A data transmission method, device, equipment, and storage medium thereof

Abstract

The embodiment of the present application provides a data transmission method and its device, equipment, and storage medium, which belong to the field of industrial control. The data transmission device includes: a first feedback device, several second feedback devices, and a control device. Among them, the data transmission method is set in the control device, and the data transmission method includes: receiving feedback information sent by the first feedback device; wherein the first feedback device is used to receive the second feedback information sent by several second feedback devices in series, and generate feedback information in combination with the first feedback information of the first feedback device itself; parsing the feedback information to obtain the first feedback information and the second feedback information; parsing the first feedback information and the second feedback information to obtain multiple position feedback information corresponding to the first feedback device and the second feedback device; determining the target position of the mover from the multiple position feedback information. The present application reduces the complexity of the wiring harness connection while realizing the synchronous reception of data by the control device.

Description

Technical Field

[0001] The present application relates to the field of industrial control, and in particular to a data transmission method and its apparatus, equipment, and storage medium. Background Art

[0002] Currently, position feedback devices are commonly connected to the control system in motion control and position feedback. Related technologies typically connect multiple feedback devices to the control system individually or through a hub. However, connecting multiple feedback devices individually increases the complexity of wiring harnesses, while using a hub cannot guarantee the synchronization of motion control systems. Summary of the Invention

[0003] The main purpose of the embodiments of the present application is to propose a data transmission method and its device, equipment, and storage medium, which can reduce the complexity of the wiring harness connection of the motion control system while meeting the synchronization requirements of the motion control system.

[0004] To achieve the above-mentioned purpose, the first aspect of an embodiment of the present application proposes a data transmission device, which includes: a first feedback device and several second feedback devices, the first feedback device is connected in series with several second feedback devices, the first feedback device and the second feedback device are arranged along the motion path of the mover, the first feedback device is used to receive the second feedback information sent by the several second feedback devices in series, and generate feedback information in combination with the first feedback information of the first feedback device itself; a control device, connected to the first feedback device, the control device is used to: receive the feedback information sent by the first feedback device; parse the feedback information to obtain the first feedback information and the second feedback information; parse the first feedback information and the second feedback information to obtain multiple position feedback information corresponding to the first feedback device and the second feedback device; determine the target position of the mover from the multiple position feedback information.

[0005] In some embodiments, there are multiple first feedback devices, and the multiple first feedback devices are connected in parallel. Each of the first feedback devices connected in parallel belongs to a corresponding feedback channel.

[0006] In some embodiments, the control device is also used to: receive frame data information sent by each of the first feedback devices; wherein the frame data information includes a header frame, a material number frame, a position frame and a data frame; perform data synchronization based on at least one of the header frame, the material number frame, the position frame and the data frame, and determine a servo cycle for data reception; and synchronously receive the feedback information sent by multiple first feedback devices in parallel within the same servo cycle.

[0007] To achieve the above-mentioned purpose, the second aspect of an embodiment of the present application proposes a data transmission method, which is applied to a control device, wherein the control device is connected to several first feedback devices, the first feedback devices are connected in series with several second feedback devices, and the first feedback devices and the second feedback devices are arranged along the motion path of the mover; the data transmission method includes: receiving feedback information sent by the first feedback device; wherein the first feedback device is used to receive the second feedback information sent by several second feedback devices in series, and generate the feedback information in combination with the first feedback information of the first feedback device itself; parsing the feedback information to obtain the first feedback information and the second feedback information; parsing the first feedback information and the second feedback information to obtain multiple position feedback information corresponding to the first feedback device and the second feedback device; determining the target position of the mover from the multiple position feedback information.

[0008] In some embodiments, parsing the feedback information to obtain the first feedback information and the second feedback information includes: parsing the data bit width in the feedback information, arranging the data on each data bit width in order of the data bit width to obtain arrangement information; determining the first data from the arrangement information as the first feedback information; and determining the data after the first feedback information from the arrangement information as the second feedback information.

[0009] In some embodiments, there are multiple first feedback devices, and the multiple first feedback devices are connected in parallel; receiving feedback information sent by the first feedback device includes: receiving feedback information sent by the multiple first feedback devices in parallel; and determining the feedback channel to which each first feedback device belongs based on each piece of feedback information.

[0010] In some embodiments, the receiving of feedback information sent by the plurality of first feedback devices in parallel includes: receiving frame data information sent by each of the first feedback devices; wherein the frame data information includes a header frame, a material number frame, a position frame, and a data frame; performing data synchronization based on at least one of the header frame, the material number frame, the position frame, and the data frame, and determining a servo cycle for data reception; and synchronously receiving the feedback information sent by the plurality of first feedback devices in parallel within the same servo cycle.

[0011] In some embodiments, parsing the first feedback information and the second feedback information can also obtain the device position information corresponding to the first feedback device and the second feedback device; determining the target position of the mover from the multiple position feedback information includes: characterizing the target position feedback information through which the mover passes from the multiple position feedback information; determining the device position information corresponding to the target position feedback information as the target device position information, and using the target device position information as the target position of the mover.

[0012] To achieve the above-mentioned purpose, the third aspect of the embodiments of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in the above-mentioned second aspect embodiment is implemented.

[0013] To achieve the above-mentioned purpose, the fourth aspect of the embodiment of the present application proposes a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the method described in the above-mentioned second aspect embodiment is implemented.

[0014] The present application proposes a data transmission method and its device, equipment, and storage medium, wherein the data transmission method can be applied to the control device of the data transmission device. Among them, several second feedback devices are connected in series with the first feedback device, and the first feedback device or the second feedback device contains the position information of the mover. The first feedback device receives the second feedback information of the several second feedback devices connected in series and combines its own first feedback information to generate feedback information and send it to the control device. The control device parses the received feedback information and finally obtains the target position of the mover, that is, the target object. By changing the connection method of the first feedback device, the second feedback device and the control device, the present application reduces the complexity of the wiring harness connection while realizing that the control device receives the feedback information and parses it to obtain the specific position of the mover. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a general diagram of the motion control feedback structure;

[0016] Figure 2 This is a schematic diagram of the structure of a data transmission device provided in an embodiment of the present application;

[0017] Figure 3 This is a flow chart of a data transmission method provided by an embodiment of the present application;

[0018] Figure 4 yes Figure 3 Flowchart of step S102 in FIG.

[0019] Figure 5 yes Figure 3 Flowchart of step S101 in FIG.

[0020] Figure 6 yes Figure 5 Flowchart of step S301 in FIG.

[0021] Figure 7 yes Figure 3 Flowchart of step S104 in FIG.

[0022] Figure 8 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0024] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0026] In related technologies, motion control systems often use a feedback device connected to a control device to achieve position feedback of a target object. Figure 1 As shown, Figure 1 This is a general motion control feedback structure diagram. Figure 1 In the figure, each feedback device is connected to the control device via a wiring harness. The ellipsis between the feedback devices indicates that there can be multiple feedback devices between the feedback devices, and the ellipsis after the feedback device indicates that there can be multiple feedback devices after the feedback device. In general motion control systems, in order to better feedback the position of the target object, that is, the mover, a feedback device is often used to capture the moving position of the mover, and the feedback device is connected to the control device via a wiring harness to feed back the position of the target object to the control device. In particular, in order to accurately reflect the position of the mover, it is often necessary to set up multiple feedback devices.

[0027] For example, in a four-meter-long motion structure, to accurately reflect the motion position of the mover, a ten-centimeter-long feedback device is used. In this case, forty feedback devices are required, and each feedback device has at least one wiring harness connected to the control device, so at least forty wiring harnesses are required. It is understandable that while the installation of multiple feedback devices can effectively reflect the motion position of the mover, since multiple feedback devices are generally connected to the control device via separate wiring harnesses, the number of wiring harnesses increases with the number of feedback devices. This increased wiring harness complexity increases the electromagnetic environment, while the use of a hub solution cannot meet the synchronization and real-time requirements of the motion control system.

[0028] Based on this, the embodiments of the present application provide a data transmission method and its device, equipment, and storage medium, which can reduce the complexity of the wiring harness connection of the motion control system while meeting the synchronization requirements of the motion control system.

[0029] A data transmission method and its device, equipment, and storage medium provided in an embodiment of the present application will be specifically described through the following embodiments. First, the data transmission device in the embodiment of the present application is introduced.

[0030] The present application provides a data transmission device, comprising: a first feedback device and a plurality of second feedback devices, wherein the first feedback device and the plurality of second feedback devices are connected in series, the first feedback device and the second feedback device are arranged along the motion path of a mover, the first feedback device being configured to receive second feedback information sent by the plurality of second feedback devices connected in series, and to generate feedback information in combination with the first feedback information of the first feedback device itself; a control device connected to the first feedback device, the control device being configured to: receive feedback information sent by the first feedback device; parse the feedback information to obtain first feedback information and second feedback information; parse the first feedback information and the second feedback information to obtain a plurality of position feedback information corresponding to the first feedback device and the second feedback device; and determine a target position of the mover from the plurality of position feedback information. The mover is a movable target object, and to reflect the position of the mover, position feedback is provided by using the first feedback device and the plurality of second feedback devices connected in series, and the plurality of first feedback devices and the control device connected in parallel. This ensures that the control device synchronously receives the plurality of feedback information to determine the target position of the mover, while reducing the number of connected wiring harnesses and the complexity of the connection.

[0031] In some embodiments, the data transmission device can be used to provide feedback on the robot's motion position. The data transmission device is installed on a fixed robot track, with a first feedback device and a second feedback device positioned along the robot's motion path. As the robot moves, either the first or second feedback device can obtain the robot's motion position. The first feedback device then sends this feedback information to a control device, enabling the control device to receive the robot's motion position in a timely and accurate manner.

[0032] In some embodiments, the data transmission device can be used to provide position feedback for a maglev train. The data transmission device is positioned on the maglev train's fixed track, and a first feedback device and a second feedback device are positioned along the track. When the maglev train is in motion, either the first feedback device or the second feedback device can obtain the train's position. The first feedback device then transmits this feedback information to a control device, enabling the control device to accurately and timely receive the train's position.

[0033] The embodiments of the present application are further described below with reference to the accompanying drawings.

[0034] Reference Figure 2 As shown, Figure 2 Schematic diagram of the data transmission device structure provided in an embodiment of the present application. The data transmission device includes: a control device 100, a plurality of first feedback devices 101, and a plurality of second feedback devices 102. The plurality of second feedback devices 102 are connected to the first feedback devices 101, and the first feedback devices 101 are connected to the control device 100. The control device 100 is configured to receive feedback information sent by the first feedback devices 101, analyze the feedback information, and obtain the target position of the mover.

[0035] Reference Figure 2As shown, in the embodiment of the present application, the control device 100 is a controller or a driver, and two first feedback devices 101 are connected to the control device 100, and each first feedback device 101 is further connected to a plurality of second feedback devices 102. By way of example, the first feedback devices 101 are, from left to right, the first feedback device 1 and the first feedback device 2, and the second feedback devices 102 are, from left to right, the second feedback device 1, the second feedback device 2, the second feedback device 3, and the second feedback device 4; wherein, the first feedback device 1 is connected to the second feedback device 1, the second feedback device 2, and the second feedback device 4, and the first feedback device 2 is connected to the second feedback device 3; the order of the series connection determines the position of the second feedback device in the series structure. By way of example, the second feedback device 2 is located at the third feedback position in the series structure of the first feedback device 1, and the second feedback device 3 is located at the second feedback position in the series structure of the first feedback device 2. First feedback device 1 receives second feedback information from second feedback device 1, second feedback device 2, and second feedback device 4, all connected to it. It then generates feedback information based on its own first feedback information and sends it to control device 100. Control device 100 analyzes this feedback information and ultimately determines the target position of the mover. Connecting multiple second feedback devices 102 in series with first feedback device 101 and then to control device 100 reduces connection complexity.

[0036] It should be noted that the order and number of the first feedback device 101 and the second feedback device 102 connected can be set according to specific circumstances. The embodiment of the present application is only used as an illustration of a preferred embodiment and does not impose any specific limitation.

[0037] It should be noted that, referring to Figure 1 In actual situations, the control device 100 is not necessarily located in the middle of all the feedback devices. If the control device 100 is located in front of all the feedback devices, for example, when the control device 100 is set in front of the first feedback device 1, since each feedback device is individually connected to the control device 100 through a wiring harness, the wiring harness connection between the feedback device and the control device 100 is relatively complex when there are many feedback devices. Figure 2 Compared with the general motion control feedback structure, the data transmission device of the embodiment of the present application reduces the complexity of the wiring harness connection while satisfying the requirement of the control device to synchronously receive feedback information.

[0038] An embodiment of the present application provides a data transmission method, which is applied to a control device of a data transmission device in the above embodiment. The structure of the data transmission device has been described in detail in the above embodiment and will not be repeated here.

[0039] The data transmission method in the embodiments of the present application can be illustrated by the following embodiments.

[0040] It should be noted that in each specific embodiment of the present application, when it comes to the need to perform relevant processing based on data related to the user's identity or characteristics, such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first. For example, when obtaining user stored data and user cached data access requests, the user's permission or consent will be obtained first; or, obtaining the position feedback information of the actuator will first obtain the user's permission or consent. Moreover, the collection, use, and processing of these data will comply with the relevant laws, regulations, and standards of the relevant countries and regions. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0041] The data transmission method of the embodiment of the present application is applied to a control device, the control device is connected to a plurality of first feedback devices, the first feedback devices are connected in series with a plurality of second feedback devices, and the first feedback devices and the second feedback devices are arranged along the motion path of the mover; Figure 3 As shown, Figure 3 is a flow chart of a data transmission method provided in an embodiment of the present application. Figure 3 The data transmission method includes but is not limited to steps S101 to S104:

[0042] Step S101: receiving feedback information sent by a first feedback device; wherein the first feedback device is configured to receive second feedback information sent by a plurality of second feedback devices connected in series, and generate feedback information in combination with the first feedback information of the first feedback device itself;

[0043] In some embodiments, the control device is connected to several first feedback devices, and the first feedback device is connected to several second feedback devices; the second feedback device is used to obtain second feedback information and send the second feedback information to the first feedback device, and the first feedback device can receive the second feedback information sent by the second feedback device; the first feedback device can obtain its own first feedback information, and generate feedback information in combination with the received second feedback information, and send the feedback information to the control device, and the control device can receive the feedback information sent by the first feedback device.

[0044] In some embodiments, the first feedback device, the second feedback device, and the control device are connected via a transmission wire, and the second feedback information in the second feedback device is transmitted to the first feedback device via an electrical signal in the transmission wire; the first feedback device combines the received second feedback information with the first feedback information obtained by itself to generate feedback information, and transmits it to the control device via an electrical signal in the transmission wire connected to the control device, thereby enabling the control device to obtain the feedback information through a physical connection.

[0045] In some embodiments, wireless transmission devices may also be provided in the first feedback device, the second feedback device, and the control device. The wireless transmission device in the second feedback device obtains the second feedback information and sends the second feedback information to the wireless transmission device in the first feedback device. The first feedback device combines the first feedback information obtained by itself and the second feedback information received to generate feedback information, and sends it to the wireless transmission device in the control device via the wireless transmission device, thereby enabling the control device to obtain the feedback information through a wireless connection.

[0046] It should be noted that there may be many ways for the first feedback device to obtain feedback information and for the control device to receive the feedback information. The embodiments of the present application are only described as preferred embodiments and are not specifically limited.

[0047] Step S102: parsing the feedback information to obtain first feedback information and second feedback information;

[0048] In some embodiments, the control device receives feedback information sent by a first feedback device connected to it, and the feedback information includes first feedback information and multiple second feedback information. The control device can parse the received feedback information to obtain the first feedback information and multiple second feedback information.

[0049] In some embodiments, the control device receives multiple feedback information sent by multiple first feedback devices connected to it, each feedback information includes first feedback information and several second feedback information. The control device can parse the multiple feedback information received to obtain multiple first feedback information and several second feedback information.

[0050] Step S103: parsing the first feedback information and the second feedback information to obtain a plurality of position feedback information corresponding to the first feedback device and the second feedback device;

[0051] In some embodiments, the control device can parse the first feedback information and the second feedback information to obtain specific information contained in the first feedback information and the second feedback information. The first feedback information and the second feedback information are both feedback information from the feedback device. By parsing the feedback information, the specific information obtained includes position feedback information, which is used to represent the position of the mover.

[0052] Step S104 : determining the target position of the mover from the plurality of position feedback information.

[0053] In some embodiments, the control device analyzes multiple pieces of position feedback information, which can represent the position of the mover. The position of the mover is confirmed based on the specific data carried by the multiple pieces of position feedback information. For example, if the first feedback device is connected to the control device through a transmission wire, when it is detected that the mover moves to the first feedback device or the second feedback device, the position feedback information of the first feedback device or the second feedback device is represented by data "1", which represents that the mover moves to the first feedback device or the second feedback device; and the position feedback information of the first feedback device and the second feedback device that the mover does not pass through is represented by data "0", which represents that the mover does not move to the first feedback device or the second feedback device. Based on this, the specific position of the mover is determined from the multiple pieces of position feedback information, that is, the target position of the mover can be specifically determined through different data tags.

[0054] In some embodiments, the control device analyzes multiple pieces of position feedback information, which can characterize the position of the mover. The position of the mover is confirmed based on the specific data carried by the multiple pieces of position feedback information. For example, if the first feedback device is connected to the control device via a wireless transmission device, then when it is detected that the mover moves to the first feedback device or the second feedback device, the wireless transmission device carried by the first feedback device or the second feedback device records the position information of the mover. If the mover does not pass through the first feedback device and the second feedback device, there is no position information related to the mover in the first feedback device and the second feedback device. That is, the presence or absence of position feedback information is used to characterize the movement of the mover, and the target position of the mover is determined based on the presence or absence of the record of the mover's position information in the multiple pieces of position feedback information.

[0055] It should be noted that the position of the mover can also be characterized by the distance between the mover and the first feedback device or the second feedback device. The embodiment of the present application is only for illustration of a preferred embodiment and does not impose any specific limitation.

[0056] Reference Figure 4 , Figure 4 yes Figure 3In the flowchart of step S102, in some embodiments, step S102 may also include but is not limited to steps S201 to S203:

[0057] Step S201, parsing the data bit widths in the feedback information, and arranging the data on each data bit width in the order of the data bit widths to obtain arrangement information;

[0058] Step S202: determining the first data from the arrangement information as the first feedback information;

[0059] Step S203: Determine from the arrangement information that the data following the first feedback information is the second feedback information.

[0060] In some embodiments, the control device parses the received feedback information and obtains first feedback information and second feedback information. Specifically, the second feedback device sends its own second feedback information to the previous second feedback device connected to it until it is sent to the first feedback device. The first feedback device combines the obtained first feedback information of itself with the feedback information received from multiple second feedback devices to generate feedback information and sends it to the control device. The control device parses the received feedback information. Since the data bit width of the first feedback information and the second feedback information is certain, the control device can divide the data corresponding to each data bit width according to the total data bit width received and the bit width of the first feedback information and the second feedback information, sort the divided data, and obtain arrangement information.

[0061] In some embodiments, the second feedback device can place its own received second feedback information first, followed by other received second feedback information, and pass them forward sequentially. Therefore, based on the arrangement information obtained by the control device, the first data item can be determined as the first feedback information, while the information after the first feedback information can be determined as the second feedback information. The control device is only connected to the first feedback device and receives the feedback information sent by the first feedback device. The control device parses the feedback information to obtain the first feedback information and multiple second feedback information items. By receiving and parsing the feedback information to obtain multiple first and second feedback information items, the number of connections between the second feedback device and the control device is reduced, the structure of the data transmission device is simplified, and the complexity of the connection is reduced.

[0062] Reference Figure 5 , Figure 5 yes Figure 3 In the flowchart of step S101 in FIG. 1 , in some embodiments, step S101 may also include but is not limited to steps S301 to S302:

[0063] Step S301, receiving feedback information sent by multiple first feedback devices connected in parallel;

[0064] In some embodiments, when a first feedback device is connected to a control device, the control device can receive feedback information sent by the first feedback device; when multiple first feedback devices are connected in parallel to the control device, the control device can receive feedback information sent by multiple first feedback devices in parallel, so as to subsequently identify the series and parallel connection status between each feedback device based on these feedback information.

[0065] Step S302: Determine the feedback channel to which each first feedback device belongs according to each piece of feedback information.

[0066] In some embodiments, the control device can process the received feedback information and automatically identify the series and parallel connections between the feedback devices. Specifically, a first feedback device and several second feedback devices connected to it can be considered to be in a single feedback channel. When multiple first feedback devices are connected to the control device, multiple feedback channels exist. The control device can automatically identify the feedback channel to which each first feedback device belongs based on the feedback information sent by the first feedback device.

[0067] Specifically, several first feedback devices and several second feedback devices are all provided with device location information, and the first feedback information and the second feedback information carry the corresponding device location information. The first feedback device sends the feedback information to the control device, and the control device receives the feedback information and parses it to obtain the first feedback information and the second feedback information. Since the first feedback information carries the device location information corresponding to the first feedback device, the feedback channel to which the first feedback device belongs can be determined based on the device location information, and the second feedback devices corresponding to the second feedback information in the feedback information all belong to the feedback channel corresponding to the first feedback device. For example, in Figure 2 In the embodiment, the first feedback device 1 is connected to the second feedback device 1, the second feedback device 2, and the second feedback device 4, and the first feedback device 1 is connected to the feedback channel on the control device through a transmission wire; the first feedback device 1 sends feedback information to the control device, wherein the first feedback information carries the device position information of the first feedback device. For example, the device position information is "1", thereby confirming that the first feedback device belongs to the "1" feedback channel, and the second feedback device 1, the second feedback device 2, and the second feedback device 4 corresponding to the second feedback information in the feedback information all belong to the "1" feedback channel.

[0068] In some embodiments, each of the first feedback device and the second feedback device has a specific number, and the first feedback information and the second feedback information carry the corresponding specific number. The first feedback device sends the feedback information to the control device, and the control device receives the feedback information and parses it to obtain the first feedback information and the second feedback information. Since the first feedback information carries the specific number corresponding to the first feedback device, the feedback channel to which the first feedback device belongs can be determined based on the specific number, and the second feedback devices corresponding to the second feedback information in the feedback information all belong to the feedback channel corresponding to the first feedback device. For example, in Figure 2 In the embodiment, the first feedback device 1 is connected to the second feedback device 1, the second feedback device 2, and the second feedback device 4. The first feedback device 1 is connected to the feedback channel on the control device through a transmission wire. The first feedback device 1 sends feedback information to the control device, and the first feedback information 1 carries a specific number of the first feedback device. For example, the specific number is "007", thereby confirming that the first feedback device 1 belongs to the "007" feedback channel, and the second feedback device 1, the second feedback device 2, and the second feedback device 4 corresponding to the second feedback information in the feedback information all belong to the "007" feedback channel.

[0069] In some embodiments, the plurality of first feedback devices and the plurality of second feedback devices connected to the control device are not assigned special numbers, but the control device is provided with a clock cycle, during which the first feedback devices connected to the control device send clock signals to the control device, and the feedback channel to which the first feedback device corresponding to the clock signal belongs is determined according to the order in which the clock signals arrive at the control device. For example, Figure 2 As shown, the first feedback device 1 and the first feedback device 2 are connected to the control device. Within the clock cycle specified by the control device, the first feedback device 1 sends a clock signal to the control device. Since the clock signal has a timing characteristic, that is, the time it reaches the control device is different, the feedback channel to which each first feedback device belongs is determined. For example, referring to Figure 2 As shown, the first feedback devices connected to the control device are the first feedback device 1 and the first feedback device 2 from left to right. Within a clock cycle of the control device, if the clock signal sent by the first feedback device 1 reaches the control device first, and the clock signal sent by the first feedback device 2 reaches the control device later, the control device will confirm that the first feedback device 1 belongs to the first feedback channel and the first feedback device 2 belongs to the second feedback channel.

[0070] It should be noted that there are multiple ways for the control device to determine the feedback channel to which each first feedback channel belongs. The embodiments of the present application are only described as preferred embodiments and do not impose specific limitations.

[0071] Reference Figure 6 As shown, Figure 6 yes Figure 5 In the flowchart of step S301 in FIG. 1 , in some embodiments, step S301 may also include but is not limited to steps S401 to S403:

[0072] Step S401, receiving frame data information sent by each first feedback device; wherein the frame data information includes a header frame, a material number frame, a position frame and a data frame;

[0073] In some embodiments, the control device is capable of receiving feedback information sent by the first feedback device, and the feedback information includes first feedback information and second feedback information, wherein the first feedback information and the second feedback information both include frame data information, and the frame data information includes a header frame, a material number frame, a position frame and a data frame. The frame data information includes the device position information of the corresponding first feedback device or the second feedback device and the position feedback information of the mover, and can be used by the control device to synchronously receive feedback information.

[0074] For example, a header frame indicates the beginning of a data frame and is used to distinguish it from other frames when the control device receives the frame data. The material number frame can be used to record the specific number or other unique parameters of the corresponding first or second feedback device. The position frame can record the device position information of the corresponding first or second feedback device itself. The data frame can record the position feedback information of the first or second feedback device detecting the position of the mover. The first feedback device can receive frame data information from multiple second feedback devices and send it to the control device.

[0075] Step S402, performing data synchronization according to at least one of the header frame, the material number frame, the position frame, and the data frame, and determining a servo cycle for data reception;

[0076] In some embodiments, the control device can set a servo cycle for data reception. Specifically, the servo cycle can be determined based on the frame data from the first and second feedback devices. Within the servo cycle specified by the control device, the control device can synchronize data based on at least one of the header frame, material number frame, position frame, and data frame. In high-speed, high-precision motion control, synchronization enables the control device to obtain information simultaneously within a servo cycle, ensuring the simultaneity and integrity of data reception and more accurately reflecting the motion position of the actuator.

[0077] For example, if the header frame in the frame data is used as the basis for data synchronization, a first feedback device receives second feedback information from several second feedback devices and generates feedback information based on its own first feedback information. The first and second feedback information contain frame data information corresponding to the first and several second feedback devices. The control device determines the time duration for receiving one first feedback message or second feedback message based on the interval between each two header frames, and determines the total duration for sending feedback information containing the frame data on the feedback channel based on the number of header frames. Based on this duration, the control device determines the servo period for receiving data. After determining the servo period, the control device performs a reset initialization operation and receives feedback information containing the frame data at intervals of the determined servo period.

[0078] For example, if the material number frame in the frame data is used as the basis for data synchronization, a first feedback device receives second feedback information from several second feedback devices and generates feedback information based on its own first feedback information. The first and second feedback information contain frame data information corresponding to the first and several second feedback devices. The control device determines the time duration for receiving one first or second feedback message based on the interval between each two material number frames, and determines the total duration for sending feedback information containing the frame data on the feedback channel based on the number of material number frames. Based on this duration, the control device determines the servo cycle for receiving data. After determining the servo cycle, the control device performs a reset initialization operation and receives feedback information containing the frame data at intervals of the determined servo cycle.

[0079] Step S403: synchronously receiving feedback information sent by a plurality of first feedback devices connected in parallel within the same servo cycle.

[0080] In some embodiments, the control device is connected to multiple first feedback devices, and the control device needs to synchronously receive feedback information sent by the multiple first feedback devices. Exemplarily, the header frame in the frame data is used as the basis for data synchronization. The time duration for receiving a first feedback message or a second feedback message is determined based on the interval between each two header frames. The total duration for sending feedback information containing the frame data on each feedback channel is determined based on the number of header frames. The feedback information sending time with the longest total duration is selected and used as the servo cycle of the control device. After determining the servo cycle, the control device performs a reset initialization operation and receives feedback information containing the frame data at intervals of the determined servo cycle.

[0081] In some embodiments, a control device is connected to multiple first feedback devices, and the control device needs to synchronously receive feedback information sent by the multiple first feedback devices. Exemplarily, the material number frame in the frame data is used as the basis for data synchronization. The time duration for receiving a first feedback message or a second feedback message is determined based on the interval between each two material number frames. The total duration for sending feedback information containing the frame data on each feedback channel is determined based on the number of material number frames. The feedback information sending time with the longest total duration is selected and used as the servo cycle of the control device. After determining the servo cycle, the control device performs a reset initialization operation and receives feedback information containing the frame data at intervals of the determined servo cycle.

[0082] Reference Figure 7 , Figure 7 yes Figure 3 In the flowchart of step S104, in some embodiments, step S104 may also include but is not limited to steps S501 to S502:

[0083] Step S501, representing the target position feedback information passed by the feedback mover from the plurality of position feedback information;

[0084] In some embodiments, a control device receives feedback information from multiple first feedback devices, obtaining feedback information from multiple feedback channels. This feedback information includes multiple pieces of position feedback information. When position feedback information records data related to the passage of a mover, this position feedback information represents target position feedback information related to the passage of the mover. For example, if data "1" indicates the passage of a mover and data "0" indicates the absence of the mover, the position feedback information recording data "1" is selected as the target position feedback information.

[0085] Step S502 : determining the device position information corresponding to the target position feedback information as the target device position information, and using the target device position information as the target position of the mover.

[0086] In some embodiments, after the target position feedback information is determined, the device position information corresponding to the target position feedback information is used as the target device position information, and the target device position information is used as the target position of the mover to represent the motion position of the mover. Figure 2, the first second feedback device from left to right is recorded as the second feedback device 1, wherein the position feedback information of the second feedback device 1 records data "1", indicating that the mover moves to the second feedback device 1 whose position feedback information records data "1"; it can be understood that when the mover moves to the second feedback device 1, the device position information of the second feedback device 1 can be used as the target device position information. For example, if the device position information of the second feedback device 1 is the coordinates (1, 2), the coordinates (1, 2) can be used as the target device position information, indicating that the mover moves to the coordinate position (1, 2).

[0087] The present application also provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned data transmission method when executing the computer program. The electronic device can be any smart terminal including a tablet computer, an in-vehicle computer, etc.

[0088] Reference Figure 8 , Figure 8 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0089] The processor 600 may be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0090] The memory 601 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 601 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory 601 and are called by the processor 600 to execute the data transmission method of the embodiments of this application.

[0091] Input / output interface 602, used to implement information input and output;

[0092] Communication interface 603, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0093] bus 604 , which transmits information between various components of the device (e.g., processor 600 , memory 601 , input / output interface 602 , and communication interface 603 );

[0094] The processor 600 , the memory 601 , the input / output interface 602 and the communication interface 603 are connected to each other in communication within the device via a bus 604 .

[0095] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned data transmission method is implemented.

[0096] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0097] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0098] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0099] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0100] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0101] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0102] It should be understood that in this application, "at least one (item)" refers to one or more, "plurality" refers to two or more; "several" refers to one or more, meaning indefinite, without a specific number. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of the above units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0104] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0105] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0106] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0107] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A data transmission device, characterized in that: The data transmission device comprises: a first feedback device and a plurality of second feedback devices, wherein the first feedback device and the plurality of second feedback devices are connected in series, and the first feedback device and the second feedback device are arranged along the motion path of the mover, and the first feedback device is used to receive second feedback information sent by the plurality of second feedback devices connected in series, and generate feedback information in combination with the first feedback information of the first feedback device itself; A control device is connected to the first feedback device, and the control device is used to: receive the feedback information sent by the first feedback device; parse the feedback information to obtain the first feedback information and the second feedback information; parse the first feedback information and the second feedback information to obtain multiple position feedback information corresponding to the first feedback device and the second feedback device; and determine the target position of the mover from the multiple position feedback information.

2. The data transmission device according to claim 1, wherein: There are multiple first feedback devices, and the multiple first feedback devices are connected in parallel. Each of the first feedback devices connected in parallel belongs to a corresponding feedback channel.

3. The data transmission device according to claim 2, characterized in that The control device is also used for: Receive frame data information sent by each of the first feedback devices; wherein the frame data information includes a header frame, a material number frame, a position frame and a data frame; Performing data synchronization according to at least one of the header frame, the material number frame, the position frame, and the data frame, and determining a servo cycle for data reception; The feedback information sent by the plurality of first feedback devices connected in parallel is synchronously received within the same servo cycle.

4. A data transmission method, characterized in that: Applied to a control device, the control device is connected to a plurality of first feedback devices, the first feedback devices are connected in series with a plurality of second feedback devices, and the first feedback devices and the second feedback devices are arranged along the motion path of the mover; the data transmission method includes: Receiving feedback information sent by the first feedback device; wherein the first feedback device is used to receive second feedback information sent by multiple second feedback devices connected in series, and generate the feedback information in combination with the first feedback information of the first feedback device itself; parsing the feedback information to obtain the first feedback information and the second feedback information; parsing the first feedback information and the second feedback information to obtain a plurality of position feedback information corresponding to the first feedback device and the second feedback device; The target position of the mover is determined from the plurality of position feedback information.

5. A data transmission method according to claim 4, characterized in that: The parsing the feedback information to obtain the first feedback information and the second feedback information includes: parsing the data bit widths in the feedback information, and arranging the data on each data bit width in the order of the data bit widths to obtain arrangement information; Determining the first data from the arrangement information as the first feedback information; The data following the first feedback information is determined from the arrangement information as the second feedback information.

6. A data transmission method according to claim 4, characterized in that: There are multiple first feedback devices, and the multiple first feedback devices are connected in parallel; receiving feedback information sent by the first feedback device includes: receiving feedback information sent by a plurality of the first feedback devices connected in parallel; The feedback channel to which each first feedback device belongs is determined according to each piece of feedback information.

7. A data transmission method according to claim 6, characterized in that: The receiving feedback information sent by the plurality of first feedback devices connected in parallel includes: Receive frame data information sent by each of the first feedback devices; wherein the frame data information includes a header frame, a material number frame, a position frame and a data frame; Performing data synchronization according to at least one of the header frame, the material number frame, the position frame, and the data frame, and determining a servo cycle for data reception; Feedback information sent by a plurality of first feedback devices connected in parallel is synchronously received within the same servo cycle.

8. A data transmission method according to claim 4, characterized in that: The first feedback information and the second feedback information may be parsed to obtain device location information corresponding to the first feedback device and the second feedback device; Determining the target position of the mover from the plurality of position feedback information includes: Characterizing and feeding back target position feedback information of the mover from the plurality of position feedback information; The device position information corresponding to the target position feedback information is determined as target device position information, and the target device position information is used as the target position of the mover.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the data transmission method according to any one of claims 4 to 8 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the data transmission method according to any one of claims 4 to 8 is implemented.

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