Wireless Control Message Mode Selection for Robotic Reliability
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Solution Overview
Problem
Existing industrial automation systems using wireless connections for robotic device control lack reliability due to the lack of consideration for fieldbus-based connections and industrial automation protocols, leading to potential robotic cell stoppages and increased reaction times when message transmission failures occur.
Innovation Solution
An apparatus that compares current and previous control messages to identify changes, selecting a robust transmission mode for wireless communication based on message acknowledgments and error counts, using mechanisms like HARQ and modulation schemes to ensure reliable transmission.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If wireless transmission is used for robotic device control, then connection flexibility and ease of installation are improved, but transmission reliability and resistance to interference deteriorate
Solution Approach 1:
The system dynamically adapts transmission parameters including modulation schemes, coding rates, and power levels based on real-time channel conditions and message priority, allowing the wireless connection to maintain reliability while preserving installation flexibility
Solution Approach 2:
The system changes transmission parameters such as modulation order, coding rate, and transmit power based on channel quality indicators and message urgency, enabling reliable wireless control transmission under varying industrial environments
2Reliability
If robust transmission mode is always used for wireless control messages, then transmission reliability is improved, but transmission time and energy consumption increase
Solution Approach 1:
The system applies robust transmission modes selectively only when necessary based on message priority, channel conditions, and change detection results, rather than always using the most robust mode, thus balancing reliability with transmission efficiency
Solution Approach 2:
The system dynamically selects transmission robustness level based on real-time assessment of message importance and channel conditions, adjusting modulation and coding parameters to achieve minimum necessary reliability for each specific transmission
3Reliability
If message transmission over wireless connection is increased in frequency or robustness, then control reliability is improved, but spectrum resource consumption and interference increase
Solution Approach 1:
The system changes transmission parameters including power spectral density, modulation efficiency, and retransmission probability based on spectrum availability and interference levels, optimizing the balance between control reliability and spectrum resource usage
Solution Approach 2:
The system applies enhanced transmission robustness and retransmission only to critical control messages rather than all messages, reducing overall spectrum consumption while maintaining reliability for essential control functions
4Adaptability or versatility
If existing wireless protocols are used independently of fieldbus protocols, then wireless connection characteristics are improved, but compatibility with industrial automation systems and message transmission efficiency deteriorate
Solution Approach 1:
The system merges fieldbus protocol message structures with wireless transmission protocols, creating an integrated communication framework that maintains fieldbus compatibility while optimizing for wireless channel characteristics and efficiency
Solution Approach 2:
The system creates a universal communication interface that handles both fieldbus protocol requirements and wireless transmission optimizations, enabling single protocol stack to serve multiple communication requirements efficiently
Data Source
AI summary
An apparatus for selecting a transmission mode for wirelessly transmitting a message comprising control information for robotic device control is provided. The apparatus is configured to compare a current message with a previous message to identify a change in the control information, and to select one of a normal transmission mode and a robust transmission mode, wherein the robust transmission mode is selected if a change in the control information is identified. In another variant, the apparatus is configured to obtain a count of consecutively not correctly received messages, and to select one of a normal transmission mode and a robust transmission mode based on the obtained count, wherein the robust transmission mode is selected if the count equals or approaches a threshold. The apparatus is also configured to trigger wireless transmission of the current message with the selected transmission mode.