Logistics electronic control system and method combining real-time control and non-real-time control

Abstract

The invention discloses a logistics electronic control system and method combining real-time and non-real-time control. The logistics electronic control system comprises a non-real-time control module, a real-time control module, electronic control system equipment, a non-real-time network and a field bus, wherein the non-real-time network and the field bus are used for networking communication. The logistics electronic control system is realized in a mode of combining the real-time control module and the non-real-time control module, the control load upper limit of the logistics electronic control system is effectively improved, the system function of the electronic control system is enhanced, real-time data and process data in the logistics electronic control system are fully utilized, and the system reliability is improved. The conventional functions of monitoring and interaction of system equipment can be achieved, and the functions of a computer software mode which cannot be achieved by a real-time controller can be achieved through data storage, analysis and application. Through introduction of a non-real-time control module, the possibility of introducing more computer related technologies into an original relatively closed electric control system is provided.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics automation, and in particular to a logistics electronic control system and method combining real-time and non-real-time control. Background Art

[0002] In the electronic control system of automated logistics, equipment control requires a real-time control system. The controller in the system needs to ensure real-time performance in order to collect, calculate, and control system signals in order to achieve necessary functions such as rapid response, precise control, and exception handling.

[0003] Although real-time control systems ensure timely response to key tasks, their batch data processing, storage, and analysis capabilities are limited, the system control design lacks flexibility, and functional expansion is restricted.

[0004] To solve the above problems and realize more functional requirements of automated logistics electronic control systems, it is necessary to combine more non-real-time control software, hardware and methods.

[0005] CN117872896A discloses a friction welding intelligent control device, method and equipment, the device at least includes an acquisition module, a real-time control module and a non-real-time control module; wherein the acquisition module is used to acquire displacement and acceleration information of friction welding; the real-time control module is used to predict the future trajectory of friction welding in a first time period based on the displacement and acceleration information of friction welding, and output a real-time control signal to the non-real-time control module based on the future trajectory and the planned trajectory of friction welding, the real-time control signal is used to control the speed and movement direction of friction welding, so that the actual trajectory of friction welding in the first time period is consistent with the planned trajectory of friction welding; the non-real-time control module is used to generate a non-real-time control signal set based on the real-time control signal, the non-real-time control signal set includes multiple control instructions with execution priority, and the non-real-time control module is also used to control the movement trajectory of friction welding according to the non-real-time control signal set. The main equipment of the control method is friction welding equipment and its application scenario, which is for the control of single-machine equipment. In the control of the automated logistics industry, the equipment control scale is large, the types are many, and the equipment layout scenario is also relatively varied. The above technical solution content cannot meet the system control in the existing automated logistics scenario.

[0006] CN113510720A discloses a real-time distributed collaborative robot control system, which is connected to the robot body and includes a Linux operating system unit, a real-time kernel unit, a data distribution service unit, a robot control unit, and an EtherCAT field bus unit. Among them, the Linux operating system unit is used to build an Ubuntu environment for establishing the robot's operating environment; the real-time kernel unit is used to perform real-time control of the control system; the data distribution service unit is used to distribute and subscribe to data; the robot control unit connected to the data distribution service unit includes a real-time control module and a non-real-time control module; the real-time control module and the non-real-time control module calculate the control instructions and transmit the control instructions to the EtherCAT field bus unit; the EtherCAT field bus unit is used to receive the control signal and transmit it to the driver of the robot body through the EtherCAT bus for corresponding control. This application realizes distributed real-time control of the robot. The system integrates the real-time module and the non-real-time module into the robot control unit in the form of software modules. Although this mode can realize the control of robot-type stand-alone equipment, it is not suitable for automated logistics multi-equipment and system control. Summary of the invention

[0007] The purpose of the present invention is to process and analyze the data of sensors, equipment, and materials in a real-time and non-real-time combination during the control process of the automated logistics electronic control system, so as to optimize the logistics transportation control of the electronic control system, and at the same time process, store, analyze and apply key data to realize equipment status monitoring, system failure, and efficiency analysis functions. By combining computers and software, the rich extended functions of computer hardware and software can also be realized.

[0008] The technical solution of the present invention is:

[0009] A logistics electronic control system combining real-time and non-real-time control is realized by combining the real-time control technology of the electronic control system, computer communication technology, and computer software and hardware technology. The system includes:

[0010] 1) Non-real-time control module, which is composed of computer hardware and its non-real-time control software. It obtains the data generated by the real-time control module through the non-real-time network, processes it through the non-real-time control software to generate non-real-time control data, and returns it to the real-time control module to finally act on the equipment, thereby realizing system and equipment control, monitoring and interaction, and realizing system operation data analysis.

[0011] 2) Real-time control module, which consists of a real-time controller and its real-time control software. It obtains sensor signals of the electronic control system equipment through the field bus, processes them through the real-time control software and combines them with the equipment status, material information and non-real-time control data to generate real-time control signals to act on the equipment to achieve control of the equipment; at the same time, it generates system equipment data and processes material data, which are fed back to the non-real-time control module for processing, and receives non-real-time control data from the non-real-time control module.

[0012] 3) Electronic control system equipment, which consists of electronic control detection devices and electronic control execution devices. These devices mainly include sensors, actuators, display and indication devices, network equipment and special control equipment. Electronic control detection devices generally refer to sensors used to feedback equipment and material signals, and electronic control execution devices are used to receive real-time control signals and perform control functions.

[0013] 4) Non-real-time network: It is composed of Ethernet and related network devices, and is the hardware device that connects the real-time control module and the non-real-time control module. It is used for communication between modules and exchange of non-real-time data.

[0014] 5) Fieldbus: It consists of bus cables and related equipment, linking the real-time control module to communicate with the electronic control system equipment and exchange real-time signals.

[0015] Furthermore, the non-real-time control module is mainly implemented by computer software, and the module also includes:

[0016] a) Data interaction submodule: used to interact with the data interaction submodule of the real-time control module through a non-real-time network.

[0017] b) Data processing submodule, used to process the data collected by the real-time control module, and to process and analyze the historical data already in the database.

[0018] c) Data storage submodule, used to store the processed data into variables or databases,

[0019] d) Equipment control submodule, used to generate control instruction data through control program based on variables or data in database,

[0020] e) Monitoring and interaction submodule, used to further process the collected data and provide an interface for interaction with the display device;

[0021] Furthermore, the real-time control module is mainly implemented by real-time controller software, and the module also includes:

[0022] a) A real-time control submodule, which is used to generate equipment status data and process material information data according to the electric control system equipment sensor signals collected by the real-time control module through the field bus; it is also used to execute system equipment control logic, generate real-time control signals, and control the equipment to transport the goods to the designated location or complete the equipment action function according to the equipment status data, material information data, control instruction data and the electric control system equipment sensor signals collected by the real-time control module through the field bus.

[0023] b) Equipment status data table, which stores the equipment status data generated by the real-time control submodule

[0024] c) Material information data table, which stores material information data processed by the real-time control submodule

[0025] d) Control instruction data table, storing the received non-real-time control module's control instruction data for the device,

[0026] e) a data interaction submodule, which interacts with the data interaction submodule of the non-real-time control module through a non-real-time network;

[0027] The present invention also provides a method for using non-real-time data by combining real-time and non-real-time control, comprising the following steps: 1) defining a device status data table and a material information data table in a real-time control module for storing temporary data of devices and materials in the real-time control process;

[0028] 2) Realize data interaction function: Use non-real-time communication network hardware and software to realize data interaction between real-time control module and non-real-time control module;

[0029] 3) Data collection: Using publish-subscribe or polling communication, the non-real-time control module receives the equipment status data, material information data and control instruction data sent by the real-time control module;

[0030] 4) Data processing and storage: Filter the changed equipment status data, material information data and control instruction data, and store them in variables corresponding to the equipment; process the collected data by adding the current data change time to the data, establishing relationship data between the equipment and material data, etc., and then store the data in the database as system historical data.

[0031] 5) Equipment control: Design the control program according to the required functions, use the data stored after data processing as the control input data, calculate and pass the control instruction data to the control instruction data of the real-time control module through the network, complete the non-real-time control function data generation process, and then the real-time control function in the real-time control module combines the non-real-time control instruction data to complete the final control instruction of the system and complete the control of the equipment.

[0032] 6) Monitoring and interaction: Access and process the variable data corresponding to the equipment one by one, pass it to the front-end graphical interface program, realize the monitoring function of the equipment status, obtain the front-end input content through the data interaction sub-module and the data interaction sub-module, and finally hand over the data to the real-time control module to realize the interactive function.

[0033] 7) System optimization: According to the equipment status and material information data, the current system flow status can be judged, and the logistics system path can be optimized according to the different system layouts; according to the historical equipment status in the database, the location of equipment failure can be judged and focused on maintenance; according to the historical material and equipment relationship data in the database, the historical material transportation process analysis can be realized, and the efficiency of the equipment specified by the statistical system can be calculated.

[0034] A computer-readable storage medium stores a computer program, which can be executed by a processor to implement the logistics electronic control method combining real-time and non-real-time control described in the present invention.

[0035] The beneficial effects of the present invention include:

[0036] 1) The logistics electronic control system is realized by combining the real-time control module with the non-real-time control module, which gives full play to the advantages of real-time control and non-real-time control, makes up for the shortcomings of a single control method, effectively improves the upper limit of the control load of the electronic control system, and enhances the system function of the electronic control system;

[0037] 2) Make full use of the real-time data and process data in the electronic control system, not only to realize the conventional functions of system equipment monitoring and interaction, but also to realize the functions of computer software that the controller cannot realize through data storage, analysis and application;

[0038] 3) Through the introduction of non-real-time control modules, it provides the possibility of introducing more computer-related technologies into the original relatively closed electronic control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the structure of the real-time control and non-real-time control electronic control system for automated logistics.

[0040] Figure 2 It is a functional schematic diagram of the control method combining real-time control and non-real-time control system.

[0041] Figure 3 The present invention is a flow chart of the method for collecting and using non-real-time control data of an automated logistics system.

[0042] Figure 4 This is an equipment scene of the embodiment, in the figure: 1-first conveying equipment, 2-second conveying equipment, 3-third conveying equipment, 4-fourth conveying equipment, 5-movable conveying equipment, 6-movable equipment track.

[0043] Figure 5 Schematic diagram of the configuration structure of the electronic control system of the embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0045] See also Figure 1 and Figure 2 , a logistics electronic control system combining real-time and non-real-time control, which is realized by combining the real-time control technology of the electronic control system, computer communication technology and computer software and hardware technology. The system includes:

[0046] (1) The non-real-time control module is composed of computer hardware and its non-real-time control software. It obtains data generated by the real-time control module through the non-real-time network, processes it through the non-real-time control software, and returns the generated non-real-time control data to the real-time control module, which finally acts on the equipment to realize system and equipment control, monitoring and interaction, and realize system operation data analysis;

[0047] The computer hardware is an Intel Xeon series processor, configured with 16GB or more memory, using a solid-state drive as a system disk and data disk, and a mechanical hard disk as a data storage backup.

[0048] The non-real-time control software is implemented using high-level languages ​​such as Java and C#, and is deployed and run in a computer Windows or Linux operating system.

[0049] (2) The real-time control module is composed of a real-time controller and its real-time control software. It obtains sensor signals of the electronic control system equipment through the field bus, processes them through the real-time control software and combines them with non-real-time control data to generate real-time control data to act on the equipment to achieve control of the equipment; at the same time, it generates system equipment and processed material data, feeds them back to the non-real-time control module for processing, and receives non-real-time control data from the non-real-time control module;

[0050] The real-time controller selects a PLC that meets the performance and functional requirements according to the control scenario and scale, and has the function of communicating with the non-real-time control module. In the embodiment of the present invention, a PLC with an OPC UA service function is selected for communicating with the non-real-time control module;

[0051] The real-time control software is composed of the built-in system program and user program in the PLC, and is mainly implemented by designing the user program.

[0052] (3) Electronic control system equipment, consisting of electronic control detection devices and electronic control execution devices, which mainly include sensors, actuators, display and indication devices, network devices and special control devices. The detection devices are used to feedback equipment and material data, and the electronic control execution devices are used to receive real-time control data and execute control functions; the commonly used electronic control detection devices of the logistics conveying equipment mainly include photoelectric tubes, proximity switches, travel switches, etc., which are used to detect the movement of conveying equipment and materials. The electronic control execution devices mainly include frequency converters, starters, contactors, etc., which are used to control the start and stop of the motor. In this invention, in order to assist in understanding the structure, they are well-known structures and technologies and are not introduced in detail.

[0053] (4) Non-real-time network: It is composed of Ethernet and related network equipment, and is a hardware device that connects the real-time control module and the non-real-time control module. It is used for communication between modules and exchange of non-real-time data. The non-real-time network is different from the field bus with high real-time performance and high reliability but high hardware requirements. It uses general Ethernet technology, but it does not mean that the real-time performance is not high. Some of the currently commonly used field buses are also improved based on Ethernet.

[0054] (5) Fieldbus: It consists of bus cables and related equipment, linking the real-time control module with the electronic control system equipment to communicate and exchange real-time data. In logistics scenarios with multiple devices and large communication volumes, the fieldbus can be selected to use EtherCAT, PROFINET, EtherNet / IP, etc., depending on the support of the real-time controller.

[0055] Furthermore, the non-real-time control module is mainly implemented by computer software, and the module also includes:

[0056] a) Data interaction submodule: used to interact with the data interaction submodule of the real-time control module through a non-real-time network; the data interaction submodule belongs to the non-real-time control module, and is used with the data interaction submodule in the real-time module to write a program to read and write data. In the embodiment of the present invention, the OPC UA open source component is used to write a client program to realize the reading, writing and subscription functions of the server;

[0057] b) A data processing submodule is used to process the data collected by the real-time control module and to process and analyze the historical data already in the database; the data processing is to compare and filter the collected data according to the device number specified in the non-real-time system, select the data that meets the collection requirements and compare the data with the last collected data, update it if there is a change, and call the device control, data storage and other processing programs;

[0058] c) a data storage submodule, which is used to store the data processed into variables or databases; the variables and databases are program variables and database data tables defined according to the device status and material information. The variables store temporary data of the device status and material information, which are used for device control and display interaction, and the database stores historical data of the device status and material information relationship with the added time field, which are used for system control and analysis functions;

[0059] d) Equipment control submodule, used to generate control instruction data through control program based on variables or data in database; the equipment control is designed according to different system equipment scenarios, and reusable programs can be designed for common scenarios to avoid repeated design; the equipment control is designed according to the following principles because the equipment is not directly controlled in a non-real-time control system to ensure safety. Generally, it is aimed at non-real-time action control, such as path selection, complex decision-making, time-consuming calculation, equipment collaboration with low real-time requirements, etc. If the system equipment action is to be controlled, it can also be achieved by adding a safety program in the real-time control module;

[0060] e) A monitoring and interaction submodule, which is used to further process the collected data and provide an interactive function interface with a display device; the interactive function interface may adopt the commonly used Java Web technology to define the interface specification and write the interface logic, or may adopt the publish-subscribe mode to realize the interactive interface; the interface logic, if the interface is used to monitor the device, obtains the device status data in the variable in the logic, combines the data in a specified format and responds to the request interface or publishes the data to the monitoring program, which displays the data on the monitoring device; the operator inputs data into the interactive device program and sends it to the interactive interface, the interface parses the data and feeds it back to the real-time control system in the form of instruction data to realize the interactive process.

[0061] Furthermore, the real-time control module is mainly implemented by real-time controller software, and the module also includes:

[0062] a) A real-time control submodule, which is used to generate equipment status data and process material information data according to the electric control system equipment sensor signals collected by the real-time control module through the field bus; it is also used to execute the system equipment control logic, generate real-time control signals, and control the equipment to transport the goods to a designated location or complete the equipment action function according to the equipment status data, material information data, control instruction data, and the electric control system equipment sensor signals collected by the real-time control module through the field bus; the execution system equipment control logic is to write the control logic of the equipment action according to the scene and equipment control method, and the sensor signal, equipment status, material information and instruction data can all be used as input conditions of the control logic;

[0063] b) Equipment status data table, storing equipment status data generated based on the real-time control submodule; the equipment status data is a set of equipment status data obtained through processing based on the sensor signal and execution signal of the equipment. For example, if the program determines that the equipment has a control output forward operation signal, but the controller has no feedback operation signal, the BOOL type fault status data in the equipment status is set to true, otherwise it is set to false;

[0064] c) Material information data table, which stores material information data processed by the real-time control submodule; the material data generally comes from external systems such as logistics management systems and is used to mark goods. Within the electronic control system, the information marking the goods is transferred with the goods through program processing and associated with the equipment;

[0065] d) a control instruction data table, storing the received control instruction data of the non-real-time control module for the device; the control instruction defines instruction rules according to control needs, such as the picking device and placing device numbering instructions defined for controlling the mobile conveying device to make a picking and placing decision in the embodiment;

[0066] e) A data interaction submodule that interacts with the data interaction submodule of the non-real-time control module through a non-real-time network; the data interaction submodule belongs to the real-time control module and is used in conjunction with the data interaction submodule in the non-real-time module to achieve data interaction. In the embodiment of the present invention, a controller with an OPC UA service is used to configure the service to achieve data publishing and read and write service functions.

[0067] See also Figure 3 , a non-real-time data use method combining real-time and non-real-time control, comprising the following steps:

[0068] 1) Define the equipment status data variable table and material information data variable table in the real-time control module to store temporary data of equipment and materials during the real-time control process;

[0069] 2) Realize data interaction function: Use non-real-time communication network hardware and software to realize data interaction between real-time control module and non-real-time control module;

[0070] 3) Data collection: Using publish-subscribe or polling communication, the non-real-time control module receives the equipment status data, material information data and control instruction data sent by the real-time control module;

[0071] 4) Data processing and storage: Filter the changed equipment status data, material information data and control instruction data, and store them in variables corresponding to the equipment; process the collected data by adding the current data change time to the data, establishing relationship data between the equipment and material data, etc., and then store the data in the database as system historical data.

[0072] 5) Equipment control: Design the control program according to the required functions, use the data stored after data processing as the control input data, calculate and pass the control instruction data to the control instruction data of the real-time control module through the network, complete the non-real-time control function data generation process, and then the real-time control function in the real-time control module combines the non-real-time control instruction data to complete the final control instruction of the system and complete the control of the equipment.

[0073] 6) Monitoring and interaction: Access and process the variable data corresponding to the equipment one by one, pass it to the front-end graphical interface program, realize the monitoring function of the equipment status, obtain the front-end input content through the data interaction sub-module and the data interaction sub-module, and finally hand over the data to the real-time control module to realize the interactive function.

[0074] 7) System optimization: According to the equipment status and material information data, the current system flow status can be judged, and the logistics system path can be optimized according to the different system layouts; according to the historical equipment status in the database, the location of equipment failure can be judged and focused on maintenance; according to the historical material and equipment relationship data in the database, the historical material transportation process analysis can be realized, and the efficiency of the equipment specified by the statistical system can be calculated.

[0075] Example

[0076] In the actual application scenario of automated logistics, the equipment layout determined by different process flows may be different, so the equipment layout is diverse. This embodiment is for a Figure 4 The simple scene shown includes four fixed conveying equipment and one movable conveying equipment. The movable conveying equipment 5 can move in the vertical direction of the logistics direction along the movable equipment track 6 to realize the process of conveying the goods on the first conveying equipment 1 to the third conveying equipment 3 and the fourth conveying equipment 4. Similarly, the goods on the second conveying equipment 2 can also be conveyed to the third conveying equipment 3 and the fourth conveying equipment 4.

[0077] Based on the above equipment layout, an automated logistics electronic control system combining real-time control and non-real-time control includes:

[0078] Equipment scenario design: Design the above scenarios and equipment according to business processes.

[0079] Design of electronic control system equipment: Figure 5 , configure the electronic control system components according to the controlled equipment of the logistics system equipment, including selecting the drive as a frequency converter, the detection device as a photoelectric tube, a limit switch, and other related electronic control components such as power supply and signal acquisition modules.

[0080] Real-time control module design: Use PLC to implement real-time control module functions, including:

[0081] 1) Define the equipment status data table, material information data table and control instruction data table as shown in the following table:

[0082]

[0083]

[0084] 2) Write a real-time control function program, one part of which is responsible for equipment status generation and material information processing. The equipment status obtained after processing the collected sensor signals of the electronic control system equipment is stored in the equipment status data table. The current material location is determined by the equipment status, and the material information is transferred to the material information data table area corresponding to the associated equipment. Write another part of the real-time control function program responsible for control. The real-time control program input data needs to use the sensor signal fed back through the field bus, combined with the equipment status data, material information data and control instruction data as logical control conditions to realize the control and linkage of the conveying actions of different equipment.

[0085] 3) In this example, the data interaction function is implemented using a PLC that supports OPC UA communication. The design enables the OPC UA service and exposes the data that needs to be interacted with.

[0086] Design of non-real-time control module, using server and JAVA software to realize the functions of non-real-time control module, including:

[0087] 1) Use the open source OPC UA communication component to complete the communication function with the OPC UA service.

[0088] 2) Through the publish-subscribe method of OPC UA, define data set variables and database data tables corresponding to the data collected by the real-time control module in the non-real-time control module to store the collected and processed data.

[0089] 3) Obtain the equipment status, material information and control instruction data of the real-time control system, filter the data while obtaining it, compare the data in the existing data set through the program in the data processing submodule, update the data if any changes are found, and call the equipment control and data storage program.

[0090] 4) Implementation of the equipment control program. Predefine the non-real-time control program according to the control scenario. Collect data from the real-time control module as the input of the control program. Output the control instructions through the execution program, and convey the control to the control instruction table in the real-time control module. Finally, after being processed by the real-time control function program, the non-real-time control function is achieved. In the scenario of this embodiment, the non-real-time control instruction is the given device number of the mobile conveying equipment to pick up and put away goods. The real-time control submodule implements the steps of the mobile equipment picking up and delivering goods in the specified order according to the instruction, and the non-real-time control program will detect the system status until the next step of control is completed. Implementing the collaborative decision-making control function between multiple devices in the non-real-time control system not only realizes the programming flexibility that the real-time control system cannot achieve, but also reduces the pressure of complex logic on the real-time control system, and improves the stability and accurate characterization of the real-time control system.

[0091] 5) Data storage program implementation, storing the changed data marked in data processing into data set variables, and further processing to form equipment-material-time, equipment-status-time and store them in the database. Similarly, data such as the number of equipment device operations and time can also be added, which needs to be defined and collected in the real-time control module. This example will not be expanded.

[0092] 6) Monitoring and interactive program implementation, writing and designing web applications, writing interfaces and business logic for accessing device data, processing data on the current device status, and combining front-end technology to display device operation, fault status, and material information data on the display device; writing interfaces to implement interactive data, and transmitting control data to the corresponding data table of the real-time control module through the front-end data interactive program to realize the system interactive function. It should be noted here that safety programs must be written in the real-time control module for device control to avoid control safety risks caused by non-real-time network or system failure. The combination of real-time control modules and non-real-time control modules also realizes the necessary functions of monitoring and interaction of the electric control system, saving the cost of using similar devices such as industrial computers or operator terminals to complete the same functions.

[0093] 7) In the monitoring and interaction functions, through statistical analysis of the data stored in the database, customized analysis functions such as statistical analysis of system equipment failure rate and equipment efficiency analysis are realized. For example, in this scenario, a program is written to count the number of conveyed materials of conveying equipment 1, 2, 3, 4 and movable conveying equipment 5, count the number of failures of conveying equipment 1, 2, 3, 4 and movable conveying equipment 5 within a specified time range, query the equipment number of the goods with cargo number 6546871 at the specified time on the logistics line, query the transportation path of the goods with cargo number 6546871, perform predictive maintenance according to the running time of the controller of the conveying equipment, etc. Statistical analysis functions can be written according to actual business needs. The combination of real-time control modules and non-real-time control modules greatly improves the functional extensibility of the electronic control system, and realizes rich extension functions that could not be realized by the original real-time control system.

[0094] For non-real-time network design, the hardware can use ordinary LAN networking equipment, and the network protocol uses the open platform communication unified architecture OPC UA communication method.

[0095] Fieldbus network design: The topology adopts a star structure, and the bus protocol adopts PROFINET or EtherCAT protocol.

Claims

1. A logistics electronic control system combining real-time and non-real-time control, characterized in that: The system includes: The non-real-time control module is used to obtain the data generated by the real-time control module through the non-real-time network, generate non-real-time control data after processing by the non-real-time control module, return it to the real-time control module and finally act on the equipment to realize system and equipment control, monitoring and interaction, and realize system operation data analysis; The real-time control module is used to obtain the sensor signals of the electronic control system equipment through the field bus, and after being processed by the real-time control module and combined with the non-real-time control data, a real-time control signal is generated to act on the equipment to achieve control of the equipment; at the same time, system equipment data and processed material data are generated and fed back to the non-real-time control module for processing, and non-real-time control data of the non-real-time control module is received; The electronic control system equipment is composed of an electronic control detection device and an electronic control execution device. The electronic control detection device is a sensor for feedback signals, and the electronic control execution device is used to receive real-time control signals and execute control functions; The non-real-time network consists of Ethernet and related network devices, which connect the hardware devices of the real-time control module and the non-real-time control module, and is used for communication between modules and exchange of non-real-time data; Fieldbus is used to link real-time control modules with electronic control system equipment and exchange real-time signals.

2. The logistics electronic control system combining real-time and non-real-time control according to claim 1 is characterized in that: The non-real-time control module comprises: a) Data interaction submodule: used to interact with the data interaction submodule of the real-time control module through a non-real-time network; b) Data processing submodule, used to process the data collected by the real-time control module and to process and analyze the historical data already in the database; c) a data storage submodule, used to store the processed data into variables or databases; d) a device control submodule, used to generate control instruction data through a control program based on variables or data in a database; e) Monitoring and interaction submodule, used to further process the collected data and provide an interface for interaction with the display device.

3. The logistics electronic control system combining real-time and non-real-time control according to claim 1 is characterized in that: The real-time control module comprises: a) A real-time control submodule, which is used to generate equipment status data and process material information data according to the electric control system equipment sensor signals collected by the real-time control module through the field bus; it is also used to execute system equipment control logic, generate real-time control signals, and control the equipment to transport the goods to the designated location or complete the equipment action function according to the equipment status data, material information data, control instruction data and the electric control system equipment sensor signals collected by the real-time control module through the field bus; b) a device status data table, storing device status data generated based on the real-time control submodule; c) Material information data table, storing material information data processed by the real-time control submodule; d) a control instruction data table, storing the received control instruction data of the non-real-time control module to the device; e) A data interaction submodule that interacts with the data interaction submodule of the non-real-time control module through a non-real-time network.

4. The logistics electronic control system combining real-time and non-real-time control according to claim 1 is characterized in that: The electronic control system equipment includes sensors, actuators, display and indication equipment, network equipment and special control equipment.

5. The logistics electronic control system combining real-time and non-real-time control according to claim 1 is characterized in that: The electronically controlled detection device includes a photoelectric tube, a proximity switch, and a travel switch; the electronically controlled execution device includes a frequency converter, a starter, and a contactor.

6. The logistics electronic control system combining real-time and non-real-time control according to claim 1 is characterized by: The data interaction submodule uses OPC UA to communicate.

7. The logistics electronic control system combining real-time and non-real-time control according to any one of claims 1 to 6, characterized in that: The equipment status data includes equipment total fault, operation status, forward and reverse status, and whether there is stock; The material information data includes the material number and the target device; The control instruction data controls the equipment, the picking equipment and the releasing equipment.

8. A logistics electronic control method combining real-time and non-real-time control, characterized in that: The logistics electronic control system combining real-time and non-real-time control as claimed in any one of claims 1 to 6 comprises the following steps: Step S1, defining a device status data table and a material information data table in a real-time control module, for storing temporary data of devices and materials during real-time control; Step S2, realizing data interaction function: using a non-real-time communication network to realize data interaction between the real-time control module and the non-real-time control module through the data interaction submodule and the data interaction submodule; Step S3, data collection: using publish-subscribe mode or polling mode communication, the data interaction submodule receives the equipment status data, material information data and control instruction data sent by the data interaction submodule; Step S4, data processing and storage: screen the changed equipment status data, material information data and control instruction data, and store them in variables corresponding to the equipment; process the collected data, and store the data in the database as system historical data by adding the current data change time to the data and processing the relationship data between the equipment and materials; Step S5, equipment control: design a control program according to the required functions, use the data stored in the data processing submodule as the control input data, calculate and pass the control instruction data to the control instruction data of the real-time controller module through the data interaction submodule and the data interaction submodule, complete the non-real-time control function process, and then the real-time control function in the real-time control module completes the real-time control function of the system; Step S6, monitoring and interaction: access and process the variable data corresponding to the equipment one by one, combine with the front-end graphical interface program to realize the monitoring function of the equipment status, and the front-end input content will be finally handed over to the real-time control module through the data interaction sub-module and the data interaction sub-module to realize the interactive function.

9. The logistics electronic control method combining real-time and non-real-time control according to claim 8 is characterized in that: Also includes: Step S7, system optimization: determine the current system flow status based on the equipment status and material information data, and optimize the logistics system path based on different system layouts; determine the location of equipment failure based on the historical equipment status in the database, and focus on maintenance; analyze the historical material transportation process based on the historical material and equipment relationship data in the database, and statistically analyze the efficiency of the equipment specified by the system.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program can be executed by a processor to implement the logistics electronic control method combining real-time and non-real-time control as described in claim 8 or 9.

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