminal to the controller through an FTP client and a TFTP client after the step of booting software starts has been executed; and a setting step in which a setting parameter of the control software of the controller is reset to a state before the execution of the update step. [10] The computer program that causes the computer to execute the update processing according to claim 9, wherein the updating step comprises: an update start request step of transmitting an update start request from the mobile communication terminal to the controller; a backup file transfer step of transferring a backup file of the controller from the controller to the mobile communication terminal through an FTP client after the update start request step is executed; and a boot software transfer request step of transferring a boot software transfer request from the controller to the mobile communication terminal through an FTP client after the backup file transfer step is executed, and the boot software download step is executed after the boot software transfer request step. [11] The computer program that causes the computer to execute the update processing according to claim 10, wherein the updating step comprises: a step of image backup transmission of transmitting an image backup of the controller from the controller to the mobile communication terminal through a TFTP client included in the new boot software after the step of boot software startup is executed; and an update control software transmission request step of transmitting an update control software transmission request from the controller to the mobile communication terminal through a TFTP client included in the new boot software after the image backup transmission step is executed, and the update control software download step is executed after the update control software transmission request step is executed. [12] The computer program that causes the computer to execute the update processing according to claim 11, wherein the updating step comprises: a backup file transfer request step of transmitting a backup file transfer request from the controller to the mobile communication terminal through an FTP client after the update control software download step has been executed; and a step of downloading a backup file from the mobile communication terminal to the controller through an FTP client after the backup file transfer request step is executed, and, in the setting step, a setting parameter of the control software of the controller is reset to a state before the execution of the update step based on the backup file downloaded in the backup file download step. [13] An update processing method for control software of a controller of a robot in a robot control system, comprising: a base part connected to the controller; and a mobile communication terminal attachable to and detachable from the base part and instructing the controller about a movement of the robot based on a teaching operation content, the update processing method comprising: a download step of downloading update control software from an external server, which is an external device, to the mobile communication terminal when the mobile communication terminal is removed from the base unit and wired communication with the base unit is enabled; and a control software update step of updating the controller with the update control software downloaded in the download step when the mobile communication terminal is attached to the base part and connected to the base part by wired communication. [14] A controller equipped with control software for controlling an industrial machine, the controller comprising: at least one memory; and at least one processor, where which has at least one processor accepts a connection to a basic member, accepts a connection to a mobile communication terminal that can be attached to and detached from the base unit, or a connection to the mobile communication terminal via a connection to the base unit, detects the update control software from the mobile communication terminal and stores the update control software in the at least one memory after connections with the base part and the mobile communication terminal have been accepted, and the control software is updated with the update control software stored in the at least one memory. [15] The controller according to claim 14, wherein communication protocols between the mobile communication terminal and the controller, the communication protocols used for updating the control software, are FTP and TFTP. [16] The controller according to claim 15, wherein the controller is equipped with FTP client software and TFTP client software, and the mobile communication terminal functions as an FTP server and a TFTP server.

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