CN-121989205-A - Robot control device and control method

Abstract

The invention provides a robot control device and a control method, which can improve the safety during driving. A robot control device electrically connected to a main power source or a sub power source and controlling the operation of a robot is provided with a determination unit for determining whether to supply power from the main power source to the robot control device or to supply power from the first state to the robot control device in a second state in which the supply of power to the robot control device is interrupted, a creation unit for, when the determination unit determines that the robot control device is in the second state, operating with the power supplied from the sub power source and creating a verification file of robot information related to the robot to be subjected to signature verification when the robot control device is in the first state next time, and a storage unit for storing the verification file created by the creation unit.

Inventors

• OGASAWARA NAOKI

Assignees

• 精工爱普生株式会社

Dates

Publication Date

20260508

Application Date

20251106

Priority Date

20241108

Claims (9)

1. 1. A robot control device electrically connected to a main power supply or a sub power supply, for controlling the operation of a robot, comprising: A determination unit configured to determine whether the robot control device is in a first state in which power is supplied from the main power supply or in a second state in which power is cut off from the first state; A creation unit that, when the determination unit determines the second state, operates by the electric power supplied from the secondary power supply and creates a verification file of the robot information related to the robot that is the object of signature verification when the next time becomes the first state, and And a storage unit configured to store the verification file created by the creation unit.
2. 2. The robot control device of claim 1, wherein the control device comprises a plurality of control units, The robot information includes at least one of an operation program of the robot, an operation parameter of the robot, and an operation history of the robot.
3. 3. The robot control device according to claim 2, wherein, The robot information includes an operation history of the robot, The creation unit creates the verification file of the operation history of the robot in the second state.
4. 4. The robot control device according to claim 2, wherein, The robot information includes an action program of the robot and an action parameter of the robot, The creation unit creates the verification file of the operation program of the robot and the operation parameters of the robot at a predetermined timing in the first state.
5. 5. The robot control device of claim 4, wherein the control unit comprises a plurality of control units, The robot information includes an action program of the robot and an action parameter of the robot, The creation unit creates the verification file when the operation program of the robot and the operation parameters of the robot are rewritten in the first state.
6. 6. The robot control device of claim 1, wherein the control device comprises a plurality of control units, The robot information includes an operation program of the robot, operation parameters of the robot, and operation histories of the robot, The creation unit creates the verification file of the operation program of the robot and the operation parameters of the robot when the operation program of the robot and the operation parameters of the robot are rewritten in the first state, and creates the verification file of the operation history of the robot in the second state.
7. 7. The robot control device according to claim 1 or 2, wherein, The auxiliary power supply is provided in a teaching device for teaching the robot.
8. 8. The robot control device according to claim 1, characterized in that the robot control device comprises: A power receiving unit that receives power from either the main power supply or the auxiliary power supply, and An output unit configured to output a command signal for selecting the secondary power supply to a selection unit that selects either the primary power supply or the secondary power supply as a power supply source to be supplied to the power receiving unit when the determination unit determines the second state, When the instruction signal is output from the output unit, the creation unit creates the verification file of the robot information.
9. 9. A control method of a robot control device that controls an operation of a robot, the robot control device being electrically connected to a main power source or a sub power source and having a judgment unit, a creation unit, and a storage unit, the control method comprising: a first step of determining whether the power supply from the main power supply to the robot control device is in a first state or in a second state in which the power supply from the first state to the robot control device is interrupted; a second step of supplying power from the secondary power supply to the robot control device when the determination unit determines the second state in the first step; A third step of operating the creation unit with the electric power supplied from the sub-power supply and creating a verification file of the robot information related to the robot as a target of signature verification when the next time becomes the first state, and And a fourth step of storing the verification file created in the third step in the storage unit.

Description

Robot control device and control method Technical Field The present invention relates to a robot control device and a control method. Background In recent years, due to the increase in labor costs and the shortage of talents in factories, various robots and peripheral equipment for the robots have been used to automate operations that have been conventionally performed manually. The robot is controlled to operate by a robot control device. The robot control device includes a storage unit that stores various programs, and a processing unit that executes the programs stored in the storage unit. In such a robot control device, from the viewpoint of improving safety, it is preferable to confirm whether or not various programs are in an appropriate state, particularly whether or not improper tampering or the like has occurred due to an attack or the like from the outside, at the time of starting the robot control device. As this method, a method is known in which various programs are signed and stored, and the signature of the various programs is verified at the time of startup, thereby detecting the suitability of programs including tamper-free programs. For example, in the information processing apparatus described in patent document 1, each program is subjected to the following operation, signature verification is performed on each stored program, and if the signature verification is successful, the program is started. This enables the program to be restarted after it is confirmed that the program has not been tampered with, and ensures security. Patent document 1 Japanese patent application laid-open No. 2019-175000 However, in the information processing apparatus described in patent document 1, since various programs are signed and stored and signature verification of the various programs is performed at the time of startup, the signature verification cannot be performed for updated programs and data when the robot is operated. In particular, when the power supply to the robot control device is unintentionally cut off due to a power failure or the like, safety at the time of restoration is insufficient. Disclosure of Invention A robot control device electrically connected to a main power source or a sub power source and controlling the operation of a robot, the robot control device comprising a determination unit configured to determine whether to supply power from the main power source to the robot control device or to determine whether to supply power from the first state to the robot control device in a second state in which the power supply is interrupted, a creation unit configured to operate with the power supplied from the sub power source when the determination unit determines the second state and create a verification file of robot information related to the robot to be subjected to signature verification when the next time of the first state is changed, and a storage unit configured to store the verification file created by the creation unit. A control method of a robot control device for controlling the operation of a robot, the robot control device being electrically connected to a main power supply or a sub power supply and having a determination unit for determining whether to supply power from the main power supply to the robot control device or to a second state in which the supply of power from the first state to the robot control device is interrupted, a creation unit for creating a verification file of robot information on the robot, the verification file being created by the third step, and a storage unit for storing the verification file created by the third step, the verification file being created by the third step, the first step being executed by the power supplied from the sub power supply when the determination unit determines that the second state is the first state. Drawings Fig. 1 is a diagram showing an overall configuration of a robot system including a robot control device according to a first embodiment of the present invention. Fig. 2 is a block diagram of the robotic system shown in fig. 1. Fig. 3 is a hardware configuration diagram of the robot control device shown in fig. 1. Fig. 4 is a timing chart showing a control operation of the robot controller. Fig. 5 is a flowchart for explaining an example of the control method of the present invention. Description of the reference numerals 32..Rom, 33..ram, 34..if control unit, 35..led, 36..bus: a power receiving unit, a power detecting unit. 32..rom, 33..ram, 34..if control unit, 35..led, 36..bus, 37..power receiving unit, 38..power detecting unit, 39..housing, 40..display unit, and computer readable medium a control unit, a 42, a storage unit, a 43, a communication unit, a 44, an input unit, a 45, a battery (secondary power supply), a 46, an input/output terminal, a 100, a robot system, and a control unit. The present invention relates to a method for manufacturing a portable electronic device, which comprises the steps of 1