DATA TRANSFER METHOD

Description

[0001] The invention relates to a method for data transmission in a data transmission system of automation systems, machines or vehicles.

[0002] A data transmission system, especially in the form of a bus system, is a system for exchanging data between multiple participants via a common transmission path.

[0003] German patent DE68914065T2 discloses gate interconnects for use in a local communication bus system in the private sector, wherein the gate interconnect connects a first and a second bus. The gate interconnect connects a first single-wire bus and a second single-wire bus, each of which has a bus topology. Collisions during simultaneous transmission by two transmitting stations are detected, with the station with the lower priority withdrawing upon detection of the conflict.

[0004] German patent DE4033352A1 discloses the connection of multiple local area networks (branch LANs) to a local area network with a trunk connection. The purpose is to connect multiple users (businesses or companies in a building) to a trunk connection, with independence and data security with regard to their own data.

[0005] DE19711720A1 discloses the mediation of data packets between local computer networks and between local computer networks and public networks.

[0006] WO2011120562A1 discloses an automation component which can be put into an energy-saving operating state.

[0007] DE102011077409A1 discloses a connection node for a communication network for fault detection. The connection node has two interfaces for connection to the network and forwards error-free data.

[0008] DE102014210505A1 discloses a transmission unit for connection to a first bus system, wherein the transmission unit receives messages via the first bus system, wherein the messages are structured as a sequence of a first bit sequence, at least one control signal and a second bit sequence, wherein the transmission unit forwards the first bit sequence of a received message to a processing station, wherein the transmission unit checks at least one predetermined control signal of the received message, wherein the transmission unit forwards the second bit sequence of the received message to the processing station if the predetermined control signal of the received message has a predetermined value, wherein the transmission unit sends a predetermined or predetermined terminating bit sequence to the processing station instead of the second bit sequence.if the specified control signal of the received message has a value that differs from the specified value.

[0009] Different topologies are known for bus systems, each with its own advantages and disadvantages.

[0010] In the bus topology, all participants are directly connected to the same transmission medium, whereby a sent data packet is received by all participants and only the addressed participant processes the data packet and sends a response if necessary.

[0011] In ring topologies, participants are arranged along a ring, with each participant having a sender and a receiver, so that a data packet is passed from one participant to the next until the correct participant receives the packet. A response is relayed in the same direction along the ring.

[0012] Similarly, in a line topology, participants are arranged along a line, each with a sender and receiver, so that a data packet is passed from one participant to the next until the correct participant receives the packet. A response is returned in the opposite direction along the line.

[0013] In a star topology, all participants are connected to a central control unit via a point-to-point connection, with the disadvantage of high cabling costs.

[0014] The object underlying the invention is to create a method for data exchange in bus systems of automation systems, machines, or vehicles, with which deterministic, time-critical signals can be transmitted to multiple participants via a bus system. Preferably, the data is transmitted contactlessly or wirelessly at least at one point between the control unit of the bus system and the multiple participants.

[0015] To solve the problem, a data transmission system for data exchange in bus systems of automation systems, machines, or vehicles is proposed, which has at least one central control unit, wherein outgoing data packets from the control unit are sent to different participants, each outgoing data packet from the control unit containing at least address information and data to be transmitted, wherein the control unit represents at least one master of the system, and wherein the data transmission system has at least one transmission path via which data packets from different participants are sent to the control unit, wherein the control unit is in data communication with several communication devices via the transmission path, wherein each of the communication devices is assigned a group of participants, and each group of participants is assigned to only one communication device.wherein each participant group and the associated communication device are connected via a data bus, and wherein the participant group is connected to the transmission path via the respective associated communication device, which communication device reads at least the address information of an outgoing data packet from the control unit and recognizes from the address information of the outgoing data packet whether it itself or a participant of its participant group is addressed by the outgoing data packet, wherein the outgoing data packet or parts thereof is only passed on to the participant group if this condition is met.such that the outgoing data packet can be processed by the at least one addressed participant, and wherein a response or a modified or new data packet from at least one participant in the participant group is transmitted to the respective assigned communication device, and wherein the communication device buffers the response or the modified or new data packet from the at least one participant and transmits it to the control unit via the transmission path within a time period during which no other communication device transmits data packets to the control unit.

[0016] The communication device separates the transmission path to the control unit from the bus system of the participants in the participant group. Data exchange between the transmission path and the participants' bus systems therefore takes place via the communication device.

[0017] Data transmission from the control unit to the communication devices and from the communication devices to the control unit can occur, at least partially, via the same transmission path, so that outgoing data packets from the control unit and outgoing data packets from the communication devices cannot be sent at the same time. However, separate transmission paths from the control unit to the communication devices and from the communication devices to the control unit are also possible, whereby all communication devices receive data from the transmission path originating from the control unit and all communication devices transmit data to the transmission path leading to the control unit.This design allows the sending of data packets from the control unit to the communication devices and the sending of data packets from the communication devices to the control unit to occur simultaneously via two different transmission paths, for example, by the control unit receiving data packets in a different frequency range than it transmits. This can be achieved with both radio transmission and with a signal carried in a conductor. Separate transmission paths can also exist if the transmission path to the communication devices is implemented as a first conductor or a first conductor network, and the transmission path from the communication devices to the control unit is implemented as a second conductor or a second conductor network, for example, by using cables with at least two conductors.Bidirectional use of optical fibers also means that data can be sent simultaneously from the control unit to the communication devices and from the communication devices to the control unit.

[0018] Preferably, the control unit sends time window information for data transmission along the transmission path to the communication devices, whereby each communication device receives information about the time span in which it can transmit data packets to the control unit.

[0019] Preferably, the control unit sends a clock signal to synchronize the communication devices.

[0020] Preferably, the outgoing data packet of the control unit contains address information of at least one communication device and address information of at least one participant.

[0021] The clock signal is used for the ongoing synchronization of the control unit and the communication devices and / or their participants, which is particularly advantageous for moving communication devices and / or participants, as the change in position can lead to a change in the signal's propagation time.

[0022] From the clock signal or additional time window information in the data packet, the communication devices determine the time windows assigned to them in which they can send data packets to the control unit.

[0023] Preferably, the clock signal or another suitable feature or other information from the data packets of the control unit is used to synchronize the participants of the bus system.

[0024] The address information of the communication devices is preferably unique address information, so that each communication device on the transmission path can be uniquely addressed by the control unit.

[0025] The address information of participants can be relative. Multiple participants can share the same identifier, distinguishable only by their order along the physical bus. This address information can include the participant type and its order relative to participants of the same type within a group connected to a communication device. In this variant, the communication device is addressed directly, and the participants assigned to it are addressed indirectly. Since each participant group is assigned to only one communication device, every participant can be addressed as long as the controller knows which participants are connected to which communication device and in what order.

[0026] However, participants also preferred unique addresses. This means that each participant in the entire bus system has a unique identifier or identification number.

[0027] Preferably, participants in a group communicate with the communication device via a ring topology. This means that the data packet is passed from the communication device to the first participant in the group, and from each participant to the next. Each participant processes the data addressed to them, adding or modifying data within the packet as needed, until the last participant is reached, at which point the data packet is transmitted back to the communication device. Alternatively, a line topology is also possible, with the difference being that the data packet is passed from the last participant back to the communication device via the preceding participants.

[0028] The communication devices preferably communicate with the control unit via a bus topology. All communication devices are directly connected to the same transmission medium, whereby a transmitted data packet is received by all communication devices, and only the addressed communication device processes it or forwards it to its group of participants. The control unit specifies a clock signal and time window within which the communication devices may send responses to prevent data packets from being sent simultaneously or colliding. A data packet sent by the control unit preferably contains data for several communication devices or their participants, in which case the corresponding address information of the communication devices is assigned to the respective data within the data packet.

[0029] Preferably, the X-Master control unit of the system is represented in software, with each master communicating with only one communication device.

[0030] A bus system does not generally require multiple masters. In the present invention, multiple masters are used when the addresses of the communication devices differ by a VLAN tag. The data of the individual communication devices is then differentiated by the VLAN tag, and each communication device receives only the data intended for it or its participants. These VLAN tags can be implemented in the bus system if an entire bus segment receives its own VLAN tag. Each bus segment subsequently requires its own master, resulting in a multi-master system. The masters can be in physical form, such as a plug-in card or network card. However, they are preferably implemented digitally, i.e., in software.

[0031] A bus line is understood to be the bus connected to a communication device, which connects this device and the participants of its participant group.

[0032] Preferably, a large number of communication devices are present, and a large number of masters are represented in the control unit via software. Preferably, each master and each communication device has a unique address to enable the assignment of data packets or parts of data packets.

[0033] Preferably, the transmission path from the control unit is an optical fiber or an electrical conductor. Preferably, the electrical conductor is branched into several individual conductors, such that each of the branched electrical conductors carries the same signal. Preferably, the optical fiber is branched into several optical fibers, wherein the outgoing signal from the control unit is carried by each of the branched optical fibers, and the signals sent by the communication devices are coupled from the branched optical fibers into the optical fiber leading to the control unit and thus return to the control unit via a single line.

[0034] Communication devices may have a signal amplifier or signal converter upstream, or they may have one.

[0035] Communication between the central control system and the communication devices, and between the communication devices and their group of participants, preferably takes place using different transmission media.

[0036] The transmission medium between the central control system and the communication devices can be wireless, for example via radio, or wired, for example as an optical fiber or electrical conductor.

[0037] The transmission medium between the communication devices and the participants is preferably wired, especially in the form of electrical conductors.

[0038] Preferably, the participants of a group and their communication device are housed together on a movable element of the automation system, machine, or vehicle. Preferably, the movable element is a transport trolley or moving part holder of a transport system, or movable machine components that move along a guide.

[0039] Preferably, data is transmitted between the communication devices and the transmission medium wirelessly or without contact.

[0040] Preferably, at least a portion of the transmission path is provided as a conductor, in which a signal can be coupled in and coupled out or transmitted at any position along its longitudinal extent.

[0041] Preferably, at least part of the transmission path is a hollow waveguide, in particular a slotted hollow waveguide, or a side-optic waveguide or side-optic fiber, so that the signal for the communication device can be coupled in, coupled out or transmitted laterally along the hollow waveguide or side-optic fiber.

[0042] Preferably, the participants of each participant group and their communication device are jointly mounted on a movable unit of an automation system, wherein the automation system has several such movable units, the movable units being moved along a common guide, wherein at least one transmission element is provided along the guide such that signals can be transmitted between the transmission element and the communication devices of the movable units along the extent of the transmission element in the transport direction of the movable units, wherein each participant group comprises at least one motor, in particular a servo motor, for moving the movable units along the guide. Preferably, the movable units also have at least one sensor for detecting the position of the movable unit along the guide.Such a sensor can be used to correct slippage, i.e., a deviation between the actual position in the system and the position recorded by the motor encoder. Such slippage can result from a slipping friction drive. If long distances need to be bridged cost-effectively and precise knowledge of the position of the moving unit within the track or a track module is not required, an additional sensor that records the position of the moving unit along the track can be omitted, and only the position of the moving unit determined via the motor encoder data can be used. The motor and / or sensor are preferably themselves participants in the respective participant group, or are controlled or read by such a participant.

[0043] The invention is illustrated by drawings: Fig. 1: schematically shows an exemplary topology of a data transmission system. Fig. 2: illustrates the sending of outgoing data packets by the control unit of a data transmission system. Fig. 3: illustrates the sending of data packets to the control unit of a data transmission system. Fig. 4: illustrates the sending of data packets to the control unit of a data transmission system using optical signal transmission. Fig. 5: illustrates an exemplary data transmission system with moving units. Fig. 6: illustrates another exemplary data transmission system with moving units. Fig. 7: illustrates another exemplary data transmission system with moving units. Fig. 8: illustrates another exemplary data transmission system with moving units.Fig. 9: illustrates application examples of physical data transmission systems with movable units. Fig. 10: illustrates an exemplary movable unit of an exemplary application of a data transmission system according to the invention.

[0044] Fig. 1 illustrates a possible topology which can be used in the present invention.

[0045] The system comprises a control unit 1, which is connected to several communication devices 3 via a transmission path 2, enabling the communication devices 3 to receive data from and send data to the control unit 1. Preferably, receiving and sending can occur via the same transmission path, but separate transmission paths for sending and receiving are also possible. Preferably, the transmission path is wired, i.e., an electrical conductor or an optical fiber. Wireless communication with the communication devices 3 is also possible, but less preferred, due to the currently lower transmission rates, longer signal propagation delay, and greater risk of signal interference.Especially in applications requiring synchronized control of participants, radio communication has proven unsuitable due to latency of four milliseconds or more. However, advances in radio technology may make implementation with radio communication possible, for example, by utilizing frequencies in the higher gigahertz range or by using frequency bands in the gigahertz range and the associated shorter latency. Currently, radio applications in automation mostly use frequencies in the ISM band (WLAN, Bluetooth, etc.). These frequency bands include the 2.4 GHz and 5 GHz ranges. Specifically, 5G technology could offer variants with sufficiently low latency. The 5G frequency bands will be at 2 GHz and from 3.4 GHz to 3.7 GHz.Another new variant, with potentially sufficiently low latency, operates at frequencies in the 60GHz range.

[0046] For the present invention, a cycle time of 2 ms or less is preferred. The latency should be in the single-digit µs range or less.

[0047] The communication devices 3 have at least one receiver and transmitter module. The communication devices 3 can also have multiple receiver and transmitter modules; for example, they can have cable connectors and radio receivers / transmitters.

[0048] The communication devices 3 and the control unit 1 are connected via a bus topology, so that each communication device 3 receives signals from the control unit 1 identically and, apart from propagation delays, simultaneously. For example, the control unit 1 transmits a radio signal that is received by all communication devices 3. Preferably, a conductor is connected to the control unit 1, which is branched to all communication devices 3. Alternatively, several conductors can be connected to the control unit 1, each carrying the same signal from the control unit 1, for example, by short-circuiting the conductors as electrical conductors within the control unit. For example, each conductor could lead from the control unit 1 to one communication device 3 or to a subgroup of communication devices 3.

[0049] One or preferably several participants 4 are connected to the communication devices 3 by means of conductors, whereby the communication between the participants 4 and their communication device 3 takes place via a bus.

[0050] The communication device 3 thus has a first interface for communication with the control unit 1 and a second interface for communication with the participants 4 of its participant group 5. Signal conversion can take place in the communication device 3, for example, from a radio signal of the control unit 1 to a wired signal to the participants 4. Preferably, the conversion is from an optical signal of the control unit 1 to an electrical wired signal to the participants 4. Signal conversion can also be performed by an additional signal converter before or after the communication device 3. As shown, the participants 4 and the communication device 3 are preferably connected by a line topology (excluding the dashed line) or by a ring topology (dashed line for the return conductor).

[0051] In the control unit 1, one master per communication device 3 can be implemented as a program or as software, with each master sending data packets via transmission path 2 to the address of its communication device 3. Preferably, each master has a unique address in the form of a number or a code. The software of the control unit 1 ensures that only one master sends data packets at a time, so that the data packets from different masters do not overlap.

[0052] Each communication device 3 provides the data packets it sends back with the address of the master, so that the software of the control unit 1 can assign the data packets of the communication devices 3 to the respective masters.

[0053] Preferably, the data packets to be sent to the communication devices 3 by the control unit 1 are collected and sent as a single package containing the individual data packets with their address information for the respective communication device 3. The individual communication devices 3 extract their assigned data packet from the single package. Preferably, the control unit 1 sends the single packages at a fixed interval within a fixed time window. This facilitates the synchronization of the participants 4 in the bus system by the control unit 1. Preferably, the time window of the control unit 1 for sending the single packages is dimensioned such that all data packets to be sent at any given time are sent within a single time window and do not need to be distributed across multiple time windows. The utilization of the time window for sending the single packages is therefore preferably always below 100%.

[0054] During the time between the time windows, data packets are sent back from the communication devices 3 to the control unit 1.

[0055] Fig. 2 This illustrates the process of transmitting data from the control unit 1 to the participants 4. The control unit 1 sends data packets 11, 12, 13, each containing address information readable by the communication devices 3. Preferably, the data packets 11, 12, 13 to be sent within a time window are sent as a single packet in which the individual data packets are concatenated without any time overlap.

[0056] Data packets 11, 12, 13 are received by all communication devices 3. Each communication device 3 forwards only the data packets 11, 12, 13 addressed to itself, or parts of these data packets intended for the participants 4 of its participant group 5, to its participants 4. Preferably, the communication devices 3 remove data required only by the communication device 3, such as the address information of the communication device 3 and / or time window information, from the data packets 11, 12, 13 before forwarding them to the participants 4 of participant group 5 of the respective communication device 3. Advantageously, a clock signal or other suitable time information from the control unit 1 can be forwarded by the communication devices 3 to the participants 4 to enable the synchronization of participants 4 of different communication devices 3.The respective data packet 11, 12, 13, or parts thereof, are forwarded from communication device 3 to participants 4. Preferably, the data packet 11, 12, 13, or parts thereof, is handed over to the first participant 4 connected to communication device 3 and then forwarded from participant 4 to participant 4.

[0057] Participants 4 process the data addressed to them, for example by executing commands, modifying data in data packets 11, 12, 13, or adding data, such as sensor data, to data packets 11, 12, 13. The data packets 41, 42, 43 modified or possibly newly created by Participants 4 are transmitted to the respective communication device 3 or passed from Participant 4 to Participant 4 until they reach it.

[0058] For example, the first and last data packets of the depicted sequence are sent as data packet 11, which contains the address information for a first communication device 31. The second data packet 12 is addressed to communication device 32, and the third data packet 13 to communication device 33. Data packets 11, 12, and 13 are preferably sent consecutively within a time interval as a single packet. The data packets 11, 12, and 13 can be of the same or different lengths. The order in which the data packets within the single packet are sent to communication devices 31, 32, and 33 can be constant or variable.

[0059] The first communication device 31 forwards the first data packet 11 and the last data packet 11 of the depicted sequence to the participants 4 of its participant group 5, preferably immediately after receiving the respective data packet 11. The participants 4 pass the data packets 11 around and modify them, so that modified data packets 41 are returned to the communication device 31 and buffered, i.e., temporarily stored, there.

[0060] As illustrated by the third communication device 33, it is also possible for the participants 4 to create data packets 43 on their own, for example, if this is indicated due to a sensor measurement.

[0061] Fig. 3 This illustrates the process of transmitting data from participants 4 to the control unit 1. The data packets 41, 42, 43, buffered or temporarily stored in the communication devices 3, are transmitted non-overlappingly along transmission path 2 to the control unit 1. As shown, each communication device 3 can transmit all (or as many as possible within the time window) buffered data packets to the control unit 1 within a known time window. The time windows can be of constant or variable length. The sequence of the assigned time windows 21, 22, 23 can be constant or variable. The time interval and the frequency of the time windows can also be constant or variable.

[0062] As an alternative to a time-window method (at least for a transmission path in the form of radio or an electrical conductor), other methods are conceivable to avoid the simultaneous transmission of data on a transmission path 2, for example, token methods, handshake methods, activity monitoring, and multiple access (carrier sense multiple access, CSMA), preferably in conjunction with collision detection (CD). However, these methods usually require that the communication devices 3 are also interconnected, i.e., that the communication devices 3 also receive the data packets 41, 42, 43 of other communication devices 3, or that an additional transmission path is established between the communication devices 3 via which a token or a handshake signal can be transmitted.

[0063] Fig. 4 Figure 1 illustrates the process of transmitting data from participants 4 to the control unit 1 when the transmission path 2 is in the form of optical fibers and the optical fibers to participants 4 are connected to a distributor 8, in this case an optical distributor, preferably a passive optical distributor. The distributor 8 routes the signal from the control unit, which is present on the single fiber at the input of the distributor 8, to all fibers at the output of the distributor 8, so that the signal from the control unit reaches all communication devices 3. The fibers at the output represent single conductors 9, which are branched off from the transmission path 2, or more precisely, from the transmission path 2 emanating from the control unit 1, in particular from the outgoing conductor.

[0064] Conversely, incoming signals from the fibers at the output of distributor 8 are coupled only into the single fiber at the input of distributor 8, but not into the other fibers at the output of distributor 8. Therefore, there is no direct data connection between the communication devices 3 via the transmission path 2. Consequently, the communication devices 3 do not receive the data packets 41, 42, 43 sent by the other communication devices 3, meaning that some collision avoidance or detection methods are not applicable. As already described, the communication devices 3 expediently receive the time window information, indicating when the line is reserved for them, from the control unit 1, specifically from the data packets of the control unit 1.The communication devices 3 thus transmit their data packets 41, 42, 43 at different times, so that these are coupled into the fiber at the input of the distributor 8 sequentially and without overlap, and thus reach the control unit 1 via a single fiber. The communication devices 3 preferably convert the optical signal from the fibers into an electrical signal, which is transmitted via cabling in the bus to the participants 4 of the participant group 5. One or more communication devices 3 can be located on a single fiber, and communication devices 3 located on the same fiber could also communicate with each other.

[0065] Fig. 5 Figure 1 illustrates a particularly preferred embodiment in which the participants 4 of each participant group 5 are arranged in their own movable unit 7. Preferably, the communication device 3 is also included in the movable unit 7. The movable unit 7 comprises a transmitter and receiver 6, which can receive a signal from the transmission path 2 and transmit a signal to the transmission path 2. The transmitter and receiver 6 can also be part of the communication device 3. The transmitter and receiver 6 can be a radio receiver or transmitter, so that there is no physical transmission path 2 and thus the movable unit remains in data communication with the control unit 1 regardless of its trajectory within the transmission range.

[0066] Transmission path 2 of the Fig. 5 However, it preferably exists physically as a transmission element 10 along a predetermined path. This means that a transmission element 10 or a series of transmission elements 10 arranged in series along the path extends along a path, allowing data exchange at every point along the path between at least one transmission element 10 and at least one communication device 3. The signal from the control unit 1 is present at every point of the transmission element 10 or transmission elements 10 along the path, so that each moving unit 7 along the path receives the outgoing data packets from the control unit 1.Data packets transmitted by communication devices 3 to any transmission element 10 along the route are forwarded to the control unit 1, whereby only one communication device 3 sends data packets to the control unit 1 at a time, so that data packets from the moving units 7 do not overlap in time. This allows for virtually any number of moving units 7 along a transmission element 10.

[0067] The transmission element 10 is preferably designed as a contactless transmission element 10.

[0068] The transmission element 10 can be designed as an inductive or capacitive contactless transmission element 10. The transmission element 10 can be designed as an optical transmission element 10.

[0069] Preferably, the transmission element 10 is elongated so that it covers an area along the path where several movable units 7 can be located. Preferred transmission elements 10 are hollow waveguides or side-fiber optics. More generally, conductors are preferred that carry an electrical signal, an electromagnetic signal, or an optical signal, wherein the signal can be transmitted along the longitudinal extent of the conductor to the movable unit 7, which is moved along the longitudinal extent of the conductor, and a signal from the movable unit can be coupled into the conductor, preferably without contact. The entire path can be covered by one transmission element 10, which can be assembled serially from shorter segments, in particular by plugging them together.

[0070] As in Fig. 6 As illustrated, a path along which at least one movable unit 7 can be moved can be realized by arranging several transmission elements 10 in series along the path, each branching off from the transmission path 2 originating from the control unit 1, in particular by single conductors 9. To keep the difference in propagation time between adjacent transmission elements 10 small, they can be arranged in series with incrementally changing conductor lengths, such that the change between two transmission elements 10 is at most the step length, as shown. To avoid propagation time differences between the transmission elements 10, each can have a connecting line of approximately the same length to the control unit 1 or to the distributor 8 (not shown).Starting from the control unit 1, a conductor is thus split into several individual conductors 9, which run to the transmission elements 10. Signals from the communication devices 3 in the movable units 7 are transferred to the transmission elements 10 and led via the individual conductors 9 to the distributor 8, where they are combined onto a line to the control unit 1, whereby, as described above, a suitable method ensures that the data packets of the communication devices 3 do not overlap in time.

[0071] Less preferably, small-area transmitters and receivers for near-field communication or RFID technology can also be arranged along the track, each covering a section of the track with its transmission and reception range, preferably overlapping. The movable units 7, which are moved along the track, are also equipped with such transmitters and receivers for near-field communication or RFID technology. All transmitters along the track send the same signal from the control unit 1, synchronized if necessary, so that all movable units 7 along the track receive the same signal. The communication devices 3 in the individual movable units 7 each forward only the data packet intended for them to their respective group of participants 5.Data packets from communication device 3 are received by the receivers along the path and transferred to one or more individual conductors 9, and are transmitted to the control unit 1 without overlapping transmission times. The buffering functionality and the time-delayed transmission of the data packets from communication device 3 could also be implemented in the receivers along the path.

[0072] Fig. 7 Figure 1 illustrates another exemplary implementation of a system according to the invention. The system comprises one or more transmission elements 10, which are arranged along the path of movement of at least one movable unit 7. The transmission elements 10 are connected to the transmission path 2 or individual conductors 9 of the transmission path 2 via coupling elements 18. The coupling element 18 can be of different designs or with different functionalities. In some embodiments, the coupling element 18 can transmit a signal without conversion or amplification between the transmission path 2 or its individual conductors 9 and the transmission element 10, for example, by being a passive optical element that couples light between a single fiber in the form of an optical waveguide and a transmission element 10 in the form of a side-fiber optical fiber. In an electrical system, the coupling element 18 would be a connector in this case.

[0073] The coupling element 18 can be configured in various ways as a unidirectional or bidirectional signal amplifier, so that the signal coming from the transmission path 2 and / or the signal coming from the transmission element 10 is amplified.

[0074] The coupling element 18 can be configured as a converter in various embodiments, such that the signal of a first type coming from the transmission path 2 is converted into a signal of a second type in the transmission element and vice versa. Preferably, the conversion takes place between an optical and an electrical signal.

[0075] The coupling element 18 can be equipped with intelligence in certain versions. In these versions, the coupling element 18 can transmit data packets from the control unit to the transmission elements 10 in synchronized form with other coupling elements 18.

[0076] In various versions, the coupling element 18 can temporarily store data packets received by the moving unit 7 via the transmission element 10.

[0077] In various configurations, the coupling element 18 can perform synchronized or collision-free data transmission with several movable units 7 located within the area of ​​its transmission element 10. In other configurations, the coupling element 18 can also perform synchronized or collision-free data transmission with other coupling elements 18 and the control unit 1.

[0078] If there is only one transmission element 10 and only one and the same movable unit 7 is permanently attached to it, the coupling element 18 can function as a communication device 3 or incorporate its functionalities. In this case, the coupling element 18 only couples those data packets from the control unit 1 into the transmission element 10 that are intended for the movable unit 7.

[0079] Even if several transmission elements 10 are arranged consecutively along a path and several preferably identical movable units 7 are moved along the path, with only one movable unit 7 being in the area of ​​a transmission element 10 at any given time, the communication devices 3 can be located on the transmission elements 10 and not on the movable units 7. (Illustrated in Fig. 8 In this case, the control unit 1 does not directly address the mobile units 7, but rather the transmission elements 10 to which they are located. If the participants 4 and the bus system of the mobile units 7 are identical for several mobile units 7, it is irrelevant for the data packets of the control unit 1 which mobile unit 7 they are received from, since each data packet can be processed by any mobile unit 7. In this variant, the mobile units 7 are therefore not directly addressed and controlled individually, but rather according to their respective position on the track via the respective track element. This track element can preferably also buffer data packets from the control unit 1, so that these are only passed to the transmission element 10 when a new mobile unit 7 enters its transmission area.For example, it is also possible for the communication device 3 to store a data packet from the control unit 1 and transmit it to each incoming moving unit 7 until a modified data packet is sent from the control unit 1 to the communication device 3. The advantage of this variant is that the design of the moving units 7 is simplified and their weight is reduced. The disadvantage is the indirect communication with the moving units 7 via the respective transmission element 10 to which they are currently located. If several types of moving units 7 are to be moved along the track, the communication device 3 would have to store instructions for the different types of moving units 7 and be able to identify which type of moving unit 7 is currently within the range of its transmission element 10.

[0080] Another possibility would be to provide communication devices 3 on the track elements 17 and communication devices 3 on the mobile units 7, wherein the communication devices 3 of the track elements 17 communicate synchronously or collision-free at their input with the other track elements and with the control unit 1, and communicate synchronously or collision-free at their output via the transmission element 10 with the communication devices 3 of the mobile units 7 that are in data connection with the transmission element 10. The communication devices 3 of the track elements could also be used to control participants 4, which are permanently present at the track element. Preferably, the track element has participants 4 of a participant group 5, which are in data connection with the communication device 3 via a bus system, preferably a line or ring bus.The communication device 3 of the track element can forward all data packets addressed to communication devices 3 of the moving units 7 to the transmission element 10 and only the data packets addressed to the communication device 3 of the track element to the participant group 5 of the track element. The communication device 3 of the track element therefore requires an interface to the transmission path 2, an interface to the transmission element 10, and an interface to the bus system of the track element 17. In addition to, or alternatively to, the interface to the bus system of the track element 17, the communication device 3 of the track element 17 can have an interface to a processing or handling device located in the area of ​​the track element, in order to communicate directly with the bus system of this device or with a communication device 3 of this device.

[0081] The communication device 3 of the track element 17 ensures collision-free communication between its participants 4 and buffers the data packets for collision-free transmission to the control unit 1.

[0082] In another embodiment, it is also possible that movable units 7, active track elements and / or processing or handling devices along the track each have their own communication device 3, which are connected to a common transmission path to the control unit 1, with all communication devices 3 transmitting data packets synchronously or at least collision-free to the control unit 1. Alternatively, the control of track elements and / or processing or handling devices can be carried out independently, i.e., via separate transmission paths, from the control of the movable units 7.

[0083] Fig. 9 This illustrates different applications of the system or process in question, which can be implemented independently of one another. The processing or handling device 14 illustrates an implementation of the system in question with a single movable unit 7. The movable unit 7 is movable at least along a path or guide of the processing or handling device 14 and is in data communication with one or more transmission elements 10 of the processing or handling device 14, the transmit and receive range of which includes every possible position of the movable unit 7.Two-dimensional or three-dimensional movement of the movable unit 7 is also possible, for example, if the transmission element 10 comprises one or more radio receivers and transmitters, or if the guide on which the movable unit 7 is directly mounted is equipped with a conductor that enables signal transmission along its longitudinal extent to the movable unit 7. Advantageously, this eliminates the need for a cable run in a processing or handling device 14, which would otherwise be required to control the various drives and sensors of the movable unit 7 in the processing or handling device 14. In particular, the processing or handling device 14 can be a gantry crane or a gantry robot. The communication device 3 can be provided on the processing or handling device 14 or directly on the movable unit 7.In this embodiment, the drive for moving the movable unit 7 along the guide can be located on the guide or on the movable unit 7.

[0084] The processing or handling device 15 illustrates a processing or handling device which has at least two movable units 7 along a path or guide. Advantageously, the communication devices 3 are mounted in the movable units 7 in order to make them addressable regardless of the position, type and number of the movable units 7.

[0085] The processing or handling device 16 is connected to the control unit 1 via its own direct transmission path, either conventionally or otherwise, and is intended to illustrate that the system in question can also be combined with conventional systems or other topologies. Of course, it would also be possible to equip the processing or handling device 16 with a communication device 3 and connect it to the distributor 8 with a single conductor 9. Fig. 9 Figure 17 further illustrates a transport route composed of individual route elements 17. At least one transmission element 10 runs along the transport route and is connected to the transmission path 2. Preferably, each route element 17 has at least one transmission element 10 connected to the transmission path 2. Several movable units 7 are transported along the transport route, each of which has a bus system with multiple participants 4 and communicates with the control unit 1 via a communication device 3 in the manner described above.

[0086] Preferably, the control of at least two participants 4 of different communication devices 3 is synchronized. Preferably, the control of at least one participant 4 of a communication device 3 and another participant, which is controlled directly by the control unit 1, i.e., not via the system according to the invention, is synchronized.

[0087] Synchronization preferably takes place via the control unit 1, wherein the synchronization is carried out via the data packets, in particular complete packets, sent by the control unit 1.

[0088] Preferably, at least one participant 4, which initiates the movement of a movable unit 7, and a second participant 4, which initiates the movement of a second movable unit 7, are controlled synchronously. Preferably, at least two movable units 7 can be moved synchronously along a guide. Preferably, several movable units 7, which are moved along a transport path, are synchronized by a control unit 1.

[0089] Preferably, at least two movable units 7 can be moved synchronously with each other along at least two different guides. Preferably, a first movable unit 7 is moved synchronously with each other along a guide of a processing or handling device, and a second movable unit 7 is moved synchronously with each other along a transport path. By synchronizing at least one axis of motion (rotational and / or linear axis of motion) of the processing or handling device and at least one axis of motion (axis of motion along the transport path and / or an additional rotational and / or linear axis of motion) of the movable unit 7 on the transport path, complex handling or processing operations can be performed, or the axis of the transport path can replace an axis of the processing or handling device.For example, it is also possible to continuously move the movable units 7 of the transport track along the transport track during processing or manipulation by the handling or processing device, and to move the tool or part manipulator of the handling or processing device synchronously in the direction of the transport track within the working area of ​​the handling or processing device. This advantageously avoids the need to brake and restart the movable unit 7 of the transport track.

[0090] Fig. 10 Illustrates an exemplary construction of a movable unit 7 of the system in question on an exemplary track element 17 or a guide of the system in question.

[0091] A transmission element 10 is located on the guide or track element 17, which directs the signal from the control unit 1 to the movable units 7. Each movable unit 7 has at least one transmitter and receiver 6, which can read the signal from the transmission element 10 and feed a signal into the transmission element 10. Preferably, the movable unit 7 includes the communication device 3, which forwards only the data packets addressed to the participants 4 of the movable unit 7 to the bus system of the movable unit 7 and returns data packets from the participants 4 to the control unit 1 via the transmission element 10 without collisions. The movable unit 7 can also have two transmitter and receiver 6 spaced apart from each other in the direction of movement along the guide, should this be necessary at the transitions between two transmission elements 10 adjacent to each other along the guide.This ensures that even in the event of a gap between the transmission elements 10, no interruption of data transmission occurs, since at least one sending and receiving device 6 is always in data connection with a transmission element 10.

[0092] The movable unit 7 is preferably held in a guide of a transport line or a handling or processing machine and guided therein by means of guide elements 71. The movable unit 7 or the guide has a drive element 72 with which the movable unit 7 is moved along the guide.

[0093] Preferably, the drive element 72 is part of the movable unit 7.

[0094] Preferably, the movable unit 7 has a motor 73 for driving the drive element 72. Furthermore, the movable unit 7 can have additional motors, for example, if the movable unit 7 has at least one further axis of motion. A further axis of motion on the unit 7 can be a rotary axis or a linear axis. This allows a part held in the unit 7, in particular a tool or workpiece, to be moved by the movable unit 7 itself, for example, rotated, or moved along an axis transverse to the transport direction, in addition to movement along the guide.

[0095] Preferably, the movable unit 7 has an energy storage device 74 for driving the motor 73.

[0096] Preferably, the movable unit 7 has an energy receiving module 75 for the preferably contactless transfer of energy from the track element to the motor 73 and / or the energy storage device 74. Preferably, the track element 17 has at least one energy transmission module 81 for transferring energy to the energy receiving module 75. Preferably, one or more energy transmission modules 81 are provided along the entire length of the transport track or the individual track elements 17 for uninterrupted energy transfer to the movable units 7.

[0097] Preferably, the movable unit 7 has a sensor 76 for detecting the actual position of the movable unit 7 on the track element 17. Preferably, the track element 17 has an absolute value track 82 from which the sensor 76 can read the absolute position of the movable unit 7 on the track element 17. Preferably, each position on the track element 17, or each position along the transport track, has a unique absolute value, so that the actual position of each movable unit 7 can be detected at any time, optionally with additional knowledge of the track element 17 or the transmission element 10 on which the movable unit 7 is currently located.

[0098] Preferably, a transport system for movable units 7, preferably in the form of part or workpiece carriers, is provided along a track, wherein the track has a guide for the movable units 7 and wherein at least one energy transmission module 81 runs along the track, which serves for the seamless transmission of energy to the movable units 7, wherein each of several movable units 7 itself has a drive and energy storage 74, wherein the drive is provided by a drive means rolling on the guide of the track, which is driven by a motor 73 of the movable unit 7 and wherein each movable unit 7 has at least one receiver module for receiving the transmitted energy, wherein at least one absolute value track 82 extends along the track.Preferably, the absolute value track 82 in the area of ​​at least one of the energy transmission modules 81 or transmission elements 10 is provided with unique code values ​​for position coding along the track, wherein each of the several movable units 7 has at least one absolute value sensor which reads the absolute value of the absolute value track 82.

Claims

1. A method for data transmission in a data transmission system of automation systems, machines or vehicles, which has at least one central controller (1), wherein outgoing data packets of the controller (1) are sent to different subscribers (4), wherein each outgoing data packet of the controller (1) contains at least one piece of address information and data to be transmitted, wherein the data transmission system has at least one transmission path (2) via which data packets are sent from different subscribers (4) to the controller (1), characterized in that the controller (1) is in data communication with a plurality of communication devices (3) via the transmission path (2), wherein a subscriber group (5) of subscribers (4) is assigned to each of the communication devices (3), wherein each subscriber group (5) is assigned to only one communication device (3), wherein in each case the subscriber group (5) of subscribers (4) and the assigned communication device (3) are connected by a data bus and wherein the subscriber group (5) of subscribers (4) is connected to the transmission path (2) via the respectively assigned communication device (3), which communication device (3) reads at least the address information of an outgoing data packet of the controller (1) and recognizes from the address information of the outgoing data packet whether it itself or a subscriber (4) of its subscriber group (5) is addressed by the outgoing data packet, wherein the outgoing data packet or parts thereof is only passed on to the subscriber group (5) of subscribers (4) if this condition is met, so that the outgoing data packet can be processed by the at least one addressed subscriber (4) and wherein a response or a modified or new data packet of at least one subscriber (4) of the subscriber group (5) is transmitted to the respectively assigned communication device (3) and wherein the communication device (3) transmits the response or the modified or new data packet of the at least one subscriber (4) to the controller (1) via the transmission path (2) in a time period in which time period no other of the communication devices (3) transmits data packets to the controller (1).

2. The method according to claim 1, characterized in that the controller (1) sends time window information for the data transmission on the transmission path (2) to the communication devices (3), wherein each communication device (3) receives the information therefrom in which time period it can transmit data packets to the controller (1).

3. The method according to one of claims 1 to 2, characterized in that the controller (1) sends a clock signal for synchronizing the communication devices (3) and / or the subscribers (4) of the communication devices (3).

4. The method according to one of claims 1 to 3, characterized in that the outgoing data packet contains address information of at least one communication device (3) and address information of at least one subscriber (4) of this communication device (3).

5. The method according to claim 4, characterized in that the address information of the communication devices (3) is unique address information, so that each communication device (3) on the transmission path can be uniquely addressed by the controller (1).

6. The method according to one of claims 1 to 5, characterized in that the subscribers (4) of a subscriber group (5) communicate with the communication device (3) via a line or ring topology.

7. The method according to one of claims 1 to 6, characterized in that the communication devices (3) communicate with the controller (1) via a bus topology.

8. The method according to one of claims 1 to 7, characterized in that multiple masters of the system are mapped by software in the controller (1) or are present as plug-in cards on the controller (1), wherein each master communicates with only one communication device (3).

9. The method according to one of claims 1 to 8, characterized in that the transmission path (2) starting from the controller (1) is present as a conductor in the form of an optical waveguide or electrical conductor.

10. The method according to claim 9, characterized in that the conductor is branched to a plurality of individual conductors (9), wherein the communication devices (3) are present on the individual conductors (9) of the transmission path (2).

11. The method according to one of claims 1 to 10, characterized in that at least one movable unit (7), which comprises at least one subscriber group (5) of subscribers (4), is moved along at least one transmission element (10), wherein the movable unit (7) receives data from the transmission element (10) and can transmit data to the transmission element (10), in that the transmission element (10) is present such that a signal can be transmitted between the transmission element (10) and the movable unit (7) at any position along its longitudinal extent in the direction of movement of the movable unit (7).

12. The method according to claim 11, characterized in that the movable unit (7) comprises the communication device (3) of the subscriber group (5).

13. The method according to one of claims 11 or 12, characterized in that the transmission element (10) is part of the transmission path (2) in that it is in data communication with the controller (1).

14. The method according to claim 12, characterized in that multiple transmission elements (10) are present in the form of individual conductors (9), each of which covers a partial area of the movement path of the at least one movable unit (7), wherein each individual conductor (9) conducts signals of the controller (1) and wherein movable units (7) located in the area of the individual conductors (9) receive signals from the individual conductor (9) via their communication devices (3) and return signals to at least one individual conductor (9), which signals are returned to the controller (1) via the individual conductor (9).

15. The method according to one of claims 11 to 14, characterized in that the movable units (7) are transport carriages or movable part holders of a transport system or movable components of machines which are moved along a guide.

16. The method according to one of claims 1 to 15, characterized in that the subscribers (4) of each subscriber group (5) and their communication device (3) are jointly attached to a movable unit (7) of an automation system, wherein the automation system comprises at least one such movable unit (7), wherein the movable units (7) are moved along a common guide, wherein at least one transmission element (10) is present along the guide, such that signals can be transmitted between the transmission element (10) and communication devices (3) of the movable unit (7) along the extension of the transmission element (10) in the transport direction of the movable units (7), wherein each movable unit (7) comprises at least one motor (73) for moving the movable unit (7) along the guide.

17. The method according to one of claims 1 to 16, characterized in that the subscribers (4) of at least one subscriber group (5) and their communication device (3) are jointly attached to a movable unit (7) of an automation system, wherein at least one such movable unit (7) is moved along a first guide, wherein at least one transmission element (10) is present along the first guide, so that signals can be transmitted between the transmission element (10) and the communication device (3) of the movable unit (7) along the extension of the transmission element (10) in the transport direction of the movable unit (7), wherein the automation system comprises at least one further movable element, wherein the further movable element is moved along another second guide and / or about an axis, wherein at least one movement of the further movable element is synchronized with at least one movement of the movable unit (7), wherein the movement of the movable unit (7) is selected from the group of movements comprising moving the movable unit (7) along the first guide; moving an element of the movable unit (7) along or around an axis of movement on the movable unit (7).

18. The method according to one of claims 11 to 17, characterized in that the movement of a first movable unit (7) and the movement of at least one second movable unit (7) or at least one further movable element of the automation system, the machine or the vehicle are synchronized, wherein the synchronization is performed by the controller (1).

19. The method according to claim 18, characterized in that the synchronization is carried out by the data packets sent by the controller (1) containing a clock signal.

20. The method according to one of claims 1 to 19, characterized in that outgoing data packets from the controller (1) are sent within time windows with a constant clock and constant length.