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

Abstract

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

Description

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

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

[0002] Factories where robot control systems are installed do not have access to the Internet, such as Wi-Fi (registered trademark). For this reason, when updating the control software of a control device for an industrial machine such as a robot, the new control software to be updated is temporarily stored on a portable storage medium such as a memory card or USB memory, and the portable storage medium is then connected to the control device to perform the software update process.

[0003] For example, a robot system is known that has a transmitting robot control device that transmits update software and a receiving robot control device that receives the update software from the transmitting robot control device, where the transmitting robot control device and the receiving robot control device each have a first memory unit that stores a software update processing program and robot movement control software, a second memory unit that stores the software update processing program read from the first memory unit, a third memory unit that stores the update software, and a communication unit that sends and receives the update software stored in the third memory unit (see, for example, Patent Document 1).

[0004] For example, paragraph

[0016] of Patent Document 2 states, "The programs may be provided by being recorded in the form of installable or executable files on a computer-readable recording medium such as a CD-ROM, FD, CD-R, DVD, or USB memory. The programs may also be stored in the memory of a computer connected to a communications network and installed by being downloaded via the network."

[0005] International Publication No. 2010 / 089951 Japanese Patent Application Laid-Open No. 2020-075340

[0006] Generally, portable storage media such as memory cards and USB memory sticks are tested for operation on major devices such as Windows (registered trademark) terminals, Android (registered trademark) terminals, and iOS (registered trademark) terminals. However, for specialized devices such as control devices in robot control systems, the operation of portable storage media may not be tested, and operation may not be guaranteed. Therefore, it is desirable to realize a robot control system and computer program that allows for easy updating of control software.

[0007] According to one aspect of the present disclosure, a robot control system includes a robot control device, a base member connected to the control device via wired communication, and a mobile communication terminal that is detachable from the base member and capable of wireless communication with an external device, and that, when attached to the base member and connected to the base member via wired communication, instructs the control device to operate the robot in accordance with the content of a teaching operation.When the mobile communication terminal is detached from the base member and the wired communication with the base member is disconnected, update control software is downloaded from an external server that is an external device to the mobile communication terminal, and when the mobile communication terminal is attached to the base member and connected to the base member via wired communication, the control software of the control device is updated with the downloaded update control software.

[0008] Furthermore, according to one aspect of the present disclosure, in a robot control system including a base member connected to a robot control device and a portable communication terminal detachable from the base member and instructing the control device to operate the robot according to the content of a teaching operation, a computer program for causing a computer to execute an update process for the control software of the control device includes: a download step of downloading update control software from an external server, which is an external device, to the portable communication terminal when the portable communication terminal is detached from the base member and wired communication with the base member is disconnected; and an update step of updating the control software of the control device with the update control software downloaded in the download step when the portable communication terminal is attached to the base member and connected to the base member via wired communication.

[0009] Furthermore, according to one aspect of the present disclosure, in a robot control system including a base member connected to the robot's control device and a portable communication terminal detachable from the base member and instructing the control device to operate the robot according to the content of a teaching operation, a method for updating control software of the control device includes a download step of downloading update control software from an external server, which is an external device, to the portable communication terminal when the portable communication terminal is detached from the base member and wired communication with the base member is disconnected, and an update step of updating the control software of the control device with the update control software downloaded in the download step when the portable communication terminal is attached to the base member and connected to the base member via wired communication.

[0010] According to one aspect of the present disclosure, a control device having control software for controlling an industrial machine includes at least one memory and at least one processor, and the at least one processor accepts a connection with a base member, accepts a connection between the base member and a detachable mobile communication terminal, or accepts a connection with the mobile communication terminal via a connection with the base member, and after accepting the connection between the base member and the mobile communication terminal, obtains update control software from the mobile communication terminal and stores it in at least one memory, and updates the control software with the update control software stored in the at least one memory.

[0011] FIG. 1 is a block diagram illustrating a robot control system according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating a schematic appearance of a robot control system according to an embodiment of the present disclosure. FIG. 3 is a diagram illustrating a download method according to a first mode in a robot control system according to an embodiment of the present disclosure. FIG. 4 is a diagram illustrating a download method according to a second mode in a robot control system according to an embodiment of the present disclosure. FIG. 5 is a diagram illustrating a communication protocol between a mobile communication terminal and a control device in a robot control system according to an embodiment of the present disclosure. FIG. 6 is a flowchart illustrating an overall flow of a process for updating control software of a control device in a robot control system according to an embodiment of the present disclosure. FIG. 7 is a flowchart illustrating a detailed operation flow of a process for updating control software of a control device in a robot control system according to an embodiment of the present disclosure.

[0012] A robot control system and a computer program according to an embodiment will be described below with reference to the drawings. In the following description, components having the same or similar functions will be assigned the same reference numerals. Duplicate descriptions of these components may be omitted. In the following description, "updated control software" refers to the latest version of the control software for the robot's control device.

[0013] <Overall Configuration of Robot Control System> Fig. 1 is a block diagram illustrating a robot control system according to an embodiment of the present disclosure, and Fig. 2 is a diagram illustrating a schematic external view of the robot control system according to an embodiment of the present disclosure.

[0014] The robot control system 100 includes a control device 11 , a base member 12 , and a general-purpose mobile communication terminal 13 .

[0015] The robot 2, which is an industrial machine, and the control device 11 are connected via a cable 41 (hereinafter referred to as the "robot cable 41") for wired communication. The robot 2's operation is controlled by the control device 11. The control device 11 is not directly connected to an external internet line and is therefore not exposed to threats on the internet line. The control device 11 includes an arithmetic processing unit (at least one processor) and a storage device (at least one memory). Examples of the arithmetic processing unit include an IC, an LSI, a CPU, an MPU, and a DSP. Examples of the memory include electrically erasable and recordable non-volatile memory such as an EEPROM (registered trademark), or high-speed read / write random access memory such as a DRAM or an SRAM. The control device 11, which includes the arithmetic processing unit, is a functional module implemented by, for example, control software (computer program) executed on the processor. By operating the arithmetic processing unit in accordance with the control software, each process of the control device 11 that controls the operation of the robot 2 can be realized.

[0016] The base member 12 is connected to the control device 11 via wired communication and has a communication interface (not shown) for this purpose. The base member 12 and the control device 11 are connected to each other via a cable 33 (hereinafter referred to as the "teaching operation device cable 33") to enable wired communication. The base member 12 has a mounting base 30, and an enable switch 31 and an emergency stop button 32 as safety switches.

[0017] Mounting base 30 is for detachably mounting portable communication terminal 13 to base member 12. Methods for mounting portable communication terminal 13 using mounting base 30 include, for example, a method of gripping portable communication terminal 13 by clamping it with a spring mechanism provided on base member 12, a method of fastening portable communication terminal 13 with screws, and a method of attaching portable communication terminal 13 using an adhesive member. Portable communication terminal 13, which is physically attached via mounting base 30, and base member 12 are connected to each other via cable 23 (hereinafter referred to as "terminal cable 23") so as to be capable of wired communication.

[0018] The enable switch 31 is a safety switch that allows the control device 11 to control the operation of the robot 2 via the mobile communication terminal 13 while it is continuously pressed (ON), and does not allow the control device 11 to control the operation of the robot 2 via the mobile communication terminal 13 when it is released from the pressed (ON) state. A signal corresponding to the operation content of the enable switch 31 is transmitted from the base member 12 to the control device 11 via the teaching operation device cable 33. For example, while the enable switch 31 is not pressed, the robot 2 will not move no matter what operation is performed via the mobile communication terminal 13. While the enable switch 31 is pressed, the robot 2 can be operated via the mobile communication terminal 13.

[0019] The emergency stop button 32 is a safety switch that commands the control device 11 to make an emergency stop of the robot 2. When the emergency stop button 32 is pressed (turned on), an emergency stop signal is transmitted from the base member 12 to the control device 11 via the teaching operation device cable 33, and in response to this, the robot 2 makes an emergency stop.

[0020] The mobile communication terminal 13 is a general-purpose portable information communication terminal capable of wireless communication with an external device. Examples of the mobile communication terminal 13 include a tablet terminal (tablet PC) and a smartphone.

[0021] The portable communication terminal 13 includes, for example, a touch panel 21 having both a screen display function and an input operation reception function. The portable communication terminal 13 also includes a power button 22 for turning on the power of the portable communication terminal 13. When the power button 22 is pressed (turned on) once, the portable communication terminal 13 starts up. The portable communication terminal 13 also includes an internal battery (not shown).

[0022] The mobile communication terminal 13 is a general-purpose information communication terminal, and therefore various application software can be installed on it, one of which is teaching software that commands the control device 11 to operate the robot 2 in accordance with the contents of the teaching operation.

[0023] The portable communication terminal 13 is connected to the base member 12 via a terminal cable 23 so as to be able to communicate by wire, and has a communication interface (not shown) for this purpose. When the portable communication terminal 13, on which teaching software is installed, is attached to the base member 12 and connected to the base member 12 via wired communication, the portable communication terminal 13 and the base member 12 constitute a teaching operation device 1. When a teaching operation is performed using the portable communication terminal 13 in the teaching operation device 1, the portable communication terminal 13 is connected to the control device 11 via the base member 12 so as to be able to communicate by wired communication, so that teaching operations can be performed stably on the robot 2. When the worker operates the portable communication terminal 13 in the teaching operation device 1, the portable communication terminal 13 commands the control device 11 to operate the robot 2 in accordance with the content of the teaching operation. The mobile communication terminal 13 has an internal memory (not shown) installed with teaching software that registers and edits operation programs for the robot 2, sets conditions, displays status, teaches the robot 2, and manually operates the robot 2. The internal arithmetic processing unit operates in accordance with the teaching software installed in the memory, thereby realizing a wireless teaching operation function that operates (teaches) the robot 2. Examples of the arithmetic processing unit include an IC, an LSI, a CPU, an MPU, and a DSP. The memory unit is composed of an electrically erasable and recordable non-volatile memory such as an EEPROM (registered trademark), or a high-speed read / write random access memory such as a DRAM or SRAM.

[0024] Furthermore, mobile communication terminal 13 can connect to an internet line via a wireless LAN such as Wi-Fi (registered trademark) or a mobile phone communication system (LTE, 3G line, 4G line, 5G line, etc.) and perform data communication with an external device on the internet line. Mobile communication terminal 13 can also connect to an internet line via a wired cable such as a USB cable (not shown) and perform data communication with an external device on the internet line.

[0025] In the robot control system 100, to ensure efficiency and safety, it is necessary to keep the control software of the control device 11 of the robot 2 at the latest version. The latest version of the control software, "update control software," is stored in, for example, an external server 3 provided by the manufacturer or distributor of the robot control system 100. The external server 3 is connected to the Internet, and an operator of the robot control system 100 can obtain the update control software by accessing the external server 3 via the Internet from a mobile communication terminal 13. The update control software downloaded from the external server 3 to the mobile communication terminal 13 is temporarily stored in a memory unit within the mobile communication terminal 13.

[0026] According to an embodiment of the present disclosure, the control software of the control device 11 is not updated using a portable storage medium such as a memory card or USB memory, as in the past. Therefore, there is no need to confirm the operation of the portable storage medium in advance, even for specialized devices such as the control device in a robot control system. Furthermore, because a portable storage medium is not used, the download of the updated control software is not affected by the communication speed of the portable storage medium, which is a hardware device. Furthermore, because the control software of the control device 11 is updated using a general-purpose mobile communication terminal 13, there is no need to add a new hardware device. Generally, factories where robot control systems are installed often lack an Internet access environment such as Wi-Fi (registered trademark). The general-purpose mobile communication terminal 13 has a Wi-Fi (registered trademark) communication function for accessing the Internet, and the mobile communication terminal 13 can be easily removed from the base member 12. Therefore, it is easy to bring the mobile communication terminal 13 into an environment with Internet access and download the updated control software to the mobile communication terminal 13. Thus, according to an embodiment of the present disclosure, the control software of the control device 11 can be easily updated.

[0027] In an embodiment of the present disclosure, mobile communication terminal 13 is disconnected from control device 11, update software is downloaded to mobile communication terminal 13 from external server 3 in an environment where internet connection is possible, and then mobile communication terminal 13 is connected via a wired connection to control device 11 that is not connected to the internet line to perform the software update process. More specifically, when mobile communication terminal 13 is detached from base member 12 and wired communication between mobile communication terminal 13 and base member 12 is disconnected, update control software is downloaded to mobile communication terminal 13 from external server 3, which is an external device. Then, when mobile communication terminal 13 is attached to base member 12 and mobile communication terminal 13 and base member 12 are connected via wired communication, the control software of control device 11 is updated with the update control software stored in mobile communication terminal 13.

[0028] In an embodiment of the present disclosure, at least one processor provided in the control device 11 accepts a connection with the base member 12. Furthermore, the at least one processor provided in the control device 11 accepts a connection between the base member 12 and a detachable mobile communication terminal 13, or a connection with the mobile communication terminal 13 via a connection with the base member 12. After accepting a connection between the base member 12 and the mobile communication terminal 13, the at least one processor provided in the control device 11 acquires update control software from the mobile communication terminal 13 and stores it in at least one memory within the control device 11. The at least one processor provided in the control device 11 updates the control software with the update control software stored in the at least one memory.

[0029] <Downloading of Control Software for Update> Several modes of downloading control software for update to the mobile communication terminal 13 will be listed below.

[0030] The download method according to the first embodiment is performed via wireless communication. FIG. 3 is a diagram illustrating the download method according to the first embodiment in a robot control system according to an embodiment of the present disclosure. An external server 3 storing update control software is installed on an Internet line 4. A router 5, such as a Wi-Fi router (wireless LAN router), is connected to the Internet line 4. In the download method according to the first embodiment, when the mobile communication terminal 13 is detached from the base member 12 and wired communication between the mobile communication terminal 13 and the base member 12 is terminated, the mobile communication terminal 13 is connected to the Internet line 4 via the router 5. The update control software is then downloaded from the external server 3 on the Internet line 4 to the mobile communication terminal 13 via wireless communication (Wi-Fi connection). Note that instead of the Wi-Fi connection, the mobile communication terminal 13 may be wirelessly connected to the Internet line 4 via a mobile phone communication system (such as an LTE, 3G line, 4G line, or 5G line).

[0031] The download method according to the second embodiment uses wired communication. Figure 4 is a diagram illustrating the download method according to the second embodiment in a robot control system according to an embodiment of the present disclosure. An external server 3 storing update control software is installed on an Internet line 4. A router 5 is connected to the Internet line 4. In the download method according to the second embodiment, when the mobile communication terminal 13 is detached from the base member 12 and wired communication between the mobile communication terminal 13 and the base member 12 is disconnected, the mobile communication terminal 13 is connected to the router 5 via a USB cable 6, thereby connecting the mobile communication terminal 13 to the Internet line 4. The update control software is then downloaded from the external server 3 on the Internet line 4 to the mobile communication terminal 13 via wired communication.

[0032] <Software update processing> After downloading the update control software into the mobile communication terminal 13 as described above, a software update processing is performed on the control device 11 when the mobile communication terminal 13 is attached to the base member 12 and the mobile communication terminal 13 and the base member 12 are connected via wired communication.

[0033] FIG. 5 is a diagram illustrating a communication protocol between a mobile communication terminal and a control device in a robot control system according to an embodiment of the present disclosure.

[0034] The base member 12 and the control device 11 are connected to each other via a teaching operation device cable 33 so as to be able to communicate by wire. When performing a software update process on the control device 11, the portable communication terminal 13 storing the downloaded update control software is attached to the base member 12, and the portable communication terminal 13 and the base member 12 are connected by wire. That is, when performing a software update process on the control device 11, the portable communication terminal 13 is connected to the control device 11 via the base member 12 so as to be able to communicate by wire.

[0035] The communication protocols used between the portable communication terminal 13 and the control device 11 for updating the control software of the control device 11 are, for example, FTP and TFTP, but other communication protocols may also be used. For example, communication protocols such as SMTP, SMB, STP, MTP, SCP, SFTP, and FTPS may also be used. Below, as an example, a case where FTP and TFTP are used as communication protocols will be described. The control device 11 is provided with software for an FTP client and a TFTP client. The portable communication terminal 13 functions as an FTP server and a TFTP server.

[0036] FIG. 6 is a flowchart showing the overall flow of the process of updating the control software of the control device in the robot control system according to an embodiment of the present disclosure.

[0037] In step S100, the worker removes portable communication terminal 13 from base member 12 and disconnects terminal cable 23 between portable communication terminal 13 and base member 12 to terminate wired communication between portable communication terminal 13 and base member 12. Then, the worker brings portable communication terminal 13 to an environment where it can access the Internet, and connects portable communication terminal 13 to external server 3 via Wi-Fi (registered trademark), for example. Then, the worker manually operates portable communication terminal 13 to download the update control software from external server 3 to portable communication terminal 13.

[0038] In step S200, the worker attaches portable communication terminal 13 to base member 12 and attaches terminal cable 23 between portable communication terminal 13 and base member 12 to enable wired communication between portable communication terminal 13 and base member 12. Then, the worker operates portable communication terminal 13 to update the control software of control device 11 with the update control software stored in portable communication terminal 13.

[0039] A computer program for causing a computer to execute a process for updating the control software of the control device 11 in the robot control system 100 includes a downloading step and an updating step. The computer program for executing the downloading step operates when the mobile communication terminal 13 is detached from the base member 12 and wired communication between the mobile communication terminal 13 and the base member 12 is disconnected. The computer program for executing the downloading step is specified to download updated control software from an external server 3, which is an external device, to the mobile communication terminal 13. The computer program for executing the downloading step is installed on the mobile communication terminal 13 and includes, for example, FTP client software. The computer program for executing the updating step operates when the mobile communication terminal 13 is attached to the base member 12 and the mobile communication terminal 13 and the base member 12 are connected via wired communication. The computer program for executing the updating step is specified to update the control software of the control device 11 with updated control software stored in the mobile communication terminal 13. A computer program that executes the update step is installed on the mobile communication terminal 13 and the control device 11, and the control device 11 is provided with FTP client and TFTP client software, and the mobile communication terminal 13 is provided with FTP server and TFTP server software.

[0040] FIG. 7 is a flowchart showing a detailed operational flow of the process of updating the control software of the control device in the robot control system according to the embodiment of the present disclosure.

[0041] An example will be described in which an old version of control software is already installed in the control device 11, and this is updated with update control software (i.e., a new version of control software) downloaded to the mobile communication terminal 13.

[0042] The worker attaches portable communication terminal 13, in which the update control software is stored, to base member 12, and attaches terminal cable 23 between portable communication terminal 13 and base member 12 to enable wired communication between portable communication terminal 13 and base member 12. Then, in update start request step S201, the worker operates portable communication terminal 13 to send an update start request from portable communication terminal 13 to control device 11. The update start request is made, for example, by requesting from portable communication terminal 13 to a web server in control device 11 to display a specific address, but may be made in other ways.

[0043] Next, in backup file transmission step S202, the control device 11 transmits a backup file of the control device 11 to the mobile communication terminal 13 using an FTP client included in the already installed old version of the control program. The backup file, for example, defines various setting parameters of the control device 11. To prevent the setting parameters of the control device 11 from being overwritten and erased when the control software of the control device 11 is updated, the backup file is temporarily saved to the mobile communication terminal 13 in backup file transmission step S202. Note that a USB memory 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 memory.

[0044] Next, in boot software transmission request step S203, the control device 11 transmits a boot software transmission request from the control device 11 to the mobile communication terminal 13 using an FTP client included in the old version of the control program that has already been installed.

[0045] Next, in boot software download step S204, the control device 11 uses the FTP client included in the already installed old version of the control program to download new boot software from the portable communication terminal 13 to the control device 11. The new boot software includes TFPT client software.

[0046] Next, in a boot software update step S205, the old boot software already present in the control device 11 is deleted, and the new boot software downloaded in the boot software download step S204 is installed in the control device 11.

[0047] Next, in power-on step S206, the operator turns off the power of the control device 11 once and then turns it on again.

[0048] Next, in boot software startup step S207, new boot software is started in the control device 11.

[0049] Next, in image backup sending step S208, the control device 11 transmits an image backup of the control device 11 to the portable communication terminal 13 using the TFTP client included in the new boot software. The image backup of the control device 11 is a copy of the old version of control software (including core files, option files, and setting parameters) that was installed on the control device 11, so that the control device 11 can be restored to the state before the software update process. If the software update process fails, the image backup stored in the portable communication terminal 13 can be used to restore the control device 11 to the state before the software update process. Alternatively, a USB memory may be connected to the portable communication terminal 13, and the image backup stored in the portable communication terminal 13 may be written to the USB memory.

[0050] Next, in step S209 for requesting transmission of updated control software, the control device 11 transmits a request for transmission of updated control software from the control device 11 to the portable communication terminal 13 by the TFTP client included in the new boot software.

[0051] Next, in update control software download step S210, the control device 11 downloads the update control software from the portable communication terminal 13 to the control device 11 using the FTP client and TFTP client. The update control software in update control software download step S210 is downloaded in two parts. First, the control device 11 downloads a first part of the update control software from the portable communication terminal 13 to the control device 11 using the TFTP client included in the new boot software. The downloaded first part of the update control software includes a core file of the update control software, a portion of an option file, and FTP client software. The core file of the update control software also defines initial values ​​for the setting parameters of the control device 11. The option file also defines initial values ​​for the setting parameters of the control device 11. The FTP client software also defines initial values ​​for the setting parameters of the control device 11. Next, the control device 11 downloads a second part of the update control software from the portable communication terminal 13 to the control device 11 using the FTP client included in the downloaded first part of the update control software. The second part of the downloaded update control software contains the remaining optional files of the update control software.

[0052] Next, in a backup file transmission request step S211, the control device 11 transmits a backup file transmission request from the control device 11 to the mobile communication terminal 13 using the FTP client included in the first part of the downloaded update control software.

[0053] Next, in backup file download step S212, the control device 11 uses the FTP client included in the first part of the downloaded update control software to download the backup file from the portable communication terminal 13 to the control device 11. The backup file downloaded in backup file download step S212 is the one that was temporarily saved to the portable communication terminal 13 in backup file transmission step S202.

[0054] Next, in setting step S213, the setting parameters of the control software of the control device 11 are returned to the state before the software update process using the backup file downloaded in backup file download step S212. Since initial values ​​are set as setting parameters in the core file, option file, and FTP client software of the update control software downloaded in update control software download step S210, these initial values ​​are overwritten with the setting parameters specified in the backup file, thereby returning the setting parameters of the control software of the control device 11 to the state before the software update process.

[0055] 5 to 7, the control device 11 is provided with FTP client and TFTP client software, and the mobile communication terminal 13 functions as an FTP server and a TFTP server. As a modification of this, the relationship between the client and the server may be reversed, and the mobile communication terminal 13 may be provided with FTP client and TFTP client software, and the control device 11 may function as an FTP server and a TFTP server. In this modification, the descriptions in FIG. 7 regarding "downloading" the boot software, update control software, and backup files from the mobile communication terminal 13 to the control device 11 should be read as "uploading."

[0056] As described above, according to the embodiments of the present disclosure, it is possible to realize a robot control system and a computer program that can easily update the control software of the control device 11.

[0057] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0058] The following additional notes are provided regarding the above-described embodiment and modifications.

[0059] (Supplementary Note 1) A robot control system 100 comprising: a control device 11 for a robot 2; a base member 12 connected to the control device 11 via wired communication; and a portable communication terminal 13 that is detachable from the base member 12 and capable of wireless communication with an external device, the portable communication terminal 13 instructing the control device 11 to operate the robot 2 in accordance with the content of a teaching operation when attached to the base member 12 and connected to the base member 12 via wired communication; wherein, when the portable communication terminal 13 is detached from the base member 12 and the wired communication with the base member 12 is disconnected, update control software is downloaded to the portable communication terminal 13 from an external server 3 that is an external device; and when the portable communication terminal 13 is attached to the base member 12 and connected to the base member 12 via wired communication, the control software of the control device 11 is updated with the downloaded update control software. (Supplementary Note 2) The robot control system 100 according to Supplementary Note 1, wherein updated 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 detached from the base member 12 and wired communication with the base member 12 is disconnected. (Supplementary Note 3) The robot control system 100 according to Supplementary Note 1, wherein updated 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 detached from the base member 12 and wired communication with the base member 12 is disconnected. (Supplementary Note 4) The robot control system 100 according to any one of Supplements 1 to 3, wherein the base member 12 has: an enable switch 31 that allows the control device 11 to control the operation of the robot 2 while the enable switch 31 is pressed, and that disables the control device 11 from controlling the operation of the robot 2 when the enable switch 31 is pressed; an emergency stop button 32 that commands the control device 11 to make an emergency stop of the robot 2; and a mounting base 30 for detachably mounting the mobile communication terminal 13. (Supplementary Note 5) The robot control system 100 according to any one of Supplementary Notes 1 to 4, wherein the communication protocols used to update the control software of the control device 11 between the mobile communication terminal 13 and the control device 11 are FTP and TFTP.(Supplementary Note 6) In a robot control system 100 including a base member 12 connected to a control device 11 of a robot 2, and a mobile communication terminal 13 detachable from the base member 12 and instructing the control device 11 to operate the robot 2 in accordance with content of a teaching operation, a computer program for causing a computer to execute an update process for control software of the control device 11, the computer program comprising: a download step of downloading updated control software from an external server 3 that is an external device to the mobile communication terminal 13 when the mobile communication terminal 13 is detached from the base member 12 and wired communication with the base member 12 is disconnected; and an update step of updating the control software of the control device 11 with the updated control software downloaded in the download step when the mobile communication terminal 13 is attached to the base member 12 and connected to the base member via wired communication. (Supplementary Note 7) The computer program for causing a computer to execute the update process described in Supplementary Note 6, in which the communication protocols used to update the control software of the control device 11 in the update step are FTP and TFTP. (Supplementary Note 8) A computer program for causing a computer to execute the update process described in Supplementary Note 7, in which the control device 11 is provided with software for an FTP client and a TFTP client, and the mobile communication terminal 13 functions as an FTP server and a TFTP server.(Supplementary Note 9) A computer program for causing a computer to execute the update processing described in Supplementary Note 8, wherein the update step comprises: a boot software download step of downloading new boot software from the mobile communication terminal 13 to the control device 11 by an FTP client; a boot software update step of deleting old boot software already in the control device 11 after the boot software download step has been executed and installing the new boot software downloaded in the boot software download step in the control device 11; a boot software start step of starting the new boot software in the control device 11 after the boot software update step has been executed and the power of the control device 11 has been turned back on; an update control software download step of downloading update control software from the mobile communication terminal 13 to the control device 11 by an FTP client and a TFTP client after the boot software start step has been executed; and a setting step of returning setting parameters of the control software of the control device 11 to the state before the update step was executed. (Appendix 10) The update step comprises: an update start request step of transmitting an update start request from the mobile communication terminal 13 to the control device 11; a backup file transmission step of transmitting a backup file of the control device 11 from the control device 11 to the mobile communication terminal 13 by an FTP client after the update start request step is executed; and a boot software transmission request step of transmitting a boot software transmission request from the control device 11 to the mobile communication terminal 13 by the FTP client after the backup file transmission step is executed, and a computer program for causing a computer to execute the update processing described in Appendix 9, in which a boot software download step is executed after the boot software transmission request step is executed.(Appendix 11) The update step comprises: an image backup sending step in which, after the boot software activation step has been executed, an image backup of the control device 11 is sent from the control device 11 to the mobile communication terminal 13 by a TFTP client included in the new boot software; and an update control software sending request step in which, after the image backup sending step has been executed, a request to send update control software is sent from the control device 11 to the mobile communication terminal 13 by the TFTP client included in the new boot software; and a computer program for causing a computer to execute the update processing described in Appendix 10, in which, after the update control software sending request step has been executed, an update control software download step is executed. (Appendix 12) The update step comprises: a backup file transmission request step in which, after the update control software download step has been executed, the control device 11 transmits a backup file transmission request from the control device 11 to the mobile communication terminal 13 by an FTP client; and a backup file download step in which, after the backup file transmission request step has been executed, the FTP client downloads a backup file from the mobile communication terminal 13 to the control device 11, and in the setting step, the setting parameters of the control software of the control device 11 are restored to the state before the update step was executed, based on the backup file downloaded in the backup file download step. This is a computer program for causing a computer to execute the update processing described in Appendix 11.(Appendix 13) A control software update processing method for the control device 11 in a robot control system 100 including a base member 12 connected to the control device 11 of the robot 2, and a mobile communication terminal 13 that is detachable from the base member 12 and instructs the control device 11 to operate the robot 2 in accordance with the content of a teaching operation, the control software update processing method comprising: a download step of downloading update control software from an external server 3, which is an external device, to the mobile communication terminal 13 when the mobile communication terminal 13 is detached from the base member 12 and wired communication with the base member 12 is disconnected; and an update step of updating the control software of the control device 11 with the update control software downloaded in the download step when the mobile communication terminal 13 is attached to the base member 12 and connected to the base member via wired communication. (Supplementary Note 14) A control device 11 equipped with control software for controlling industrial machinery, comprising at least one memory and at least one processor, wherein the at least one processor accepts a connection with a base member 12, accepts a connection between the base member 12 and a detachable mobile communication terminal 13 or accepts a connection with the mobile communication terminal 13 via the connection with the base member 12, obtains update control software from the mobile communication terminal 13 and stores it in the at least one memory after accepting the connection between the base member 12 and the mobile communication terminal 13, and updates the control software with the update control software stored in the at least one memory. (Supplementary Note 15) The control device 11 according to Supplementary Note 14, wherein the communication protocols used for updating the control software between the mobile communication terminal 13 and the control device 11 are FTP and TFTP. (Supplementary Note 16) The control device 11 according to Supplementary Note 15, wherein the control device 11 is provided with software for an FTP client and a TFTP client, and the mobile communication terminal 13 functions as an FTP server and a TFTP server.

[0060] REFERENCE SIGNS LIST 1 Teaching operation device 2 Robot 3 External server 4 Internet line 5 Router 6 USB cable 11 Control device 12 Base member 13 Portable communication terminal 23 Terminal cable 30 Mounting base 31 Enable switch 32 Emergency stop button 33 Teaching operation device cable 41 Robot cable 100 Robot control system

Claims

1. A control device for the robot; A base member connected to the control device via wired communication; a mobile communication terminal that is detachable from the base member and capable of wireless communication with an external device, the mobile communication terminal instructing the control device to operate the robot in accordance with the contents of a teaching operation when attached to the base member and connected to the base member via wired communication; Equipped with downloading update control software from an external server, which is the external device, to the portable communication terminal when the portable communication terminal is detached from the base member and wired communication with the base member is disconnected; A robot control system, which updates the control software of the control device with the downloaded update control software when the mobile communication terminal is attached to the base member and connected to the base member via wired communication.

2. The robot control system described in claim 1, wherein the update control software is downloaded from the external server to the portable communication terminal via wireless communication when the portable communication terminal is detached from the base member and wired communication with the base member is disconnected.

3. The robot control system of claim 1, wherein the update control software is downloaded from the external server to the portable communication terminal via wired communication when the portable communication terminal is removed from the base member and wired communication with the base member is disconnected.

4. The base member is an enable switch that permits the control device to control the movement of the robot while the enable switch is pressed and prohibits the control device from controlling the movement of the robot when the enable switch is released; an emergency stop button for instructing the control device to stop the robot in an emergency; A mounting base for detachably mounting the mobile communication terminal; The robot control system according to any one of claims 1 to 3, comprising:

5. The robot control system according to any one of claims 1 to 3, wherein the communication protocol between the mobile communication terminal and the control device used to update the control software of the control device is FTP and TFTP.

6. A robot control system including a base member connected to a robot control device and a mobile communication terminal detachable from the base member and instructing the control device to operate the robot in accordance with a teaching operation, the computer program causing a computer to execute an update process for control software of the control device, 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 detached from the base member and wired communication with the base member is disconnected; an updating step of updating the control software of the control device with the update control software downloaded in the downloading step, when the mobile communication terminal is attached to the base member and connected to the base member via wired communication; A computer program for causing a computer to execute an update process.

7. 7. The computer program product for causing a computer to execute the update process according to claim 6, wherein a communication protocol between the mobile communication terminal and the control device used for updating the control software of the control device in the update step is FTP and TFTP.

8. 8. The computer program product for causing a computer to execute the update process according to claim 7, wherein the control device is provided with software for an FTP client and a TFTP client, and the mobile communication terminal functions as an FTP server and a TFTP server.

9. The updating step includes: a boot software download step of downloading new boot software from the portable communication terminal to the control device by an FTP client; a boot software update step of deleting old boot software already in the control device after the boot software download step is executed, and installing the new boot software downloaded in the boot software download step in the control device; a boot software starting step of starting the new boot software in the control device after the boot software updating step is performed and the control device is powered on again; an update control software download step of downloading the update control software from the portable communication terminal to the control device by an FTP client and a TFTP client after the boot software activation step is executed; A setting step of returning a setting parameter of the control software of the control device to a state before the execution of the update step; A computer program product for causing a computer to execute the update process according to claim 8.

10. The updating step includes: an update start request step of transmitting an update start request from the mobile communication terminal to the control device; a backup file transmission step of transmitting a backup file of the control device from the control device to the mobile communication terminal by an FTP client after the update start request step is executed; a boot software transmission request step of transmitting a boot software transmission request from the control device to the mobile communication terminal by an FTP client after the backup file transmission step is executed; Equipped with 10. The computer program product for causing a computer to execute the update process according to claim 9, wherein the step of downloading the boot software is executed after the step of requesting transmission of the boot software is executed.

11. The updating step includes: an image backup transmission step of transmitting an image backup of the control device from the control device to the mobile communication terminal by a TFTP client included in the new boot software after the boot software startup step is executed; an update control software transmission request step of transmitting an update control software transmission request from the control device to the mobile communication terminal by a TFTP client included in the new boot software after the image backup transmission step is executed; Equipped with 11. The computer program product for causing a computer to execute the update process according to claim 10, wherein the step of requesting transmission of the updated control software is followed by the step of downloading the updated control software.

12. The updating step includes: a backup file transmission request step of transmitting a backup file transmission request from the control device to the mobile communication terminal by an FTP client after the update control software download step is executed; a backup file download step of downloading a backup file from the mobile communication terminal to the control device by an FTP client after the backup file transmission request step is executed; Equipped with A computer program for causing a computer to execute the update process described in claim 11, wherein in the setting step, setting parameters of the control software of the control device are restored to a state before the update step was executed based on the backup file downloaded in the backup file download step.

13. A method for updating control software of a robot control system including a base member connected to a robot control device and a mobile communication terminal detachable from the base member and instructing the control device to operate the robot in accordance with a teaching operation, the 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 detached from the base member and wired communication with the base member is disconnected; an updating step of updating the control software of the control device with the update control software downloaded in the downloading step, when the mobile communication terminal is attached to the base member and connected to the base member via wired communication; A control software update processing method comprising:

14. A control device having control software for controlling an industrial machine, At least one memory; at least one processor; The at least one processor: Accepts connections to base materials, A connection between the base member and a detachable portable communication terminal, or a connection between the base member and the portable communication terminal is accepted via the connection to the base member; After receiving a connection between the base member and the mobile communication terminal, obtain update control software from the mobile communication terminal and store the update control software in the at least one memory; A control device that updates the control software with the update control software stored in the at least one memory.

15. The control device according to claim 14 , wherein a communication protocol between the portable communication terminal and the control device used for updating the control software is FTP and TFTP.

16. The control device according to claim 15, wherein the control device is provided with software of an FTP client and a TFTP client, and the mobile communication terminal functions as an FTP server and a TFTP server.